Unmanned aircraft stability control method and system and medium

Abstract

The embodiment of the invention provides an unmanned aircraft stability control method and system and a medium, and the method comprises the steps: obtaining the flight state information of an aircraft, comparing the flight state information of the aircraft with a preset state, and obtaining 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, flight mode switching information is generated, water forced landing of the aircraft is controlled according to the flight mode switching information, and water floating information is obtained; aircraft floating attitude information is obtained according to the water floating information, and floating parameters of the aircraft are corrected in real time according to the aircraft floating attitude information; if the deviation rate is smaller than the preset deviation rate threshold value, fault information is generated, flight parameters of the aircraft are adjusted according to the fault information, real-time control over the stability of the aircraft is achieved by analyzing the floating attitude of the aircraft, and the control precision and flexibility are improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft control, and more particularly, to a method, system and medium for stabilizing the control of an unmanned aircraft. Background Art

[0002] During the use of unmanned aircraft, sudden situations often occur. For example, when flying over the sea and facing forced landing, precise control of the aircraft is required to ensure that the unmanned aircraft switches its operating state and realizes floating control on water. During the floating process on water, it is easy for the aircraft to have poor stability due to strong winds and large waves, making it difficult to control the aircraft to float stably and causing the aircraft to be difficult to float and travel. In view of the above problems, effective technical solutions are urgently needed. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, system and medium for stabilizing the control of an unmanned aircraft, which can realize real-time control of the aircraft stability by analyzing the floating attitude of the aircraft and improve the control accuracy and flexibility.

[0004] The embodiments of the present application also provide a method for stabilizing the control of an unmanned aircraft, including:

[0005] Obtain the flight state information of the aircraft, compare the flight state information of the aircraft with a preset state, and obtain a state deviation rate;

[0006] Judge whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0007] If it is greater than or equal to, generate flight mode switching information, control the aircraft to make a water landing according to the flight mode switching information, and obtain water floating information;

[0008] Obtain the floating attitude information of the aircraft according to the water floating information, and perform real-time correction on the floating parameters of the aircraft according to the floating attitude information of the aircraft;

[0009] If it is less than the preset deviation rate threshold, generate fault information and adjust the flight parameters of the aircraft according to the fault information.

[0010] Optionally, in the method for stabilizing the control of an unmanned aircraft described in the embodiments of the present application, the obtaining of the flight state information of the aircraft, comparing the flight state information of the aircraft with a preset state, and obtaining a state deviation rate are specifically:

[0011] Obtain the flight pitch angle and flight speed of the aircraft, and judge the first flight state deviation of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft and comparing them with the preset angle and speed.

[0012] Obtain the current meteorological information and generate aircraft drag information based on the current meteorological information;

[0013] Calculate the superimposed information of the aircraft flight pitch angle and flight speed based on the aircraft drag information, and generate the second flight state deviation of the aircraft;

[0014] Perform weighted coefficient addition on the first flight state deviation and the second flight state deviation to obtain the final aircraft flight state deviation.

[0015] Optionally, in the unmanned aircraft stability control method described in the embodiments of the present application, the obtaining of the aircraft flight pitch angle and flight speed, and the determination of the first flight state deviation of the aircraft by analyzing the aircraft flight pitch angle and flight speed and the preset angle and speed are specifically as follows:

[0016] Obtain the first pitch angle and the second pitch angle of the aircraft at the first time node and the second time node respectively;

[0017] Calculate the angle difference between the first pitch angle and the second pitch angle, and divide the angle difference by the time difference between the first time node and the second time node to obtain the first pitch angle change rate;

[0018] Calculate the first weight coefficient according to the first pitch angle change rate, and multiply the first weight coefficient by the first flight state deviation to generate an optimized first flight state deviation.

