Aircraft landing method and device and electronic equipment

Abstract

The invention provides an aircraft landing method and device and electronic equipment, and the method is applied to an aircraft, and comprises the steps: obtaining the positions and speeds of at least two base stations disposed on a mobile platform; the real-time position of the target landing point is determined according to the positions of the at least two base stations and the relative position relation between the at least two base stations and the target landing point, and the real-time speed of the target landing point is determined according to the speeds of the at least two base stations; and generating a landing control instruction of the aircraft according to the real-time position of the target landing point and the real-time speed of the target landing point. In the implementation process of the scheme, the data is measured in real time through the at least two base stations arranged on the mobile platform, so that the aircraft does not depend on visual identification; and the aircraft can be ensured to accurately land on the mobile platform through the positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point.

Description

Technical Field

[0001] This application relates to the technical field of aircraft control and drone control. Specifically, it relates to an aircraft landing method, device, and electronic device. Background Art

[0002] Currently, the application scenarios of drone technology are becoming increasingly widespread and play an important role in fields such as river mapping, highway inspection, logistics distribution, and disaster relief. However, in some special scenarios, such as when a drone needs to land on a moving platform like a moving ship or vehicle, since the direction and position of the moving platform change continuously during travel, the position of the target landing point will also change accordingly. Taking the target landing point above the deck of a moving platform as an example, when the moving platform turns around or makes a turn, the drone may be unable to rely on visual recognition of the Marker due to fog obscuring the camera, making it difficult to accurately land on the moving platform. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide an aircraft landing method, device, and electronic device to improve the problem that it is difficult for an aircraft to accurately land on a moving platform.

[0004] The embodiments of this application provide an aircraft landing method applied to an aircraft, including: obtaining measurement data of at least two base stations set on a moving platform, where the measurement data includes: the self-position and self-speed of the base stations; determining the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determining the real-time speed of the target landing point according to the self-speeds of at least two base stations; generating a landing control instruction for the aircraft according to the real-time position and real-time speed of the target landing point. In the implementation process of the above solution, by setting at least two base stations on the moving platform to measure data in real time, the aircraft can, without relying on visual recognition, also determine the real-time position of the target landing point in real time and dynamically through the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point. This real-time position is the precise target position where the aircraft needs to land on the moving platform. Without relying on visual recognition, it can also ensure that the target landing point is always the correct position on the moving platform. Even if the moving platform is moving, the aircraft can accurately land on the moving platform.

[0005] Optionally, in the embodiments of the present application, obtaining measurement data of at least two base stations set on a mobile platform includes: receiving the measurement data sent by a remote controller, where the measurement data is sent by the at least two base stations to the remote controller respectively. In the traditional base station data acquisition process, professional equipment or complex deployment is usually required. However, in the implementation process of the above solution, by receiving the measurement data of the base stations through the remote controller, the data acquisition process is greatly simplified. As a lightweight terminal device, the remote controller can be conveniently deployed and used, reducing the hardware cost and deployment difficulty.

[0006] Optionally, in the embodiments of the present application, the relative position relationship includes: the target landing point divides the line segment between the self-positions of the two base stations into a preset ratio; determining the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point includes: calculating the proportional point position of the target landing point between the self-positions of the two base stations according to the preset ratio; determining the proportional point position as the real-time position of the target landing point.

[0007] In the implementation process of the above solution, by using the self-positions of the two base stations and the relative position relationship between them and the target landing point, the real-time position of the target landing point can be calculated more accurately. Compared with the single base station position estimation method, this proportional-based calculation method can reduce errors and improve the positioning accuracy. In the implementation process of the above solution, no complex hardware equipment or additional signal processing is required. Only the relative positions of the two base stations and the preset proportional relationship are needed, which means it can be applied to various different environments and scenarios. Whether it is indoor or outdoor, whether it is a static or dynamic target, effective positioning can be carried out. By simple proportional calculation, the position of the target landing point can be determined without complex triangulation or signal processing algorithms, reducing the computational complexity and consumption of computing resources, and improving the landing efficiency in scenarios with limited hardware resources or high real-time requirements.

[0008] Optionally, in the embodiments of the present application, the relative position relationship includes: the target landing point is located at the geometric center of the triangle formed by three base stations; determining the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point includes: calculating the geometric point position of the triangle according to the self-positions of the three base stations and the geometric center; determining the geometric point position of the triangle as the real-time position of the target landing point. In the implementation process of the above solution, high-precision positioning of the target landing point can be achieved by using the geometric center formed by three base stations. The position calculation of the geometric center is relatively simple, and it can effectively avoid the influence of single-point error on the positioning accuracy, thereby effectively improving the positioning accuracy. In addition, since this solution depends on the position information of multiple base stations, in the case where some base stations are interfered or the signal is lost, effective positioning can still be performed through the information of the remaining base stations. This redundant design enhances the anti-interference performance of the system.

[0009] Optionally, in the embodiments of the present application, generating a landing control instruction for the aircraft according to the real-time position and the real-time speed of the target landing point includes: determining whether the aircraft has reached the real-time position of the target landing point; if so, generating a landing control instruction according to the real-time position and the real-time speed of the target landing point, and the landing control instruction is used to control the aircraft to land on the mobile platform. In the implementation process of the above solution, by enabling the aircraft to track the movement of the target landing point in real time and generating corresponding landing control instructions according to the real-time position and speed of the aircraft, it means that the aircraft can still achieve precise landing when the target landing point is moving, greatly improving the adaptability and robustness of the system. In addition, by updating the position and speed of the target landing point in real time, the aircraft can make adjustments according to the latest data, thereby reducing the error caused by the movement of the target and improving the accuracy of landing, which is particularly important for scenarios where landing on a mobile platform is required, such as an unmanned aerial vehicle landing on a moving vehicle or ship, thus improving the landing accuracy of the unmanned aerial vehicle.

[0010] Optionally, in the embodiments of the present application, determining whether the aircraft has reached the real-time position of the target landing point includes: determining whether the aircraft has continuously flown within a preset area range for a preset duration, and the preset area range includes the target landing point; if so, confirming that the aircraft has reached the real-time position of the target landing point, otherwise, confirming that the aircraft has not reached the real-time position of the target landing point. In the implementation process of the above solution, by setting the preset area range and the continuous flight duration, the flight control system does not depend on whether the aircraft enters a certain fixed point, but takes into account the dynamic stability and position error range of the aircraft, and can tolerate the small position deviation of the aircraft to a certain extent, thereby improving the accuracy and reliability of landing.

