Unmanned aircraft taxiing state dynamic control method and system and medium

Abstract

The embodiment of the invention provides a dynamic control method and system for the taxiing state of an unmanned aircraft and a medium, and the method comprises the steps: obtaining the taxiing state information of the aircraft, carrying out the preprocessing of the taxiing state information of the aircraft, and obtaining the optimized taxiing state information; comparing the optimized sliding state information with preset state information to obtain a state deviation rate; judging whether the state deviation rate is greater than or equal to a preset deviation rate threshold value or not; if yes, generating correction information, and adjusting the taxiing parameters of the aircraft according to the correction information; if yes, transmitting the taxiing state information of the aircraft to the terminal for storage according to a preset mode; the state deviation is judged by obtaining the aircraft taxiing state information in real time, when the state deviation is large, real-time regulation and control of the aircraft taxiing state are achieved through the correction information, and the control precision of the aircraft taxiing state is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft taxiing control. Specifically, it relates to a method, system and medium for dynamically controlling the taxiing state of an unmanned aircraft. Background Art

[0002] With the continuous development of science and technology, the application of unmanned aircraft has achieved unprecedented development. Aircraft are often more suitable for some repetitive mechanical tasks or tasks with high risks. In the civilian aspect, the industrial application of unmanned aircraft is the real demand for unmanned aircraft. Aircraft will fly according to different flight states under different meteorological conditions. During the existing aircraft taxiing process, dynamic control cannot be performed, which easily causes the aircraft to deviate from the predetermined direction during taxiing, affecting the takeoff or landing of the aircraft. In view of the above problems, there is an urgent need for an effective technical solution at present. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, system and medium for dynamically controlling the taxiing state of an unmanned aircraft, which can judge the state deviation by obtaining the aircraft taxiing state information in real time. When the state deviation is large, the real-time regulation of the aircraft taxiing state can be realized through the correction information, and the control accuracy of the aircraft taxiing state can be improved.

[0004] The embodiments of the present application also provide a method for dynamically controlling the taxiing state of an unmanned aircraft, including:

[0005] Obtain the aircraft taxiing state information, preprocess the aircraft taxiing state information to obtain the optimized taxiing state information;

[0006] Compare the optimized taxiing state information with the preset state information to obtain the state deviation rate;

[0007] Judge whether the state deviation rate is greater than or equal to the preset deviation rate threshold;

[0008] If it is greater, generate correction information and adjust the aircraft taxiing parameters according to the correction information;

[0009] If it is less, transmit the aircraft taxiing state information to the terminal for storage in a predetermined manner.

[0010] Optionally, in the method for dynamically controlling the taxiing state of an unmanned aircraft described in the embodiments of the present application, the obtaining the aircraft taxiing state information, preprocessing the aircraft taxiing state information to obtain the optimized taxiing state information is specifically:

[0011] Obtain the aircraft taxiing state information, extract the aircraft taxiing state characteristics and calculate the aircraft taxiing state characteristic values;

[0012] Calculate the eigenvector based on the eigenvalues of the aircraft taxiing state;

[0013] Calculate the included angle between the eigenvector and a preset vector to obtain the vector angle;

[0014] Determine whether the vector angle is greater than or equal to a preset vector angle;

[0015] If it is greater than or equal to, eliminate the corresponding aircraft taxiing state characteristics;

[0016] If it is less than, retain the corresponding aircraft taxiing state characteristics and obtain the optimized aircraft taxiing state information.

[0017] Optionally, in the method for dynamically controlling the taxiing state of an unmanned aircraft described in the embodiments of the present application, the obtaining of the aircraft taxiing state information and the preprocessing of the aircraft taxiing state information to obtain the optimized taxiing state information are specifically as follows:

[0018] Obtain the aircraft taxiing speed information, compare the aircraft taxiing speed information with the preset speed information to obtain the speed deviation rate;

[0019] Determine whether the speed deviation rate is greater than or equal to a preset speed deviation rate threshold;

[0020] If it is greater than or equal to, generate speed adjustment information and adjust the taxiing speed of the aircraft according to the speed adjustment information;

[0021] If it is less than, calculate the friction information between the aircraft and the ground during the taxiing process according to the aircraft taxiing speed information.