[0019] Optionally, in the unmanned aircraft stability control method described in the embodiments of the present application, the calculating of the superimposed information of the aircraft flight pitch angle and flight speed based on the aircraft drag information, and the generating of the second flight state deviation of the aircraft are specifically as follows:

[0020] Calculate the feedback information of the aircraft flight pitch angle according to the meteorological information;

[0021] Calculate the difference between the feedback information and the preset information;

[0022] Judge whether the difference is positive;

[0023] If it is positive, generate positive feedback information, positively adjust the aircraft flight pitch angle according to the positive feedback information, and generate a second weight coefficient;

[0024] If it is negative, generate negative feedback information, negatively adjust the aircraft flight pitch angle and flight speed according to the negative feedback information, and generate a third weight coefficient;

[0025] Perform weighted calculation on the second weight coefficient through the third weight coefficient to generate an optimized second weight coefficient;

[0026] Generate an optimized second flight state deviation by multiplying the optimized second weight coefficient by the second flight state deviation.

[0027] Optionally, in the unmanned aerial vehicle stability control method described in the embodiments of the present application, the controlling the aircraft to perform a water landing according to the flight mode switching information and obtaining the water floating information specifically includes:

[0028] Obtain the flight mode switching information, and generate pitch angle adjustment information and aircraft dive speed information according to the flight mode switching information;

[0029] Control the aircraft to land on the water surface according to the pitch angle adjustment information and the aircraft dive speed information;

[0030] Obtain the water floating attitude information and calculate the aircraft water floating state information;

[0031] Compare the aircraft water floating state information with the preset floating state information to obtain a floating deviation rate;

[0032] Determine whether the floating deviation rate is greater than or equal to a preset deviation rate threshold;

[0033] If it is greater than or equal to, adjust the aircraft pitch angle information and the aircraft dive speed information;

[0034] If it is less than, obtain the real-time water buoyancy information of the aircraft.

[0035] Optionally, in the unmanned aerial vehicle stability control method described in the embodiments of the present application, after obtaining the real-time water buoyancy information of the aircraft, it further includes:

[0036] Obtain the real-time water buoyancy information of the aircraft, perform a difference calculation by subtracting the preset water buoyancy information from the water buoyancy information to obtain a buoyancy difference;

[0037] If the buoyancy difference is positive, it is determined that the water buoyancy information is greater than the preset water buoyancy, then generate a first correction information, and correct the water buoyancy information according to the first correction information;

[0038] If the buoyancy difference is negative, it is determined that the water buoyancy information is less than the preset water buoyancy, then generate a second correction information, and correct the water buoyancy information according to the second correction information;

[0039] If the buoyancy difference is zero, decompose the water buoyancy in the direction to obtain floating direction information, and optimize the aircraft water floating attitude information according to the floating direction information.

[0040] Second aspect, an embodiment of the present application provides an unmanned aerial vehicle stability control system, which includes: a memory and a processor. The memory includes a program for the unmanned aerial vehicle stability control method. When the program for the unmanned aerial vehicle stability control method is executed by the processor, the following steps are implemented:

[0041] Obtain the flight state information of the aircraft, compare the flight state information of the aircraft with a preset state, and obtain a state deviation rate;

[0042] Determine whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0043] If it is greater than or equal to, generate flight mode switching information, control the aircraft to perform a water landing according to the flight mode switching information, and obtain water floating information;

[0044] Obtain the floating attitude information of the aircraft according to the water floating information, and perform real-time correction on the floating parameters of the aircraft according to the floating attitude information of the aircraft;

[0045] If it is less than the preset deviation rate threshold, generate fault information, and adjust the flight parameters of the aircraft according to the fault information.

[0046] Optionally, in the unmanned aerial vehicle stability control system described in the embodiment of the present application, the obtaining of the flight state information of the aircraft, comparing the flight state information of the aircraft with a preset state, and obtaining a state deviation rate is specifically:

[0047] Obtain the flight pitch angle and flight speed of the aircraft, and judge the first flight state deviation of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft with preset angles and speeds;

[0048] Obtain the current meteorological information, and generate aircraft resistance information according to the current meteorological information;

[0049] Calculate the superimposed information of the flight pitch angle and flight speed of the aircraft according to the aircraft resistance information, and generate the second flight state deviation of the aircraft;

[0050] Perform weighted coefficient addition on the first flight state deviation and the second flight state deviation to obtain the final flight state deviation of the aircraft.