[0011] Optionally, in the embodiments of the present application, generating a landing control instruction for the aircraft based on the real-time position and real-time speed of the target landing point includes: determining the real-time position and real-time speed of the target landing point as the feedback signal of the proportional integral derivative (PID) algorithm; generating a landing control instruction through the feedback signal of the PID algorithm, where the landing control instruction is used to control the aircraft to land on the moving platform. In the implementation process of the above solution, the PID algorithm can dynamically adjust according to the real-time position and speed of the target landing point, ensuring that the aircraft can respond to the changes of the moving platform in real time, thereby improving the accuracy of landing. In addition, the PID algorithm can automatically adjust the control parameters (proportional, integral, and derivative) to adapt to different flight conditions and the motion state of the moving platform, enabling the aircraft to land stably in various environments and improving the adaptability of the aircraft.

[0012] The embodiments of the present application also provide an aircraft landing method applied to an electronic device that communicates with the aircraft. The above aircraft landing method includes: obtaining measurement data of at least two base stations set on the moving platform, where the measurement data includes the self-position and self-speed of the base stations; determining the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determining the real-time speed of the target landing point according to the self-speeds of the at least two base stations, where the real-time position and real-time speed of the target landing point are used to generate a landing control instruction for the aircraft. In the implementation process of the above solution, by setting at least two base stations on the moving platform to measure data in real time, the aircraft can also dynamically determine the real-time position of the target landing point in real time through the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point without relying on visual recognition. This real-time position is the precise position on the moving platform where the aircraft needs to land. Without relying on visual recognition, it can also ensure that the target landing point is always the correct position on the moving platform. Even if the moving platform is moving, the aircraft can accurately land on the moving platform. Further, by obtaining the position and speed information of the target landing point in real time, the aircraft can independently generate a landing control instruction, reducing the dependence on an external control system. This autonomous decision-making ability not only improves the landing efficiency but also enhances the adaptability of the aircraft in a complex environment.

[0013] Optionally, in the embodiments of the present application, the electronic device is a remote controller; the aircraft landing method further includes: generating a landing control instruction according to the real-time position and real-time speed of the target landing point, and sending the generated landing control instruction to the aircraft; or, sending the real-time position and real-time speed of the target landing point to the aircraft, so that the aircraft generates a landing control instruction according to the real-time position and real-time speed of the target landing point. In the implementation process of the above solution, by receiving the measurement data of the base station through the remote controller, the data acquisition process is greatly simplified. As a lightweight terminal device, the remote controller can be conveniently deployed and used, reducing the hardware cost of components such as the data transmission system and the deployment difficulty of the data transmission system.

[0014] The embodiments of the present application further provide an aircraft landing system, including: a mobile platform and an aircraft; at least two base stations arranged on the mobile platform for collecting measurement data, where the measurement data includes: the self-position and self-speed of the base station; the aircraft is used to determine the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations; the aircraft is further used to generate a landing control instruction according to the real-time position and real-time speed of the target landing point.

[0015] Optionally, in the embodiments of the present application, the aircraft landing system further includes: a remote controller; the remote controller is used to send measurement data to the aircraft, and the measurement data is sent by at least two base stations to the remote controller respectively.

[0016] The embodiments of the present application further provide an aircraft landing device, which is applied to an aircraft and includes: a measurement data acquisition module, configured to acquire measurement data of at least two base stations arranged on a mobile platform, where the measurement data includes: the self-position and self-speed of the base station; a position and speed determination module, configured to determine the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations; a landing instruction generation module, configured to generate a landing control instruction for the aircraft according to the real-time position and real-time speed of the target landing point.

[0017] Optionally, in the embodiments of the present application, the measurement data acquisition module includes: a measurement data receiving sub-module, configured to receive the measurement data sent by the remote controller, and the measurement data is sent by at least two base stations to the remote controller respectively.

[0018] Optionally, in the embodiments of the present application, the relative position relationship includes: the target landing point divides the line segment between the self-positions of the two base stations into a preset ratio; the position and speed determination module includes: a ratio point position calculation sub-module, configured to calculate the ratio point position of the target landing point between the self-positions of the two base stations according to the preset ratio; a first real-time position determination sub-module, configured to determine the ratio point position as the real-time position of the target landing point.

[0019] Optionally, in the embodiments of the present application, the relative position relationship includes: the target landing point is located at the geometric center of the triangle formed by the three base stations; the position and speed determination module includes: a geometric point position calculation sub-module, configured to calculate the geometric point position of the triangle according to the self-positions of the three base stations and the geometric center; a second real-time position determination sub-module, configured to determine the geometric point position of the triangle as the real-time position of the target landing point.

[0020] Optionally, in the embodiments of the present application, the landing instruction generation module includes: a position arrival judgment sub-module, configured to judge whether the aircraft has reached the real-time position of the target landing point; a control instruction generation sub-module, configured to, if the aircraft has reached the real-time position of the target landing point, generate a landing control instruction according to the real-time position of the target landing point and the real-time speed of the target landing point, and the landing control instruction is used to control the aircraft to land on the mobile platform.

[0021] Optionally, in the embodiments of the present application, the position arrival judgment sub-module includes: a flight range and duration judgment unit, configured to judge whether the aircraft continuously flies within a preset area range for a preset duration, and the preset area range includes the target landing point; a real-time position arrival confirmation unit, configured to, if the aircraft continuously flies within the preset area range for the preset duration, confirm that the aircraft has reached the real-time position of the target landing point, otherwise, confirm that the aircraft has not reached the real-time position of the target landing point.

[0022] Optionally, in the embodiments of the present application, the control instruction generation sub-module includes: a feedback signal determination unit, configured to determine the real-time position of the target landing point and the real-time speed of the target landing point as the feedback signal of the proportional-integral-derivative (PID) algorithm; a landing instruction generation unit, configured to generate a landing control instruction through the feedback signal of the PID algorithm, and the landing control instruction is used to control the aircraft to land on the mobile platform.