[0022] Optionally, in the method for dynamically controlling the taxiing state of an unmanned aircraft described in the embodiments of the present application, after calculating the friction information between the aircraft and the ground during the taxiing process according to the aircraft taxiing speed information when it is less than, it further includes:

[0023] Obtain the friction information between the aircraft and the ground during the taxiing process, decompose the friction information to obtain the taxiing angle during the aircraft taxiing process;

[0024] Generate the aircraft taxiing direction according to the taxiing angle during the aircraft taxiing process;

[0025] Compare the aircraft taxiing direction with the preset taxiing direction to obtain the taxiing angle deviation;

[0026] Determine whether the taxiing angle deviation is within a preset angle deviation range;

[0027] If it is within the preset angle deviation range, move at the current taxiing speed;

[0028] If it is not within the preset angular deviation range, calculate the taxiing angle and generate the steering angle of the taxiing device rollers;

[0029] Generate an angle correction coefficient according to the steering angle of the taxiing device rollers, multiply the angle correction coefficient by the current steering angle of the taxiing device rollers, and generate angle adjustment information;

[0030] Dynamically adjust the taxiing speed of the aircraft according to the angle adjustment information.

[0031] Optionally, in the method for dynamically controlling the taxiing state of an unmanned aircraft described in the embodiments of the present application, the step of calculating the taxiing angle and generating the steering angle of the taxiing device rollers when not within the preset angular deviation range is specifically as follows:

[0032] If the taxiing angle deviation is not within the preset angular deviation range, compare the aircraft angle deviation with the upper limit value of the angular deviation;

[0033] Determine whether the aircraft angle deviation is greater than the upper limit value of the angular deviation. If it is greater than the upper limit value of the angular deviation, generate negative feedback information and reversely adjust the taxiing angle according to the negative feedback information;

[0034] If it is less than the upper limit value of the angular deviation, compare the angle deviation with the lower limit value and generate positive feedback information, and positively adjust the taxiing angle according to the positive feedback information.

[0035] Optionally, in the method for dynamically controlling the taxiing state of an unmanned aircraft described in the embodiments of the present application, the step of generating correction information and adjusting the aircraft taxiing parameters according to the correction information when greater than is specifically as follows:

[0036] Obtain meteorological information, and generate wind speed information and wind direction information according to the meteorological information;

[0037] Compare the wind speed information with the aircraft taxiing speed information to obtain the first aircraft resistance information;

[0038] Compare the wind direction information with the aircraft taxiing state information to obtain the second aircraft resistance information;

[0039] Superimpose the first aircraft resistance information and the second aircraft resistance information to obtain the total aircraft resistance information;

[0040] Calculate the aircraft taxiing state change information according to the total aircraft resistance information;

[0041] Generate aircraft taxiing adjustment information according to the aircraft taxiing state change information;

[0042] Real-time adjust the taxiing parameters of the aircraft according to the aircraft taxiing adjustment information.

[0043] Second aspect, an embodiment of the present application provides a dynamic control system for the taxiing state of an unmanned aerial vehicle. The system includes: a memory and a processor. The memory includes a program for the dynamic control method of the taxiing state of the unmanned aerial vehicle. When the program for the dynamic control method of the taxiing state of the unmanned aerial vehicle is executed by the processor, the following steps are implemented:

[0044] Obtain the taxiing state information of the aircraft, preprocess the taxiing state information of the aircraft to obtain optimized taxiing state information;

[0045] Compare the optimized taxiing state information with the preset state information to obtain a state deviation rate;

[0046] Judge whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0047] If it is greater, generate correction information and adjust the taxiing parameters of the aircraft according to the correction information;

[0048] If it is less, transmit the taxiing state information of the aircraft to the terminal for storage in a predetermined manner.

[0049] Optionally, in the dynamic control system for the taxiing state of the unmanned aerial vehicle described in the embodiment of the present application, the obtaining the taxiing state information of the aircraft, preprocessing the taxiing state information of the aircraft to obtain optimized taxiing state information is specifically:

[0050] Obtain the taxiing state information of the aircraft, extract the taxiing state characteristics of the aircraft and calculate the taxiing state characteristic values;

[0051] Calculate the eigenvector according to the taxiing state characteristic values;

[0052] Calculate the included angle between the eigenvector and the preset vector to obtain a vector angle;

[0053] Judge whether the vector angle is greater than or equal to a preset vector angle;

[0054] If it is greater than or equal to, eliminate the corresponding taxiing state characteristics of the aircraft;

[0055] If it is less, retain the corresponding taxiing state characteristics of the aircraft and obtain optimized taxiing state information of the aircraft.