[0051] Optionally, in the unmanned aerial vehicle stability control system described in the embodiment of the present application, the obtaining of the flight pitch angle and flight speed of the aircraft, and judging the first flight state deviation of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft with preset angles and speeds is specifically:

[0052] Obtain the first pitch angle and the second pitch angle of the aircraft at the first time node and the second time node respectively;

[0053] Calculate the angular difference between the first pitch angle and the second pitch angle, and divide the angular difference by the time difference between the first time node and the second time node to obtain the first pitch angle change rate;

[0054] Calculate the first weight coefficient according to the first pitch angle change rate, and multiply the first weight coefficient by the first flight state deviation to generate an optimized first flight state deviation.

[0055] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a program for the method of stabilizing the control of an unmanned aerial vehicle. When the program for the method of stabilizing the control of an unmanned aerial vehicle is executed by a processor, the steps of the method of stabilizing the control of an unmanned aerial vehicle as described in any one of the above are implemented.

[0056] As can be seen from the above, an unmanned aerial vehicle stabilization control method, system and medium provided by an embodiment of the present application obtain aircraft flight state information, compare the aircraft flight state information with a preset state to obtain a state deviation rate; determine whether the state deviation rate is greater than or equal to a preset deviation rate threshold; if it is greater than or equal to, generate flight mode switching information, control the aircraft to make a water landing according to the flight mode switching information, and obtain water floating information; obtain aircraft floating attitude information according to the water floating information, and perform real-time correction on the floating parameters of the aircraft according to the aircraft floating attitude information; if it is less than the preset deviation rate threshold, generate a fault information, adjust the flight parameters of the aircraft according to the fault information, and realize real-time control of the stability of the aircraft by analyzing the floating attitude of the aircraft, improving the control accuracy and flexibility technology.

[0057] 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 by the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1 It is a flowchart of the method for stabilizing the control of an unmanned aerial vehicle provided by an embodiment of the present application;

[0060] Figure 2It is the flowchart for the final analysis of the aircraft flight state deviation of the unmanned aircraft stable control method provided by the embodiments of this application;

[0061] Figure 3 It is the first flowchart for calculating the flight state deviation of the unmanned aircraft stable control method provided by the embodiments of this application;

[0062] Figure 4 It is the schematic structural diagram of the unmanned aircraft stable control system provided by the embodiments of this application. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Usually, the components of the embodiments of this application described and illustrated here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application that is required to be protected, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0064] It should be noted that similar reference numerals and letters indicate 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 this application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0065] Please refer to Figure 1 , Figure 1 which is the flowchart of a method for stabilizing the control of an unmanned aircraft in some embodiments of this application. This method for stabilizing the control of an unmanned aircraft is used in a terminal device. The method for stabilizing the control of an unmanned aircraft includes the following steps:

[0066] S101, Obtain the aircraft flight state information, compare the aircraft flight state information with a preset state, and obtain the state deviation rate;

[0067] S102, Determine whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0068] S103, If it is greater than or equal to, generate flight mode switching information, control the aircraft to make a water landing according to the flight mode switching information, and obtain water floating information;

[0069] S104. Obtain the floating attitude information of the aircraft based on the water floating information, and perform real-time correction on the floating parameters of the aircraft according to the floating attitude information of the aircraft;

[0070] S105. If it is less than the preset deviation rate threshold, generate a fault message and adjust the flight parameters of the aircraft according to the fault message.

[0071] It should be noted that by analyzing and judging the flight state of the aircraft, different flight modes are switched according to different flight states of the aircraft to achieve the safety of the forced landing of the aircraft. In addition, when the aircraft makes a water landing, the floating attitude of the aircraft is obtained for analysis and correction to ensure the safe and stable floating of the aircraft.

[0072] Please refer to Figure 2 , Figure 2 is the final aircraft flight state deviation analysis flowchart of a method for stabilizing the control of an unmanned aircraft in some embodiments of the present application. According to an embodiment of the present invention, aircraft flight state information is obtained, and the aircraft flight state information is compared with a preset state to obtain a state deviation rate. Specifically:

[0073] S201. Obtain the flight pitch angle and flight speed of the aircraft, and judge the first flight state deviation of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft and comparing them with the preset angle and speed;

[0074] S202. Obtain the current meteorological information and generate aircraft resistance information according to the current meteorological information;

[0075] S203. Calculate the superimposed information of the flight pitch angle and flight speed of the aircraft according to the aircraft resistance information, and generate the second flight state deviation of the aircraft;

[0076] S204. Perform weighted coefficient addition on the first flight state deviation and the second flight state deviation to obtain the final aircraft flight state deviation.