[0023] The embodiment of the present application further provides an aircraft landing device, including: a measurement data acquisition module, configured to acquire measurement data of at least two base stations arranged on a mobile platform, where the measurement data includes: the self-position and self-speed of the base stations; a position and speed determination module, configured to determine the real-time position of a target landing point according to the self-positions of at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations, and the real-time position and real-time speed of the target landing point are used to generate a landing control instruction for the aircraft.

[0024] Optionally, in the embodiment of the present application, the electronic device on the mobile platform is a remote controller; the aircraft landing device further includes: a control instruction sending module, configured to generate a landing control instruction according to the real-time position and real-time speed of the target landing point, and send the generated landing control instruction to the aircraft; or, a position and speed sending module, configured to send the real-time position and real-time speed of the target landing point to the aircraft, so that the aircraft generates a landing control instruction according to the real-time position and real-time speed of the target landing point.

[0025] The embodiment of the present application further provides an electronic device, including: a processor and a memory, where the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are run by the processor, the above-described method is executed.

[0026] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the above-described method is executed.

[0027] The embodiment of the present application further provides a computer program product, including: a computer program or computer instructions, and when the computer program or computer instructions are run by a processor, the above-described method is executed. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0029] Figure 1 A schematic diagram showing the process of a drone landing on a mobile platform provided by a comparative example;

[0030] Figure 2 A schematic diagram showing the operation process of an aircraft landing system provided by the embodiment of the present application;

[0031] Figure 3 Schematic structural diagram of an aircraft landing system including a remote controller provided by an embodiment of the present application;

[0032] Figure 4 Schematic flow chart of an aircraft landing method applied to an aircraft provided by an embodiment of the present application;

[0033] Figure 5 Schematic flow chart of an aircraft landing method executed by an electronic device provided by an embodiment of the present application;

[0034] Figure 6 Schematic structural diagram of an aircraft landing device provided by an embodiment of the present application. Detailed implementation manners

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the embodiments of the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the embodiments of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flow charts used in the embodiments of the present application illustrate operations implemented according to some embodiments of the embodiments of the present application. It should be understood that the operations in the flow charts may not be implemented in sequence, and steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art may add one or more other operations to the flow chart or remove one or more operations from the flow chart under the guidance of the content of the embodiments of the present application.

[0036] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed embodiments of the present application, but merely represents selected embodiments of the present application.

[0037] It is understandable that the "first" and "second" in the embodiments of the present application are used to distinguish similar objects. Those skilled in the art can understand that the words such as "first" and "second" do not limit the quantity and execution order, and the words such as "first" and "second" do not necessarily limit being different. In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the front and back associated objects. The term "plural" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups).

[0038] Please refer to Figure 1 The schematic diagram showing the process of the drone landing on the mobile platform provided by the comparative example; in application scenarios such as river mapping, highway inspection, logistics distribution, and disaster relief, the drone needs to land while the mobile platform (such as a ship or a vehicle) is moving, rather than waiting for the platform to stop. For example, in a river mapping task, the ship can let the drone take off to perform the mapping task while sailing. After the drone completes the task, it usually lands directly on the deck of the ship that is sailing. It is understandable that before landing, the drone first needs to reach the landing point, which can be an aerial position point above a certain area set on the ship (for example, the deck with special graphic markings on the ship). However, due to the continuous change of the direction and position of the ship during navigation, the position of the landing point will also change accordingly. For example, when the ship turns around or turns in the fog, the drone may not be able to successfully identify the special graphic markings (such as Marker boards) on the deck due to the fog blocking the camera.

[0039] In the comparative example, after the drone reaches the landing point, it usually relies on the camera and the visual recognition system to identify the special graphic markings before landing. However, in the case of low visibility (such as fog), the drone may not be able to identify the special markings on the deck, thus unable to accurately determine the parking position of the drone. In some special cases, there is a long distance between the Marker board below the landing point and the base station. For example, the Marker board is set on the deck at the stern of the ship, while the base station is set in the cockpit at the bow of the ship, and the distance between the two is close to the length of a ship's hull. After the drone flies above the position of the base station, it does not know which direction to go next to reach the landing point. Therefore, when the mobile platform is moving (such as turning around or turning) and the drone's camera is blocked by fog, making it unable to rely on vision to identify the Marker board, it is difficult to accurately know the exact position where it should land.

[0040] To improve the above problems, please refer toFigure 2 Schematic diagram of the operation process of the aircraft landing system provided by the embodiment of the present application; such an aircraft landing system is a system for assisting an aircraft to land safely on a mobile platform. The main idea of this aircraft landing system is to set at least two base stations on the mobile platform. Such base stations can measure data in real time, enabling the aircraft to dynamically determine the real-time position of the target landing point in real time based on the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point without relying on visual recognition. The above-mentioned aircraft landing system may include: a mobile platform and an aircraft. The mobile platform is an object or device on which the aircraft needs to land and is moving. For example, in a disaster relief scenario, after the on-site shooting task is completed, a drone needs to land on a moving truck. Then the truck here can be understood as the above-mentioned mobile platform, and the drone can be understood as the aircraft. The aircraft here includes, for example: single-rotor drones, multi-rotor drones, hybrid-wing drones using rotors for lifting, etc.

[0041] At least two base stations set on the mobile platform are used to collect measurement data, and the measurement data includes: the self-position and self-speed of the base station. The above-mentioned mobile platform is, for example, a moving truck or a sailing ship. At least two base stations are installed on the truck or ship here to collect measurement data. Among them, the base stations in the embodiments of the present application may adopt Real-Time Kinematic (RTK) base stations, Global Positioning System (GPS) base stations, or Beidou Navigation Satellite (BDS) base stations, etc. The data measured by the base station may be information such as the self-position and self-speed collected by the base station. In the case where the base station is installed with a data transmission system, theoretically, it can directly communicate with the aircraft. In other words, the base station installed with a data transmission system can directly send the collected measurement data to the aircraft.

[0042] The aircraft is used to determine the real-time position of the target landing point based on the self-positions of at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and to determine the real-time speed of the target landing point based on the self-speeds of the at least two base stations. Herein, the target landing point is an aerial position point above the position where the aircraft needs to land on the mobile platform. For example, when a drone wants to land on the deck of a ship, it needs to fly above the deck first and then enter the landing phase to slowly land on the deck. The aerial position point above the deck can be understood as the above-mentioned target landing point. In addition to the position information, the above solution can also estimate the speed of the target landing point in real time, which is very crucial for the autonomous landing of the aircraft because the aircraft needs to adjust its flight trajectory and speed according to the dynamic changes of the target point to ensure a smooth and safe landing.