[0056] Optionally, in the dynamic control system for the taxiing state of the unmanned aerial vehicle described in the embodiment of the present application, after calculating the friction information between the aircraft and the ground during the taxiing process according to the taxiing speed information of the aircraft when it is less, it further includes:

[0057] Obtain the friction information between the aircraft and the ground during the taxiing process, decompose the friction information to obtain the taxiing angle during the taxiing process of the aircraft;

[0058] Generate the taxiing direction of the aircraft according to the taxiing angle during the taxiing process of the aircraft;

[0059] Compare the taxiing direction of the aircraft with the preset taxiing direction to obtain the taxiing angle deviation;

[0060] Determine whether the taxiing angle deviation is within the preset angle deviation range;

[0061] If it is within the preset angle deviation range, move at the current taxiing speed;

[0062] If it is not within the preset angle deviation range, calculate the taxiing angle and generate the steering angle of the taxiing roller;

[0063] Generate an angle correction coefficient according to the steering angle of the taxiing roller, multiply the angle correction coefficient by the current steering angle of the taxiing roller to generate angle adjustment information;

[0064] Dynamically adjust the taxiing speed of the aircraft according to the angle adjustment information.

[0065] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a program for the dynamic control method of the taxiing state of an unmanned aircraft. When the program for the dynamic control method of the taxiing state of the unmanned aircraft is executed by a processor, the steps of the dynamic control method of the taxiing state of the unmanned aircraft as described in any one of the above are implemented.

[0066] As can be seen from the above, a dynamic control method, system and medium for the taxiing state of an unmanned aircraft provided by an embodiment of the present application obtain the taxiing state information of the aircraft, preprocess the taxiing state information of the aircraft to obtain the optimized taxiing state information; compare the optimized taxiing state information with the preset state information to obtain the state deviation rate; determine whether the state deviation rate is greater than or equal to the preset deviation rate threshold; if it is greater, generate correction information and adjust the taxiing parameters of the aircraft according to the correction information; if it is less, transmit the taxiing state information of the aircraft to the terminal for storage in a predetermined manner; judge the state deviation by real-time obtaining the taxiing state information of the aircraft. When the state deviation is large, the real-time regulation of the taxiing state of the aircraft is realized through the correction information, and the control accuracy of the taxiing state of the aircraft is improved.

[0067] Other features and advantages of the present application will be described in the subsequent specification. The objectives and advantages of the present application can be realized and obtained through the structures specifically pointed out in the written specification, claims and drawings. Description of the Drawings

[0068] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0069] Figure 1 It is a flowchart of the dynamic control method for the taxiing state of an unmanned aerial vehicle provided by the embodiment of the present application;

[0070] Figure 2 It is a flowchart of obtaining the optimized aircraft taxiing state information of the dynamic control method for the taxiing state of an unmanned aerial vehicle provided by the embodiment of the present application;

[0071] Figure 3 It is a flowchart of the dynamic adjustment of the taxiing speed of the dynamic control method for the taxiing state of an unmanned aerial vehicle provided by the embodiment of the present application;

[0072] Figure 4 It is a schematic structural diagram of the dynamic control system for the taxiing state of an unmanned aerial vehicle provided by the embodiment of the present application. Detailed implementation manners

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0074] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0075] Please refer to Figure 1 , Figure 1 which is a flowchart of a dynamic control method for the taxiing state of an unmanned aerial vehicle in some embodiments of the present application. This dynamic control method for the taxiing state of an unmanned aerial vehicle is used in a terminal device. This dynamic control method for the taxiing state of an unmanned aerial vehicle includes the following steps:

[0076] S101. Obtain the taxiing state information of the aircraft, preprocess the taxiing state information of the aircraft to obtain the optimized taxiing state information;

[0077] S102. Compare the optimized taxiing state information with the preset state information to obtain the state deviation rate;

[0078] S103. Determine whether the state deviation rate is greater than or equal to the preset deviation rate threshold;

[0079] S104. If it is greater, generate correction information and adjust the taxiing parameters of the aircraft according to the correction information;

[0080] S105. If it is less, transmit the taxiing state information of the aircraft to the terminal for storage in a predetermined manner.

[0081] It should be noted that by optimizing the taxiing state of the aircraft, it is ensured that the deviation between the collected taxiing state information of the aircraft and the actual taxiing state information is small. In addition, the aircraft parameters are dynamically adjusted according to the taxiing state of the aircraft to improve the control accuracy of the taxiing state of the aircraft.