[0077] It should be noted that by performing weighted addition on the flight state deviation of the aircraft, the optimized aircraft flight state deviation can be calculated, and the flight state of the aircraft can be effectively controlled and adjusted.

[0078] Please refer to Figure 3 , Figure 3 is the first flight state deviation calculation flowchart of a method for stabilizing the control of an unmanned aircraft in some embodiments of the present application. According to an embodiment of the present invention, the flight pitch angle and flight speed of the aircraft are obtained, and the first flight state deviation of the aircraft is judged by analyzing the flight pitch angle and flight speed of the aircraft and comparing them with the preset angle and speed. Specifically:

[0079] S301. Obtain the first pitch angle and the second pitch angle of the aircraft at the first time node and the second time node respectively;

[0080] S302. Calculate the angle difference between the first pitch angle and the second pitch angle, and divide the angle difference by the time difference between the first time node and the second time node to obtain the first pitch angle change rate;

[0081] S303. Calculate the first weight coefficient according to the first pitch angle change rate, and multiply the first weight coefficient by the first flight state deviation to generate an optimized first flight state deviation.

[0082] According to the embodiment of the present invention, calculate the superimposed information of the flight pitch angle and the flight speed of the aircraft based on the aircraft resistance information, and generate the second flight state deviation of the aircraft, specifically:

[0083] Calculate the feedback information of the flight pitch angle of the aircraft according to the meteorological information;

[0084] Perform a difference calculation between the feedback information and the preset information;

[0085] Judge whether the difference is positive;

[0086] If it is positive, generate positive feedback information, positively adjust the flight pitch angle of the aircraft according to the positive feedback information, and generate a second weight coefficient;

[0087] If it is negative, generate negative feedback information, negatively adjust the flight pitch angle and the flight speed of the aircraft according to the negative feedback information, and generate a third weight coefficient;

[0088] Perform a weighted calculation on the second weight coefficient through the third weight coefficient to generate an optimized second weight coefficient;

[0089] Multiply the optimized second weight coefficient by the second flight state deviation to generate an optimized second flight state deviation.

[0090] It should be noted that different pitch angles will generate different feedback information, and weight calculations are performed on the pitch angle of the aircraft according to different feedback information, so as to calculate the optimized flight state deviation more flexibly.

[0091] According to the embodiment of the present invention, control the aircraft to perform a water landing according to the flight mode switching information, and obtain the water floating information, specifically:

[0092] Obtain the flight mode switching information, and generate the pitch angle adjustment information and the aircraft dive speed information according to the flight mode switching information;

[0093] Control the aircraft to land on the water surface according to the pitch angle adjustment information and the aircraft dive speed information;

[0094] Obtain the information of the floating attitude on water to calculate the information of the floating state of the aircraft on water;

[0095] Compare the information of the floating state of the aircraft on water with the preset floating state information to obtain the floating deviation rate;

[0096] Judge whether the floating deviation rate is greater than or equal to the preset deviation rate threshold;

[0097] If it is greater than or equal to, adjust the pitch angle information and the dive speed information of the aircraft;

[0098] If it is less than, obtain the real-time water buoyancy information of the aircraft.

[0099] It should be noted that during the landing process of the aircraft, the angles between different pitch angles and the water surface are different. Different angles will cause the aircraft to hit the water surface at different positions, and different angles will also cause different impact forces. By precisely controlling the pitch angle during the landing process of the aircraft, the angle between the aircraft and the water surface is controlled, so as to ensure that the aircraft can land safely on the water surface and improve the landing safety of the aircraft.