[0043] The above-mentioned aircraft is also used to generate a landing control instruction according to the real-time position of the target landing point and the real-time speed of the target landing point. The landing control instruction is an instruction generated by the aircraft according to the real-time position and speed of the target landing point, and this kind of landing control instruction is used to control the landing action of the aircraft. It can be understood that, compared with a single base station, a multi-base station system can effectively reduce the positioning error, especially in complex environments, such as in the case of multipath effects or signal occlusion. The above solution can achieve high-precision real-time positioning and speed estimation of the target landing point even on a mobile platform by using the measurement data fusion of at least two base stations set on the mobile platform, so as to generate an accurate landing control instruction.

[0044] Please refer to Figure 3 The structural schematic diagram of the aircraft landing system including a remote controller provided by the embodiment of the present application is shown; as an alternative implementation manner of the above-mentioned aircraft landing system, the aircraft landing system may further include a remote controller. This remote controller is a device capable of communicating with the base station and the aircraft, and is used to receive the measurement data respectively sent by the base stations to the remote controller, and send the measurement data collected by the base stations to the aircraft, and can also be used to send the above-mentioned landing control instruction to the aircraft.

[0045] The remote controller is used to send measurement data to the aircraft, and the measurement data is sent by at least two base stations to the remote controller respectively. In this case, the remote controller plays a relay role, sending the measurement data collected by the base stations to the aircraft to help the aircraft determine the target landing point. Specifically, for example: the base station sends the measurement data collected by the base station to the remote controller through Wireless Fidelity (Wi-Fi), and then the remote controller sends this measurement data to the drone through the data transmission system, so that the data transmission system of the remote controller can be directly reused, reducing the maintenance cost of the data transmission system and improving the adaptability of the drone landing scenario.

[0046] The following introduces the aircraft landing method provided by the embodiments of the present application. The aircraft landing method in the embodiments of the present application can be executed by an electronic device, where the electronic device includes: the above-mentioned aircraft, a remote controller, or a device set on a mobile platform, etc. These devices can all communicate with the base station set on the mobile platform directly or indirectly. Among them, the remote controller can be on the mobile platform (such as a moving ship). For example, when a person stands on the mobile platform and operates the remote controller, the remote controller is on the mobile platform at this time. Of course, in some scenarios, the remote controller may not be on the mobile platform (such as a moving unmanned ship). For example, when a person stands on the river bank and operates the remote controller, the remote controller is not on the mobile platform at this time. Specifically, theoretically, the aircraft can communicate with the base station equipped with a data transmission system. Similarly, the aircraft can communicate with the base station indirectly through the remote controller, and the remote controller can communicate with the base station directly. In some embodiments, the device set on the mobile platform can also communicate with the base station directly.

[0047] Please refer to Figure 4 the schematic flowchart of the aircraft landing method applied to an aircraft provided by the embodiments of the present application shown in; the following first introduces the aircraft landing method applied to an aircraft. The embodiments of the above-mentioned aircraft landing method may include:

[0048] Step S110: Obtain the measurement data of at least two base stations set on the mobile platform, where the measurement data includes: the self-position and self-speed of the base station.

[0049] The mobile platform refers to an object or device that can move. At least two base stations for collecting measurement data are set on the mobile platform. For example, an offshore oil drilling platform, an autonomous vehicle, or an aircraft carrier can all be regarded as a mobile platform. A certain regular shape can be formed between the above-mentioned at least two base stations. For example, two base stations form a line segment (such as Figure 2 base station 1 and base station 2 in), three base stations form a triangle (such as Figure 2 base station 2, base station 3, and base station 4 in), or four base stations form a quadrilateral such as a rectangle or a square (such as Figure 2The parallelogram formed by base stations 2, 5, 6, and 7). Such a base station can be a radio transmitter on the ground, which is used to provide measurement data such as its own position and its own speed. Among them, the own position of the base station refers to the specific position of the base station in a certain reference coordinate system. For example, if the base station is installed on a ship, the own position of the base station may be (X = 100, Y = 200, Z = 5), indicating that in a certain coordinate system, the base station is located at the position of 100 units on the X-axis, 200 units on the Y-axis, and 5 units on the Z-axis. The own speed of the base station refers to the moving speed of the base station within a certain time period, usually including the magnitude and direction of the speed. For example, if the base station is installed on a moving vehicle, the own speed of the base station may be (V x = 10, V y = 5, V z = 0), indicating that the speed of the base station in the X-axis direction is 10 units / second, the speed in the Y-axis direction is 5 units / second, and the speed in the Z-axis direction is 0 units / second.

[0050] Step S120: Determine the real-time position of the target landing point according to the own positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the own speeds of at least two base stations.

[0051] The target landing point refers to a specific location where the aircraft plans to land, usually a pre-specified location. It can be understood that the above-mentioned at least two base stations can form a certain regular shape, and the relative position relationship is the position relationship between the regular shape formed by the at least two base stations and the target landing point. This position relationship can be described by relative distance and direction. For example, the target landing point can be set as a special central position point in the regular shape. Specifically, for example: Suppose there are two base stations, then these two base stations can form a line segment, and the center point of this line segment can be determined as the target landing point. Of course, the one-third point or two-thirds point of this line segment can also be used as the target landing point, or the one-fourth point or three-fourths point of this line segment can be used as the target landing point. Another example: Suppose there are three base stations, then these three base stations can form a triangular shape, and the centroid, orthocenter, incenter or circumcenter of this triangle can be used as the target landing point. In special cases, if this triangle is an equilateral triangle, then the centroid, orthocenter, incenter and circumcenter are the same point (i.e., the center point), and at this time, the center point of the equilateral triangle can be used as the target landing point. Another example: Suppose there are four base stations. If these four base stations form a quadrilateral such as a rectangle or a square, the intersection point of the diagonals of the rectangle or square can be determined as the above-mentioned target landing point. In the above solutions, through the collaborative work of multiple base stations, even if a certain base station fails or the signal is lost, the system can still rely on the data of other base stations to maintain normal operation. This redundant design improves the robustness and reliability of the system and ensures the stable landing of the aircraft in a complex environment.