[0082] Please refer to Figure 2 , Figure 2 is a flowchart of obtaining the optimized taxiing state information of a dynamic control method for the taxiing state of an unmanned aircraft in some embodiments of the present application. According to an embodiment of the present invention, obtaining the taxiing state information of the aircraft and preprocessing the taxiing state information of the aircraft to obtain the optimized taxiing state information specifically includes:

[0083] S201. Obtain the taxiing state information of the aircraft, extract the taxiing state characteristics of the aircraft and calculate the taxiing state characteristic values;

[0084] S202. Calculate the eigenvector according to the taxiing state characteristic value, calculate the included angle between the eigenvector and the preset vector to obtain the vector angle;

[0085] S203. Determine whether the vector angle is greater than or equal to the preset vector angle;

[0086] S204. If it is greater than or equal to, eliminate the corresponding taxiing state characteristics of the aircraft;

[0087] S205. If it is less than, retain the corresponding taxiing state characteristics of the aircraft and obtain the optimized taxiing state information of the aircraft.

[0088] It should be noted that by extracting the characteristics of the taxiing state of the aircraft and calculating the included angle of the eigenvector, the taxiing state of the aircraft is optimized and adjusted, so that the taxiing state of the aircraft is close to the actual value and the collection accuracy is improved.

[0089] According to an embodiment of the present invention, aircraft taxiing state information is obtained, and the aircraft taxiing state information is preprocessed to obtain optimized taxiing state information, specifically as follows:

[0090] Obtain aircraft taxiing speed information, compare the aircraft taxiing speed information with preset speed information to obtain a speed deviation rate;

[0091] Determine whether the speed deviation rate is greater than or equal to a preset speed deviation rate threshold;

[0092] If it is greater than or equal to, generate speed adjustment information and adjust the taxiing speed of the aircraft according to the speed adjustment information;

[0093] If it is less than, calculate the friction information between the aircraft and the ground during the taxiing process according to the aircraft taxiing speed information.

[0094] It should be noted that by analyzing the aircraft taxiing speed, the taxiing speed is always within a safe range, improving the safety during the aircraft taxiing process.

[0095] Please refer to Figure 3 , Figure 3 is the flowchart of the dynamic adjustment of the taxiing speed of an unmanned aircraft taxiing state dynamic control method in some embodiments of the present application. According to an embodiment of the present invention, if it is less than, after calculating the friction information between the aircraft and the ground during the taxiing process according to the aircraft taxiing speed information, it further includes:

[0096] S301, obtain the friction information between the aircraft and the ground during the taxiing process, decompose the friction information to obtain the taxiing angle during the aircraft taxiing process;

[0097] S302, generate the aircraft taxiing direction according to the taxiing angle during the aircraft taxiing process, compare the aircraft taxiing direction with the preset taxiing direction to obtain a taxiing angle deviation;

[0098] S303, determine whether the taxiing angle deviation is within a preset angle deviation range; if it is within the preset angle deviation range, move at the current taxiing speed; if it is not within the preset angle deviation range, calculate the taxiing angle and generate the steering angle of the taxiing gear roller;

[0099] S304, generate an angle correction coefficient according to the steering angle of the taxiing gear roller, multiply the angle correction coefficient by the current steering angle of the taxiing gear roller to generate angle adjustment information;

[0100] S305, dynamically adjust the taxiing speed of the aircraft according to the angle adjustment information.

[0101] It should be noted that during the taxiing process of the aircraft, there will be a certain friction with the ground, and the taxiing angle of the aircraft will deviate during the friction process. By analyzing the taxiing speed and the taxiing angle, the taxiing speed of the taxiing device can be dynamically adjusted to keep the taxiing friction of the aircraft within a controllable range and reduce the influence of the taxiing friction on the taxiing angle of the aircraft.

[0102] According to an embodiment of the present invention, if it is not within the preset angle deviation range, the taxiing angle is calculated and the steering angle of the rollers of the taxiing device is generated. Specifically:

[0103] If the taxiing angle deviation is not within the preset angle deviation range, the aircraft angle deviation is compared with the upper limit value of the angle deviation;

[0104] It is judged whether the aircraft angle deviation is greater than the upper limit value of the angle deviation. If it is greater than the upper limit value of the angle deviation, negative feedback information is generated, and the taxiing angle is reversely adjusted according to the negative feedback information;

[0105] If it is less than the upper limit value of the angle deviation, the angle deviation is compared with the lower limit value, and positive feedback information is generated, and the taxiing angle is positively adjusted according to the positive feedback information.