[0100] According to the embodiment of the present invention, after obtaining the real-time water buoyancy information of the aircraft, it further includes:

[0101] Obtain the real-time water buoyancy information of the aircraft, subtract the preset water buoyancy information for difference calculation to obtain the buoyancy difference;

[0102] If the buoyancy difference is positive, it is determined that the water buoyancy information is greater than the preset water buoyancy, then generate the first correction information and correct the water buoyancy information according to the first correction information;

[0103] If the buoyancy difference is negative, it is determined that the water buoyancy information is less than the preset water buoyancy, then generate the second correction information and correct the water buoyancy information according to the second correction information;

[0104] If the buoyancy difference is zero, decompose the water buoyancy in the direction to obtain the floating direction information, and optimize the floating attitude information of the aircraft on water according to the floating direction information.

[0105] It should be noted that by decomposing the water buoyancy information in the direction, judging the deviation of the water buoyancy, and calculating the floating direction, the floating attitude of the aircraft on water can be corrected and adjusted according to the floating direction.

[0106] According to the embodiment of the present invention, it further includes:

[0107] Obtain the landing dive speed of the aircraft, and calculate the dive force of the aircraft landing on the water surface based on the landing dive speed of the aircraft and the altitude of the aircraft;

[0108] Calculate the impact pressure between the aircraft and the water surface according to the dive force;

[0109] Determine whether the impact pressure is greater than or equal to a preset pressure value;

[0110] If it is greater, adjust the landing dive speed;

[0111] If it is less, control the aircraft to descend at the current landing dive speed.

[0112] It should be noted that when the aircraft contacts the water surface during the landing process, a certain impact will be generated. By judging whether the impact force is within the safe range, the aircraft can be ensured to land safely on the water surface, improving the stable control effect of the aircraft.

[0113] Please refer to Figure 4 , Figure 4 is a schematic structural diagram of a stable control system for an unmanned aircraft in some embodiments of the present application. Second, the embodiments of the present application provide a stable control system 4 for an unmanned aircraft. The system includes: a memory 41 and a processor 42. The memory 41 includes a program for the stable control method of the unmanned aircraft. When the program for the stable control method of the unmanned aircraft is executed by the processor, the following steps are implemented:

[0114] Obtain the flight state information of the aircraft, compare the flight state information of the aircraft with a preset state, and obtain a state deviation rate;

[0115] Determine whether the state deviation rate is greater than or equal to a preset deviation rate threshold;

[0116] If it is greater than or equal to, generate flight mode switching information, control the aircraft to perform a water landing according to the flight mode switching information, and obtain water floating information;

[0117] Obtain the floating attitude information of the aircraft according to the water floating information, and perform real-time correction on the floating parameters of the aircraft according to the floating attitude information of the aircraft;

[0118] If it is less than the preset deviation rate threshold, generate fault information, and adjust the flight parameters of the aircraft according to the fault information.

[0119] According to the embodiments of the present invention, obtaining the flight state information of the aircraft, comparing the flight state information of the aircraft with a preset state, and obtaining a state deviation rate specifically means:

[0120] Obtain the aircraft's flight pitch angle and flight speed, and judge the first flight state deviation of the aircraft by analyzing the aircraft's flight pitch angle and flight speed against preset angles and speeds;

[0121] Obtain the current meteorological information and generate aircraft resistance information based on the current meteorological information;

[0122] Calculate the superimposed information of the aircraft's flight pitch angle and flight speed based on the aircraft resistance information to generate the second flight state deviation of the aircraft;

[0123] Perform weighted coefficient addition on the first flight state deviation and the second flight state deviation to obtain the final flight state deviation of the aircraft.

[0124] According to the embodiments of the present invention, obtaining the aircraft's flight pitch angle and flight speed, and judging the first flight state deviation of the aircraft by analyzing the aircraft's flight pitch angle and flight speed against preset angles and speeds, specifically:

[0125] Obtain the first pitch angle and the second pitch angle of the aircraft at the first time node and the second time node respectively;

[0126] Calculate the angle difference between the first pitch angle and the second pitch angle, and divide the angle difference by the time difference between the first time node and the second time node to obtain the first pitch angle change rate;

[0127] Calculate the first weight coefficient based on the first pitch angle change rate, and multiply the first weight coefficient by the first flight state deviation to generate an optimized first flight state deviation.