[0052] Step S130: Generate a landing control command for the aircraft according to the real-time position and real-time speed of the target landing point.

[0053] The real-time position refers to the specific position of an object at the current moment. For example, the real-time position of the target landing point may be (X = 120, Y = 220, Z = 10), indicating that the target landing point is located at the position of 120 units on the X-axis, 220 units on the Y-axis, and 10 units on the Z-axis at the current moment.

[0054] The real-time speed refers to the moving speed of an object at the current moment, usually including the magnitude and direction of the speed. For example, the real-time speed of the target landing point can be (V x = 5, V y = 10, V z = 1), indicating that the speed of the target landing point in the X-axis direction at the current moment is 5 units / second, the speed in the Y-axis direction is 10 units / second, and the speed in the Z-axis direction is 1 unit / second.

[0055] The landing control instruction refers to the instruction used to control the landing of an aircraft, which may include information such as the flight trajectory, speed, and altitude of the aircraft. For example, when a drone approaches the landing point, the landing control instruction may include "decelerate to 5 m / s, lower the altitude to 5 m, and adjust the heading to the due south direction".

[0056] It can be understood that the above solution can adapt to various mobile platforms. Whether it is a ground vehicle, a ship, or other mobile carriers, as long as there are multiple base stations on the platform, the aircraft can achieve autonomous landing. This flexibility enables this technology to be widely applied in various scenarios, such as the landing of a drone on a moving vehicle, the landing of a drone on a ship, etc.

[0057] In the implementation process of the above solution, by setting at least two base stations on the mobile platform to measure data in real time, the aircraft can, without relying on visual recognition, also determine the real-time position of the target landing point in real time and dynamically through the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point. This real-time position is the precise position where the aircraft needs to land on the mobile platform. Without relying on visual recognition, it can also ensure that the target landing point is always the correct position on the mobile platform. Even if the mobile platform is moving, the aircraft can accurately land on the mobile platform. Further, by obtaining the position and speed information of the target landing point in real time, the aircraft can autonomously generate landing control instructions, reducing the dependence on external control systems. This autonomous decision-making ability not only improves the landing efficiency but also enhances the adaptability of the aircraft in complex environments.

[0058] As an alternative implementation manner of the above step S110, the implementation manner of obtaining the measurement data of at least two base stations set on the mobile platform may include:

[0059] Step S111: Receive the measurement data sent by the remote controller, and the measurement data is sent by at least two base stations to the remote controller respectively.

[0060] The implementation manner of the above step S111 is, for example: at least two base stations set on the mobile platform send measurement data to the remote controller respectively, so that the remote controller acts as a relay to forward the measurement data. After the remote controller receives the measurement sent by the base station, it can send the measurement data to the aircraft, so that the aircraft can calculate the real-time position and real-time speed of the target landing point based on the measurement data. In traditional base station data acquisition, professional equipment or complex data transmission systems usually need to be deployed. However, in the implementation process of the above solution, by receiving the measurement data of the base station through the remote controller, the data acquisition process is greatly simplified. As a lightweight terminal device, the remote controller can be easily deployed and used, reducing the hardware cost of components such as the data transmission system and the deployment difficulty of the data transmission system.

[0061] As an alternative implementation of the above step S120, the above relative position relationship may include: the target landing point divides the line segment between the self-positions of the two base stations into a preset ratio; determining the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, this implementation may include:

[0062] Step S121: Calculate the ratio point position of the target landing point between the self-positions of the two base stations according to the preset ratio.

[0063] It can be understood that the above preset ratio can be 1 / 2 (i.e., the midpoint), 1 / 3 (i.e., the one-third point), 2 / 3 (i.e., the two-thirds point), 1 / 4 (i.e., the one-fourth point), 3 / 4 (i.e., the three-fourths point) or 1 / 5 (i.e., the one-fifth point), etc. Specifically, if the preset ratio is 1 / 2, the midpoint position of the target landing point between the self-positions of the two base stations can be calculated as the ratio point position. If the preset ratio is 1 / 3, the one-third point of the target landing point between the self-positions of the two base stations can be calculated as the ratio point position, and the same applies to other points. The above preset ratio can be adjusted according to actual needs, which means that the positioning accuracy can be optimized according to different application scenarios and target characteristics. This flexibility enables this solution to adapt to a variety of different application requirements.

[0064] The implementation manner of the above step S121 is, for example: To understand and facilitate the description of the specific calculation process of the ratio point position, here, taking the midpoint position of the target landing point between the self-positions of the two base stations as the ratio point position as an example for detailed description. The above two base stations are the first base station and the second base station, then the formula can be used to calculate the real-time position of the first base station and the real-time position of the second base station to obtain the ratio point position between the self-positions of the two base stations. Among them, L represents the ratio point position between the self-positions of the two base stations (i.e., the real-time position of the target landing point), l1 represents the real-time position of the first base station, and l2 represents the real-time position of the second base station. In the implementation process of the above solution, by using the self-positions of the two base stations and the relative position relationship between them and the target landing point, the real-time position of the target landing point can be calculated more accurately. Compared with the position estimation method of a single base station, this ratio-based calculation method can reduce errors and improve the positioning accuracy.

[0065] Step S122: Determine the ratio point position as the real-time position of the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations.

[0066] For example, in the implementation of step S122 above: after the aircraft calculates the midpoint position between the own positions of the two base stations of the target landing point, it can obtain the coordinates of this midpoint position and determine the coordinates of this midpoint position as the real-time position of the target landing point. For the purpose of understanding and facilitating the description of the specific calculation process of the proportional point speed, here, the midpoint speed between the own speeds of the two base stations of the target landing point is taken as an example of the proportional point speed for detailed description. The above two base stations are the first base station and the second base station. Then, according to the formula calculate the own speed of the first base station and the own speed of the second base station to obtain the real-time speed of the target landing point. Wherein, V represents the real-time speed of the target landing point, V1 represents the own speed of the first base station, and V2 represents the own speed of the second base station.