[0106] According to an embodiment of the present invention, if it is greater, correction information is generated, and the taxiing parameters of the aircraft are adjusted according to the correction information. Specifically:

[0107] Obtain meteorological information, and generate wind speed information and wind direction information according to the meteorological information;

[0108] Compare the wind speed information with the aircraft taxiing speed information to obtain the first aircraft resistance information;

[0109] Compare the wind direction information with the aircraft taxiing state information to obtain the second aircraft resistance information;

[0110] Superimpose the first aircraft resistance information and the second aircraft resistance information to obtain the total aircraft resistance information;

[0111] Calculate the aircraft taxiing state change information according to the total aircraft resistance information;

[0112] Generate aircraft taxiing adjustment information according to the aircraft taxiing state change information;

[0113] Adjust the taxiing parameters of the aircraft in real time according to the aircraft taxiing adjustment information.

[0114] It should be noted that the change of meteorology will affect the wind speed and the wind direction, both the wind speed and the wind direction will affect the taxiing of the aircraft. By judging the wind speed and the wind direction, the resistance of the aircraft is calculated, and the taxiing parameters of the aircraft are adjusted by analyzing the aircraft resistance information, so as to improve the taxiing control accuracy of the aircraft.

[0115] According to an embodiment of the present invention, it further includes:

[0116] Obtain the taxiing state information of the aircraft, and calculate the friction information between the aircraft and the ground according to the taxiing state information of the aircraft;

[0117] Generate a friction temperature according to the friction information;

[0118] Compare the friction temperature with a preset temperature threshold to obtain a temperature deviation rate;

[0119] Judge whether the temperature deviation rate is greater than or equal to a preset temperature deviation rate threshold;

[0120] If it is greater, generate taxiing state adjustment information, and adjust the taxiing state of the aircraft in real time according to the taxiing state adjustment information;

[0121] If it is less, the aircraft moves according to the current taxiing state.

[0122] It should be noted that during the taxiing process of the aircraft, due to taxiing friction, certain heat will be generated. By judging the heat, the taxiing state of the aircraft is adjusted in real time to prevent the friction temperature from being too high during the taxiing process of the aircraft, resulting in a decrease in the taxiing safety of the aircraft.

[0123] Please refer to Figure 4 , Figure 4 is a schematic structural diagram of a dynamic control system for the taxiing state of an unmanned aircraft in some embodiments of the present application. Second, an embodiment of the present application provides a dynamic control system 4 for the taxiing state of an unmanned aircraft. The system includes: a memory 41 and a processor 42. The memory 41 includes a program for the dynamic control method of the taxiing state of the unmanned aircraft. When the program for the dynamic control method of the taxiing state of the unmanned aircraft is executed by the processor, the following steps are implemented:

[0124] Obtain the taxiing state information of the aircraft, preprocess the taxiing state information of the aircraft to obtain optimized taxiing state information;

[0125] Compare the optimized taxiing state information with preset state information to obtain a state deviation rate;

[0126] Judge whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0127] If it is greater, generate correction information and adjust the taxiing parameters of the aircraft according to the correction information;

[0128] If it is less, transmit the taxiing state information of the aircraft to the terminal for storage in a predetermined manner.

[0129] It should be noted that by optimizing the taxiing state of the aircraft, the deviation between the collected taxiing state information of the aircraft and the actual taxiing state information can be ensured to be small. In addition, the aircraft parameters are dynamically adjusted according to the taxiing state of the aircraft to improve the control accuracy of the taxiing state of the aircraft.

[0130] According to an embodiment of the present invention, the taxiing state information of the aircraft is obtained, and the taxiing state information of the aircraft is preprocessed to obtain optimized taxiing state information. Specifically:

[0131] Obtain the taxiing state information of the aircraft, extract the taxiing state characteristics of the aircraft and calculate the taxiing state characteristic values;

[0132] Calculate the eigenvector according to the taxiing state characteristic value;

[0133] Calculate the included angle between the eigenvector and the preset vector to obtain the vector angle;

[0134] Judge whether the vector angle is greater than or equal to the preset vector angle;

[0135] If it is greater than or equal to, the corresponding taxiing state characteristics of the aircraft are eliminated;

[0136] If it is less than, the corresponding taxiing state characteristics of the aircraft are retained, and the optimized taxiing state information of the aircraft is obtained.

[0137] It should be noted that by extracting the characteristics of the taxiing state of the aircraft and calculating the included angle of the eigenvector, the taxiing state of the aircraft is optimized and adjusted, so that the taxiing state of the aircraft is close to the actual value and the collection accuracy is improved.