[0128] According to the embodiments of the present invention, calculating the superimposed information of the aircraft's flight pitch angle and flight speed based on the aircraft resistance information to generate the second flight state deviation of the aircraft, specifically:

[0129] Calculate the feedback information of the aircraft's flight pitch angle based on the meteorological information;

[0130] Perform a difference calculation between the feedback information and the preset information;

[0131] Judge whether the difference is positive;

[0132] If it is positive, generate positive feedback information, make a positive adjustment to the aircraft's flight pitch angle according to the positive feedback information, and generate a second weight coefficient;

[0133] If it is negative, generate negative feedback information, make a negative adjustment to the aircraft's flight pitch angle and flight speed according to the negative feedback information, and generate a third weight coefficient;

[0134] The second weight coefficient is weighted by a third weight coefficient to generate an optimized second weight coefficient;

[0135] The optimized second flight state deviation is generated by multiplying the optimized second weight coefficient by the second flight state deviation.

[0136] It should be noted that different pitch angles will generate different feedback information. The pitch angle of the aircraft is weighted according to different feedback information, so as to calculate the optimized flight state deviation more flexibly.

[0137] According to an embodiment of the present invention, the aircraft is controlled to perform a water landing according to the flight mode switching information, and the water floating information is obtained, specifically:

[0138] Obtain the flight mode switching information, and generate the pitch angle adjustment information and the aircraft dive speed information according to the flight mode switching information;

[0139] Control the aircraft to land on the water surface according to the pitch angle adjustment information and the aircraft dive speed information;

[0140] Obtain the water floating attitude information to calculate the aircraft water floating state information;

[0141] Compare the aircraft water floating state information with the preset floating state information to obtain the floating deviation rate;

[0142] Judge whether the floating deviation rate is greater than or equal to the preset deviation rate threshold;

[0143] If it is greater than or equal to, adjust the aircraft pitch angle information and the aircraft dive speed information;

[0144] If it is less than, obtain the real-time water buoyancy information of the aircraft.

[0145] It should be noted that during the landing process of the aircraft, the angles between different pitch angles and the water surface are different. Different angles will cause the aircraft to hit the water surface at different positions, and different angles will also cause different impact forces. By precisely controlling the pitch angle during the landing process of the aircraft, the angle between the aircraft and the water surface is controlled, so as to ensure that the aircraft can land on the water surface safely and improve the landing safety of the aircraft.

[0146] According to an embodiment of the present invention, after obtaining the real-time water buoyancy information of the aircraft, it further includes:

[0147] Obtain the real-time water buoyancy information of the aircraft, subtract the preset water buoyancy information from the water buoyancy information for difference calculation to obtain the buoyancy difference;

[0148] If the buoyancy difference is positive, it is determined that the buoyancy information on water is greater than the preset buoyancy on water, and then the first correction information is generated, and the buoyancy information on water is corrected according to the first correction information;

[0149] If the buoyancy difference is negative, it is determined that the buoyancy information on water is less than the preset buoyancy on water, and then the second correction information is generated, and the buoyancy information on water is corrected according to the second correction information;

[0150] If the buoyancy difference is zero, the buoyancy on water is decomposed in the direction to obtain the floating direction information, and the floating attitude information of the aircraft on water is optimized according to the floating direction information.

[0151] It should be noted that by decomposing the buoyancy information on water in the direction, judging the deviation of the buoyancy on water, and calculating the floating direction, the floating attitude of the aircraft on water can be corrected and adjusted according to the floating direction.

[0152] According to an embodiment of the present invention, it further includes:

[0153] Obtain the landing dive speed of the aircraft, and calculate the dive force of the aircraft landing on the water surface according to the landing dive speed of the aircraft and the height of the aircraft;

[0154] Calculate the impact pressure between the aircraft and the water surface according to the dive force;

[0155] Judge whether the impact pressure is greater than or equal to the preset pressure value;

[0156] If it is greater, adjust the landing dive speed;

[0157] If it is less, control the aircraft to descend at the current landing dive speed.

[0158] It should be noted that when the aircraft contacts the water surface during the landing process, a certain impact will be generated. By judging whether the impact force is within the safe range, the aircraft can land on the water surface safely, improving the stable control effect of the aircraft.