[0067] In addition to determining the coordinates of the midpoint position between the own positions of the two base stations as the real-time position of the target landing point, the coordinates of the one-third point position between the own positions of the two base stations can also be determined as the real-time position of the target landing point. In this case, the formula can be used to calculate the real-time position of the first base station and the real-time position of the second base station to obtain the proportional point position between the own positions of the two base stations. Wherein, L represents the proportional point position between the own positions of the two base stations (i.e., the real-time position of the target landing point), l1 represents the real-time position of the first base station, and l2 represents the real-time position of the second base station. Similarly, the speed of the one-third point between the own speeds of the two base stations can also be determined as the real-time speed of the target landing point. In this case, the formula can be used to calculate the real-time position of the first base station and the real-time position of the second base station to obtain the proportional point position between the own positions of the two base stations. Wherein, L represents the proportional point position between the own positions of the two base stations (i.e., the real-time position of the target landing point), l1 represents the real-time position of the first base station, and l2 represents the real-time position of the second base station.

[0068] In the implementation process of the above solution, no complex hardware equipment or additional signal processing is required. Only the relative positions of the two base stations and the preset proportional relationship are needed, which means it can be applied to various different environments and scenarios, whether indoor or outdoor, whether for static or dynamic targets, and can effectively perform positioning. Through simple proportional calculation, the position of the target landing point can be determined without complex triangulation or signal processing algorithms, reducing the calculation complexity and the consumption of computing resources, and improving the landing efficiency in scenarios with limited hardware resources or high real-time requirements. Further, since the calculation process is simple and depends on the relative position relationship, this solution can complete the position update of the target landing point in a short time and is applicable to application scenarios requiring real-time positioning, such as drone landing, autonomous driving, etc.

[0069] As another alternative implementation of the above step S120, the above relative position relationship may include: the target landing point is located at the geometric center of the triangle formed by three base stations; the above determining the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, this implementation may include:

[0070] Step S123: Calculate the geometric point position of the triangle according to the self-positions of the three base stations and the geometric center.

[0071] The implementation of the above step S123 is, for example: the above three base stations can form a triangular shape, and the above geometric center may refer to the centroid, orthocenter, incenter or circumcenter of the triangle, etc. Therefore, according to the self-positions of the three base stations and the geometric center, the centroid, orthocenter, incenter or circumcenter and other geometric center points of the triangle can be calculated, and the position of the geometric center point is obtained as the above geometric point position.

[0072] Step S124: Determine the geometric point position of the triangle as the real-time position of the target landing point.

[0073] The implementation of the above step S124 is, for example: after the aircraft calculates the geometric point position of the target landing point in the triangle, it can obtain the coordinates of the geometric point position of the triangle, and determine the coordinates of the geometric point position of the triangle as the real-time position of the target landing point. In the implementation process of the above solution, by using the geometric center formed by three base stations for positioning, high-precision positioning of the target landing point can be achieved. The position calculation of the geometric center is relatively simple, and it can effectively avoid the influence of single-point error on the positioning accuracy, thereby effectively improving the positioning accuracy.

[0074] As another alternative implementation of the above step S120, the above relative position relationship may include: the target landing point is located at the geometric center of the quadrilateral formed by four base stations. The above determining the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, this implementation may include: calculating the geometric point position of the quadrilateral according to the self-positions of the four base stations and the geometric center, and determining the geometric point position of the quadrilateral as the real-time position of the target landing point. The above quadrilateral includes: rectangle or square, etc., and the geometric point position of the quadrilateral may be the intersection point of the diagonals. In the implementation process of the above solution, since this solution relies on the position information of multiple base stations, in the case where some base stations are interfered or the signal is lost, effective positioning can still be performed through the information of the remaining base stations. This redundant design enhances the anti-interference performance of the system.

[0075] As an alternative implementation of the above step S130, the implementation of generating a landing control instruction for the aircraft based on the real-time position and real-time speed of the target landing point may include:

[0076] Step S131: Determine whether the aircraft has reached the real-time position of the target landing point.

[0077] It can be understood that the flight control system of the aircraft can determine in real time whether the aircraft has accurately reached the real-time position of the target landing point. Specifically, the aircraft can update its absolute position every 1 second through its own equipped GPS and / or lidar, etc., and compare its absolute position with the real-time position of the received target landing point to obtain the relative position between the aircraft and the target landing point.

[0078] Step S132: If the aircraft reaches the real-time position of the target landing point, generate a landing control instruction based on the real-time position and real-time speed of the target landing point, and this landing control instruction is used to control the aircraft to land on the mobile platform.

[0079] An implementation of the above step S132 is, for example: If the flight control system confirms that the aircraft has successfully reached the real-time position of the target landing point, a landing control instruction can be generated based on the real-time position and real-time speed of the target landing point. This landing control instruction can be dynamically adjusted to respond in real time to changes in the mobile platform, such as the platform's moving speed, direction, etc., to ensure that the aircraft can land on the mobile platform smoothly and efficiently. In traditional landing control, the operator or system needs to manually adjust the path and attitude of the aircraft to adapt to the movement of the target. And this solution simplifies this process by automatically generating control instructions, reduces the complexity of the operation, and improves the automation level of the system.

[0080] In the implementation process of the above solution, since the system can obtain the position and speed information of the target landing point in real time and immediately generate corresponding control instructions, the aircraft can quickly respond during the movement of the target, avoid missing the best landing opportunity, and improve the real-time performance and response speed of the aircraft's landing operation in a dynamic environment.

[0081] As an alternative implementation of the above step S131, the implementation of determining whether the aircraft has reached the real-time position of the target landing point may include:

[0082] Step S131a: Determine whether the aircraft has flown continuously within a preset area range for a preset duration, and the preset area range includes the target landing point.

[0083] An implementation manner of the above step S131a is as follows: For example, assume that there is a drone that needs to land at a designated target landing point, and this target landing point is within a preset area range. This preset area range can be a circular area centered on the target landing point with a radius of 1 meter, and the above preset duration can be 2 seconds. The flight control system of the aircraft can update its current position data every 1 second and calculate the distance between its current position and the target landing point. If the distance between the drone's position and the target landing point is less than 1 meter, the system will record this moment as the time point when it enters the preset area range. The flight control system continuously monitors the position of the drone. If the drone remains within the preset area range (i.e., the distance from the target landing point is less than 1 meter) for the next 2 seconds, it is determined that the drone has continuously flown within the preset area range for the preset duration.