[0138] According to an embodiment of the present invention, if it is less than, after calculating the friction information between the aircraft and the ground during the taxiing process according to the taxiing speed information of the aircraft, it further includes:

[0139] Obtain the friction information between the aircraft and the ground during the taxiing process, decompose the friction information to obtain the taxiing angle during the taxiing process of the aircraft;

[0140] Generate the taxiing direction of the aircraft according to the taxiing angle during the taxiing process of the aircraft;

[0141] Compare the taxiing direction of the aircraft with the preset taxiing direction to obtain the taxiing angle deviation;

[0142] Judge whether the taxiing angle deviation is within the preset angle deviation range;

[0143] If it is within the preset angle deviation range, move at the current taxiing speed;

[0144] If it is not within the preset angle deviation range, calculate the taxiing angle and generate the steering angle of the taxiing device roller;

[0145] Generate an angle correction coefficient according to the steering angle of the taxiing device roller, multiply the angle correction coefficient by the current steering angle of the taxiing device roller, and generate angle adjustment information;

[0146] Dynamically adjust the taxiing speed of the aircraft according to the angle adjustment information.

[0147] It should be noted that during the taxiing process of the aircraft, there will be a certain friction with the ground, and the taxiing angle of the aircraft will be offset during the friction process. By analyzing the taxiing speed and the taxiing angle, the taxiing speed of the taxiing device can be dynamically adjusted, so that the taxiing friction of the aircraft is within a controllable range, and the influence of the taxiing friction on the taxiing angle of the aircraft is reduced.

[0148] According to the embodiment of the present invention, if it is not within the preset angle deviation range, calculate the taxiing angle and generate the steering angle of the taxiing device roller. Specifically:

[0149] If the taxiing angle deviation is not within the preset angle deviation range, compare the aircraft angle deviation with the upper limit value of the angle deviation;

[0150] Judge whether the aircraft angle deviation is greater than the upper limit value of the angle deviation. If it is greater than the upper limit value of the angle deviation, generate negative feedback information and reversely adjust the taxiing angle according to the negative feedback information;

[0151] If it is less than the upper limit value of the angle deviation, compare the angle deviation with the lower limit value and generate positive feedback information, and positively adjust the taxiing angle according to the positive feedback information.

[0152] According to the embodiment of the present invention, if it is greater, generate correction information and adjust the aircraft taxiing parameters according to the correction information. Specifically:

[0153] Obtain meteorological information and generate wind speed information and wind direction information according to the meteorological information;

[0154] Compare the wind speed information with the aircraft taxiing speed information to obtain the first aircraft resistance information;

[0155] Compare the wind direction information with the aircraft taxiing state information to obtain the second aircraft resistance information;

[0156] Superimpose the first aircraft resistance information and the second aircraft resistance information to obtain the total aircraft resistance information;

[0157] Calculate the aircraft taxiing state change information according to the total aircraft resistance information;

[0158] Generate aircraft taxiing adjustment information according to the aircraft taxiing state change information;

[0159] Adjust the taxiing parameters of the aircraft in real time according to the aircraft taxiing adjustment information.

[0160] It should be noted that weather changes will affect the wind speed and direction, both of which will affect the taxiing of the aircraft. By judging the wind speed and direction, the resistance of the aircraft is calculated, and the taxiing parameters of the aircraft are adjusted by analyzing the aircraft resistance information, so as to improve the taxiing control accuracy of the aircraft.

[0161] According to an embodiment of the present invention, it further includes:

[0162] Obtain the aircraft taxiing state information, and calculate the friction information between the aircraft and the ground according to the aircraft taxiing state information;

[0163] Generate a friction temperature according to the friction information;

[0164] Compare the friction temperature with a preset temperature threshold to obtain a temperature deviation rate;

[0165] Judge whether the temperature deviation rate is greater than or equal to a preset temperature deviation rate threshold;

[0166] If it is greater, generate taxiing state adjustment information, and adjust the aircraft taxiing state in real time according to the taxiing state adjustment information;

[0167] If it is less, the aircraft moves according to the current taxiing state.

[0168] It should be noted that during the taxiing of the aircraft, due to taxiing friction, certain heat will be generated. By judging the heat, the taxiing state of the aircraft is adjusted in real time to prevent the friction temperature from being too high during the taxiing of the aircraft, resulting in a decrease in the taxiing safety of the aircraft.