[0159] A third aspect of the present invention provides a computer-readable storage medium, which includes a program for the stable control method of an unmanned aircraft. When the program for the stable control method of the unmanned aircraft is executed by a processor, the steps of the stable control method of the unmanned aircraft as described in any one of the above are realized.

[0160] A method, system and medium for stabilizing the control of an unmanned aircraft, which obtains the flight state information of the aircraft, compares the flight state information of the aircraft with a preset state to obtain a state deviation rate; determines whether the state deviation rate is greater than or equal to a preset deviation rate threshold; if it is greater than or equal to, generates flight mode switching information, controls the aircraft to make a water landing according to the flight mode switching information, and obtains water floating information; obtains the floating attitude information of the aircraft according to the water floating information, and makes real-time correction of the floating parameters of the aircraft according to the floating attitude information of the aircraft; if it is less than the preset deviation rate threshold, generates a fault information, adjusts the flight parameters of the aircraft according to the fault information, and realizes the real-time control of the stability of the aircraft by analyzing the floating attitude of the aircraft, and improves the control accuracy and flexibility technology.

[0161] 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 with each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0162] The units described above as separate components 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.

[0163] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0164] 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 aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The aforementioned storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0165] Alternatively, if the above integrated units of the present invention are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solutions of the embodiments of the present invention, in essence 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 can 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 aforementioned 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 stabilizing and controlling an unmanned aerial vehicle, characterized in that: include: Acquire aircraft flight status information, compare the aircraft flight status information with a preset status, and obtain a status deviation rate; Determining whether the state deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater than or equal to, then generate flight mode switching information, control the aircraft to make an emergency landing on water according to the flight mode switching information, and obtain water floating information; Acquire the aircraft floating attitude information according to the floating information on water, and make real-time corrections to the aircraft floating parameters according to the floating attitude information of the aircraft; If it is less than the preset deviation rate threshold, fault information is generated and the flight parameters of the aircraft are adjusted according to the fault information.

2. The unmanned aerial vehicle stability control method according to claim 1, characterized in that: The aircraft flight status information is obtained, and the aircraft flight status information is compared with a preset status to obtain a status deviation rate, specifically: Obtaining the flight pitch angle and flight speed of the aircraft, and determining the deviation of the first flight state of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft with the preset angle and speed; Obtain current weather information and generate aircraft resistance information based on the current weather information; Calculating the superposition information of the aircraft's flight pitch angle and flight speed according to the aircraft's drag information to generate a second flight state deviation of the aircraft; The first flight state deviation and the second flight state deviation are added by weight coefficient to obtain a final aircraft flight state deviation.

3. The unmanned aerial vehicle stability control method according to claim 1, characterized in that: The obtaining of the aircraft's flight pitch angle and flight speed, and determining the deviation of the aircraft's first flight state by analyzing the aircraft's flight pitch angle and flight speed with a preset angle and speed, are specifically as follows: Obtaining a first pitch angle and a second pitch angle of the aircraft at a first time node and a second time node respectively; Calculate the angle difference between the first pitch angle and the second pitch angle, and divide the angle difference by the time difference between the first time node and the second time node to obtain a first pitch angle change rate; A first weight coefficient is calculated according to the first pitch angle change rate, and the first flight state deviation is multiplied by the first weight coefficient to generate an optimized first flight state deviation.

4. The unmanned aerial vehicle stability control method according to claim 3, characterized in that: The superposition information of the aircraft's flight pitch angle and flight speed is calculated based on the aircraft's drag information to generate the aircraft's second flight state deviation, specifically: Calculate the feedback information of the aircraft's flight pitch angle based on meteorological information; Calculate the difference between the feedback information and the preset information; Determine whether the difference is positive; If it is positive, positive feedback information is generated, the flight pitch angle of the aircraft is positively adjusted according to the positive feedback information, and a second weight coefficient is generated; If it is negative, negative feedback information is generated, and the pitch angle and flight speed of the aircraft are negatively adjusted according to the negative feedback information, and a third weight coefficient is generated; Performing weighted calculation on the second weight coefficient by using the third weight coefficient to generate an optimized second weight coefficient; An optimized second flight state deviation is generated by multiplying the optimized second weight coefficient by the second flight state deviation.