[0084] Step S131b: If the aircraft continuously flies within the preset area range for the preset duration, confirm the real-time position of the aircraft when it reaches the target landing point.

[0085] An implementation manner of the above step S131b is as follows: If the drone continuously flies within the preset area range for 2 seconds, the flight control system will consider that the drone has reached the target landing point. Then, it will record the current GPS position and confirm that this is the real-time position of the drone when it reaches the target landing point. On this basis, the flight control system can further perform landing operations or other subsequent tasks.

[0086] Step S131c: If the aircraft does not continuously fly within the preset area range for the preset duration, confirm that the aircraft has not reached the real-time position of the target landing point.

[0087] An implementation manner of the above step S131c is as follows: If within 2 seconds, the drone leaves the preset area range (i.e., the distance from the target landing point exceeds 1 meter), or the drone stays within the preset area range for less than 2 seconds, the flight control system will determine that the drone has not reached the target landing point. The flight control system will record the current GPS position and confirm that the drone has not reached the real-time position of the target landing point. In this case, the flight control system may re-plan the path to guide the drone to try to approach the target landing point again. The traditional judgment method only depends on whether the aircraft enters a certain fixed coordinate of the target landing point. The traditional judgment method is prone to misjudgment when the aircraft is affected by external factors such as wind force and air flow. Through the above solution of setting the continuous flight duration, the system can ensure the stable state of the aircraft within the target area and avoid misjudgment caused by instantaneous position deviation. When the aircraft approaches the target landing point, it may be affected by various external interferences, such as wind speed changes and air resistance. In the implementation process of the above solution, by continuously monitoring the state of the aircraft within the preset area range, the system can better adapt to these interference factors, enhance the robustness of the system, and ensure the stability and safety of the landing process.

[0088] As an alternative implementation of the above step S130, generating a landing control instruction for the aircraft based on the real-time position and real-time speed of the target landing point includes:

[0089] Step S133: Determine the real-time position and real-time speed of the target landing point as the feedback signal of the proportional integral derivative (PID) algorithm.

[0090] Step S134: Generate a landing control instruction through the feedback signal of the PID algorithm, where the landing control instruction is used to control the aircraft to land on the mobile platform.

[0091] For example, in the implementation of the above steps S133 to S134: The flight control system can first determine the position deviation between the current position of the aircraft and the real-time position of the target landing point, and determine the speed deviation between the current speed of the aircraft and the real-time speed of the target landing point through the PID algorithm. Then, a first landing control instruction is generated based on the position deviation and speed deviation. The first landing control instruction is proportional to the position deviation and speed deviation and is used to adjust the attitude and thrust of the aircraft. Or, a second landing control instruction is generated based on the cumulative deviation determined from the historical values of the position deviation and speed deviation. The second landing control instruction is proportional to the cumulative deviation and is used to eliminate the steady-state error. Or, a third landing control instruction is generated based on the rate of change of the position deviation and the rate of change of the speed deviation. The third landing control instruction is proportional to the rate of change of the deviation and is used to suppress the oscillation phenomenon that occurs during the flight of the unmanned aircraft.

[0092] In the implementation process of the above solution, compared with complex control algorithms, the implementation of the PID algorithm is relatively simple and easy to integrate into the existing flight control system. At the same time, it can also provide relatively efficient control effects. In addition, the controller composed of this PID algorithm can effectively suppress external disturbances, such as wind speed changes or slight vibrations of the mobile platform, thereby improving the robustness of the system and ensuring that the aircraft can land safely even in complex environments.

[0093] Please refer to Figure 5Schematic flowchart of an aircraft landing method provided by an embodiment of the present application applied to an electronic device; an embodiment of the present application provides an aircraft landing method, which can be applied to an electronic device. The electronic device can communicate with a base station and can also communicate with the aircraft. The above-mentioned electronic device can be a remote controller of the aircraft or not. Instead, it is a device that can communicate with the base station and the aircraft and relay the measurement data collected by the base station. Theoretically, it can be any electronic device equipped with a data transmission system, such as a driving communication device or a navigation device on a mobile platform, or a ground base station communication device set on the river bank, etc. The implementation manner of the above-mentioned aircraft landing method can include:

[0094] Step S210: Obtain the measurement data of at least two base stations set on the mobile platform. The measurement data includes the self-position and self-speed of the base stations.

[0095] Among them, the implementation manner of the above step S210 is the same as that of the above step S110. Therefore, if there is something unclear here, you can refer to the implementation manner of step S110 above. The difference between the two is that the implementation manner of step S210 here is executed by the electronic device on the mobile platform, rather than by the aircraft. However, the implementation manner of the above step S110 is executed by the aircraft.

[0096] Step S220: Determine the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations. The real-time position and real-time speed of the target landing point are used to generate a landing control instruction for the aircraft.

[0097] Among them, the implementation manner of the above step S220 is the same as that of the above step S120. Therefore, if there is something unclear here, you can refer to the implementation manner of step S120 above. The difference between the two is that the implementation manner of step S220 here is executed by the electronic device on the mobile platform, rather than by the aircraft. However, the implementation manner of the above step S120 is executed by the aircraft.

[0098] As an optional implementation manner of the above aircraft landing method, the above-mentioned electronic device can be a remote controller of the aircraft; among them, the remote controller can be on a mobile platform (such as a moving boat). For example, when a person stands on the mobile platform and holds the remote controller to operate, the remote controller is on the mobile platform at this time. Of course, in some scenarios, the remote controller can also not be on the mobile platform (such as a moving unmanned boat). For example, when a person stands on the river bank and holds the remote controller to operate, the remote controller is not on the mobile platform at this time. The above-mentioned aircraft landing method can also include:

[0099] Step S230: The remote controller generates a landing control instruction based on the real-time position and real-time speed of the target landing point, and sends the generated landing control instruction to the aircraft.

[0100] Among them, the implementation manner of the above step S230 is the same as that of the above step S130. Therefore, if there is any unclear place here, reference can be made to the implementation manner of step S130 above. The difference between the two is that the implementation manner of step S230 here is executed by the remote controller of the aircraft, that is, the remote controller generates a landing control instruction and then sends the landing control instruction to the aircraft. However, the implementation manner of the above step S130 is executed by the aircraft itself.