[0169] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for the dynamic control method of the taxiing state of an unmanned aircraft. When the program for the dynamic control method of the taxiing state of an unmanned aircraft is executed by a processor, the steps of the dynamic control method of the taxiing state of an unmanned aircraft as described in any one of the above are realized.

[0170] A dynamic control method, system and medium for the taxiing state of an unmanned aerial vehicle, which obtain the taxiing state information of the aerial vehicle, preprocess the taxiing state information of the aerial vehicle to obtain the optimized taxiing state information; compare the optimized taxiing state information with the preset state information to obtain the state deviation rate; determine whether the state deviation rate is greater than or equal to the preset deviation rate threshold; if it is greater, generate correction information and adjust the taxiing parameters of the aerial vehicle according to the correction information; if it is less, transmit the taxiing state information of the aerial vehicle to the terminal for storage in a predetermined manner; judge the state deviation by obtaining the taxiing state information of the aerial vehicle in real time, and when the state deviation is large, realize the real-time regulation of the taxiing state of the aerial vehicle through the correction information, and improve the control accuracy of the taxiing state of the aerial vehicle.

[0171] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0172] The units described as separate components above may or may not be physically separated, and the components shown as units may or may not be physical units; they may be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] In addition, each functional unit in the embodiments of the present invention may be all integrated in a processing unit, or each unit may be separately used as a unit, or two or more units may be integrated in a unit; the above integrated units may be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0174] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical disks and other various media that can store program codes.

[0175] Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

Claims

1. A method for dynamically controlling the taxiing state of an unmanned aerial vehicle, characterized in that: include: Acquire aircraft taxiing status information, pre-process the aircraft taxiing status information, and obtain optimized taxiing status information; Compare the optimized sliding state information with the preset state information to obtain the state deviation rate; Determining whether the state deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater, correction information is generated and the aircraft taxiing parameters are adjusted according to the correction information; If it is less than, the aircraft taxiing status information is transmitted to the terminal for storage in a predetermined manner.

2. The method for dynamic control of the taxiing state of an unmanned aerial vehicle according to claim 1, characterized in that: The obtaining of the aircraft taxiing state information and preprocessing of the aircraft taxiing state information to obtain optimized taxiing state information are specifically as follows: Acquire aircraft taxiing state information, extract aircraft taxiing state characteristics and calculate aircraft taxiing state characteristic values; Calculate a eigenvector based on the eigenvalues ​​of the aircraft taxiing state; Calculate the angle between the eigenvector and the preset vector to obtain the vector angle; Determining whether the vector angle is greater than or equal to a preset vector angle; If it is greater than or equal to, the corresponding aircraft taxiing state feature is eliminated; If it is less than, the corresponding aircraft taxiing state characteristics are retained and the optimized aircraft taxiing state information is obtained.

3. The method for dynamic control of the taxiing state of an unmanned aerial vehicle according to claim 1, characterized in that: The obtaining of the aircraft taxiing state information and preprocessing of the aircraft taxiing state information to obtain optimized taxiing state information are specifically as follows: Acquire aircraft taxiing speed information, compare the aircraft taxiing speed information with preset speed information, and obtain a speed deviation rate; Determining whether the speed deviation rate is greater than or equal to a preset speed deviation rate threshold; If it is greater than or equal to, speed adjustment information is generated, and the taxiing speed of the aircraft is adjusted according to the speed adjustment information; If it is less than, the friction information between the aircraft and the ground during taxiing is calculated based on the aircraft's taxiing speed information.

4. The method for dynamic control of the taxiing state of an unmanned aerial vehicle according to claim 3, characterized in that: If the above value is less than , after calculating the friction information between the aircraft and the ground during the taxiing process according to the taxiing speed information of the aircraft, the method further includes: Obtaining the friction information between the aircraft and the ground during taxiing, decomposing the friction information, and obtaining the taxiing angle of the aircraft during taxiing; Generate a taxiing direction of the aircraft according to a taxiing angle of the aircraft during taxiing; Comparing the taxiing direction of the aircraft with the preset taxiing direction, obtaining a taxiing angle deviation; Determine whether the sliding angle deviation is within a preset angle deviation range; If it is within the preset angle deviation range, it moves according to the current sliding speed; If it is not within the preset angle deviation range, the sliding angle is calculated and the steering angle of the slider roller is generated; An angle correction coefficient is generated according to the steering angle of the slider roller, and the angle correction coefficient is multiplied by the current steering angle of the slider roller to generate angle adjustment information; The aircraft's taxiing speed is dynamically adjusted based on the angle adjustment information.