5. The unmanned aerial vehicle stability control method according to claim 4, characterized in that: The controlling of the aircraft to make an emergency landing on water according to the flight mode switching information and obtaining the floating information on water is specifically as follows: Acquire flight mode switching information, and generate pitch angle adjustment information and aircraft dive speed information according to the flight mode switching information; Controlling the aircraft to land on the water surface according to the pitch angle adjustment information and the aircraft dive speed information; Obtaining floating posture information on water to calculate the floating state information of the aircraft on water; Comparing the floating state information of the aircraft on water with the preset floating state information to obtain the floating deviation rate; Determining whether the floating deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater than or equal to, adjust the aircraft pitch angle information and aircraft dive speed information; If it is less than, obtain the real-time water buoyancy information of the aircraft.

6. The unmanned aerial vehicle stability control method according to claim 5, characterized in that: After obtaining the real-time buoyancy information of the aircraft on water, the method further includes: Acquire the real-time buoyancy information of the aircraft on water, and calculate the difference between the buoyancy information on water and the preset buoyancy information on water to obtain the buoyancy difference; If the buoyancy difference is a positive value, it is determined that the above-water buoyancy information is greater than the preset above-water buoyancy, and first correction information is generated, and the above-water buoyancy information is corrected according to the first correction information; If the buoyancy difference is a negative value, it is determined that the above-water buoyancy information is less than the preset above-water buoyancy, and second correction information is generated, and the above-water buoyancy information is corrected according to the second correction information; If the buoyancy difference is zero, the buoyancy on the water is decomposed in direction to obtain the floating direction information, and the floating posture information of the aircraft on the water is optimized according to the floating direction information.

7. An unmanned aerial vehicle stability control system, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program of an unmanned aircraft stability control method, and when the program of the unmanned aircraft stability control method is executed by the processor, the following steps are implemented: Acquire aircraft flight status information, compare the aircraft flight status information with a preset status, and obtain a status deviation rate; Determining whether the state deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater than or equal to, then generate flight mode switching information, control the aircraft to make an emergency landing on water according to the flight mode switching information, and obtain water floating information; Acquire the aircraft floating attitude information according to the floating information on water, and make real-time corrections to the aircraft floating parameters according to the floating attitude information of the aircraft; If it is less than the preset deviation rate threshold, fault information is generated and the flight parameters of the aircraft are adjusted according to the fault information.

8. The unmanned aerial vehicle stability control system according to claim 7, characterized in that: The aircraft flight status information is obtained, and the aircraft flight status information is compared with a preset status to obtain a status deviation rate, specifically: Obtaining the flight pitch angle and flight speed of the aircraft, and determining the deviation of the first flight state of the aircraft by analyzing the flight pitch angle and flight speed of the aircraft with the preset angle and speed; Obtain current weather information and generate aircraft resistance information based on the current weather information; Calculating the superposition information of the aircraft's flight pitch angle and flight speed according to the aircraft's drag information to generate a second flight state deviation of the aircraft; The first flight state deviation and the second flight state deviation are added by weight coefficient to obtain a final aircraft flight state deviation.

9. The unmanned aerial vehicle stability control system according to claim 8, characterized in that: The obtaining of the aircraft's flight pitch angle and flight speed, and determining the deviation of the aircraft's first flight state by analyzing the aircraft's flight pitch angle and flight speed with a preset angle and speed, are specifically as follows: Obtaining a first pitch angle and a second pitch angle of the aircraft at a first time node and a second time node respectively; Calculate the angle difference between the first pitch angle and the second pitch angle, and divide the angle difference by the time difference between the first time node and the second time node to obtain a first pitch angle change rate; A first weight coefficient is calculated according to the first pitch angle change rate, and the first flight state deviation is multiplied by the first weight coefficient to generate an optimized first flight state deviation.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes an unmanned aerial vehicle stability control method program, and when the unmanned aerial vehicle stability control method program is executed by a processor, the steps of the unmanned aerial vehicle stability control method according to any one of claims 1 to 6 are implemented.

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