5. The method for dynamic control of the taxiing state of an unmanned aerial vehicle according to claim 4, characterized in that: If the angle is not within the preset angle deviation range, the sliding angle is calculated and the steering angle of the slider roller is generated, specifically: If the taxiing angle deviation is not within the preset angle deviation range, the aircraft angle deviation is compared with the angle deviation upper limit value; Determine whether the aircraft angle deviation is greater than the angle deviation upper limit value. If it is greater than the angle deviation upper limit value, generate negative feedback information, and adjust the taxiing angle in the opposite direction according to the negative feedback information; If it is less than the upper limit of the angle deviation, the angle deviation is compared with the lower limit, and positive feedback information is generated, and the sliding angle is positively adjusted according to the positive feedback information.

6. The method for dynamic control of the taxiing state of an unmanned aerial vehicle according to claim 5, characterized in that: If the above is greater than, then correction information is generated, and the aircraft taxiing parameters are adjusted according to the correction information, specifically: Obtain meteorological information, and generate wind speed information and wind direction information based on the meteorological information; Comparing the wind speed information with the aircraft taxiing speed information to obtain first aircraft drag information; Comparing the wind direction information with the aircraft taxiing state information to obtain second aircraft drag information; Superimposing the first aircraft drag information and the second aircraft drag information to obtain total aircraft drag information; Calculate aircraft taxiing state change information based on total aircraft drag information; Generate aircraft taxiing adjustment information according to aircraft taxiing state change information; The aircraft's taxiing parameters are adjusted in real time based on the aircraft's taxiing adjustment information.

7. A dynamic control system for the taxiing state of an unmanned aerial vehicle, characterized in that: The system comprises: a memory and a processor, wherein the memory comprises a program of a method for dynamically controlling a taxiing state of an unmanned aircraft, and when the program of the method for dynamically controlling a taxiing state of an unmanned aircraft is executed by the processor, the following steps are implemented: Acquire aircraft taxiing status information, pre-process the aircraft taxiing status information, and obtain optimized taxiing status information; Compare the optimized sliding state information with the preset state information to obtain the state deviation rate; Determining whether the state deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater, correction information is generated and the aircraft taxiing parameters are adjusted according to the correction information; If it is less than, the aircraft taxiing status information is transmitted to the terminal for storage in a predetermined manner.

8. The unmanned aerial vehicle taxiing state dynamic control system according to claim 7, characterized in that: The obtaining of the aircraft taxiing state information and preprocessing of the aircraft taxiing state information to obtain optimized taxiing state information are specifically as follows: Acquire aircraft taxiing state information, extract aircraft taxiing state characteristics and calculate aircraft taxiing state characteristic values; Calculate a eigenvector based on the eigenvalues ​​of the aircraft taxiing state; Calculate the angle between the eigenvector and the preset vector to obtain the vector angle; Determining whether the vector angle is greater than or equal to a preset vector angle; If it is greater than or equal to, the corresponding aircraft taxiing state feature is eliminated; If it is less than, the corresponding aircraft taxiing state characteristics are retained and the optimized aircraft taxiing state information is obtained.

9. The unmanned aerial vehicle taxiing state dynamic control system according to claim 8, characterized in that: If the above value is less than , after calculating the friction information between the aircraft and the ground during the taxiing process according to the taxiing speed information of the aircraft, the method further includes: Obtaining the friction information between the aircraft and the ground during taxiing, decomposing the friction information, and obtaining the taxiing angle of the aircraft during taxiing; Generate a taxiing direction of the aircraft according to a taxiing angle of the aircraft during taxiing; Comparing the taxiing direction of the aircraft with the preset taxiing direction, obtaining a taxiing angle deviation; Determine whether the sliding angle deviation is within a preset angle deviation range; If it is within the preset angle deviation range, it moves according to the current sliding speed; If it is not within the preset angle deviation range, the sliding angle is calculated and the steering angle of the slider roller is generated; An angle correction coefficient is generated according to the steering angle of the slider roller, and the angle correction coefficient is multiplied by the current steering angle of the slider roller to generate angle adjustment information; The aircraft's taxiing speed is dynamically adjusted based on the angle adjustment information.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a method program for dynamically controlling the taxiing state of an unmanned aerial vehicle. When the method program for dynamically controlling the taxiing state of an unmanned aerial vehicle is executed by a processor, the steps of the method for dynamically controlling the taxiing state of an unmanned aerial vehicle according to any one of claims 1 to 6 are implemented.

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