[0101] Alternatively, the above aircraft landing method may further include:

[0102] Step S240: The remote controller sends the real-time position and real-time speed of the target landing point to the aircraft, so that the aircraft generates a landing control instruction based on the real-time position and real-time speed of the target landing point.

[0103] Among them, the implementation manner of the above step S240 is the same as that of the above step S130. Therefore, if there is any unclear place here, reference can be made to the implementation manner of step S130 above. The difference between the two is that the real-time position and real-time speed of the target landing point in the implementation manner of step S240 here are sent by the remote controller to the aircraft. However, the real-time position and real-time speed of the target landing point in the implementation manner of the above step S130 are calculated by the aircraft based on the measurement data sent by the remote controller.

[0104] Please refer to Figure 6 The structural schematic diagram of the aircraft landing device provided by the embodiment of the present application shown. The embodiment of the present application provides an aircraft landing device 300, including:

[0105] A measurement data acquisition module 310, configured to acquire measurement data of at least two base stations set on the mobile platform, where the measurement data includes: the self-position and self-speed of the base station.

[0106] A position and speed determination module 320, configured to determine the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations.

[0107] A landing instruction generation module 330, configured to generate a landing control instruction for the aircraft according to the real-time position and real-time speed of the target landing point.

[0108] As an alternative implementation of the above device, the measurement data acquisition module includes:

[0109] A measurement data receiving sub-module, configured to receive measurement data sent by the remote controller, where the measurement data is sent by at least two base stations to the remote controller respectively.

[0110] As an alternative implementation of the above device, the relative position relationship includes: the target landing point divides the line segment between the own positions of the two base stations into a preset ratio; the position and speed determination module includes:

[0111] A proportional point position calculation sub-module, configured to calculate the proportional point position of the target landing point between the own positions of the two base stations according to the preset ratio.

[0112] A first real-time position determination sub-module, configured to determine the proportional point position as the real-time position of the target landing point.

[0113] As an alternative implementation of the above device, the relative position relationship includes: the target landing point is located at the geometric center of the triangle formed by three base stations; the position and speed determination module includes:

[0114] A geometric point position calculation sub-module, configured to calculate the geometric point position of the triangle according to the own positions of the three base stations and the geometric center.

[0115] A second real-time position determination sub-module, configured to determine the geometric point position of the triangle as the real-time position of the target landing point.

[0116] As an alternative implementation of the above device, the landing instruction generation module includes:

[0117] A position arrival judgment sub-module, configured to judge whether the aircraft has reached the real-time position of the target landing point.

[0118] A control instruction generation sub-module, configured to generate a landing control instruction according to the real-time position of the target landing point and the real-time speed of the target landing point if the aircraft has reached the real-time position of the target landing point, where the landing control instruction is used to control the aircraft to land on the mobile platform.

[0119] As an alternative implementation of the above device, the position arrival judgment sub-module includes:

[0120] A flight range and duration judgment unit, configured to judge whether the aircraft continuously flies within a preset area range for a preset duration, where the preset area range includes the target landing point.

[0121] A real-time position arrival confirmation unit, configured to confirm that the aircraft has reached the real-time position of the target landing point if the aircraft continuously flies within the preset area range for the preset duration, otherwise, confirm that the aircraft has not reached the real-time position of the target landing point.

[0122] As an alternative implementation of the above device, the control instruction generation sub-module includes:

[0123] A feedback signal determination unit, configured to determine the real-time position and real-time speed of the target landing point as the feedback signal of the proportional-integral-derivative (PID) algorithm.

[0124] A landing instruction generation unit, configured to generate a landing control instruction through the feedback signal of the PID algorithm, where the landing control instruction is used to control the aircraft to land on the mobile platform.

[0125] An embodiment of the present application provides an aircraft landing device, which is applied to an electronic device. The aircraft landing device includes:

[0126] A measurement data acquisition module, configured to acquire measurement data of at least two base stations arranged on the mobile platform, where the measurement data includes the self-position and self-speed of the base stations.

[0127] A position and speed determination module, configured to determine the real-time position of the target landing point according to the self-positions of at least two base stations and the relative position relationship between at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of at least two base stations. The real-time position and real-time speed of the target landing point are used to generate a landing control instruction for the aircraft.

[0128] As an alternative implementation of the above device, the electronic device is a remote controller; the above aircraft landing device further includes:

[0129] A control instruction sending module, configured to generate a landing control instruction according to the real-time position and real-time speed of the target landing point, and send the generated landing control instruction to the aircraft.

[0130] Or,

[0131] A position and speed sending module, configured to send the real-time position and real-time speed of the target landing point to the aircraft, so that the aircraft generates a landing control instruction according to the real-time position and real-time speed of the target landing point.

[0132] It should be understood that this device corresponds to the above-mentioned aircraft landing method embodiment and can execute each step involved in the above method embodiment. The specific functions of this device can be referred to the description above, and the detailed description is appropriately omitted here. This device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the operating system (OS) of the device.

[0133] An electronic device provided by an embodiment of the present application includes: a processor and a memory. The memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the above method is executed.

[0134] An embodiment of the present application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the above method is executed. Among them, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM for short), electrically erasable programmable read-only memory (EEPROM for short), erasable programmable read-only memory (EPROM for short), programmable read-only memory (PROM for short), read-only memory (ROM for short), magnetic memory, flash memory, a magnetic disk or an optical disc.

[0135] An embodiment of the present application also provides a computer program product, including: a computer program or computer instructions, and when the computer program or computer instructions are run by a processor, the method described above is executed.

[0136] It should be noted that the various embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the various embodiments can be referred to each other. For device embodiments, since they are basically similar to method embodiments, they are described relatively simply, and the relevant parts can refer to the partial description of the method embodiments.

[0137] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and a module, a program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, mainly depending on the functions involved.

[0138] In addition, the various functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. Furthermore, in the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0139] The above description is only an alternative implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the embodiments of the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the embodiments of the present application.

Claims

1. A method for an aircraft to land, characterized in that Applied to an aircraft, including: Obtaining measurement data of at least two base stations set on a mobile platform, where the measurement data includes: the self-position and self-speed of the base stations; Determining the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determining the real-time speed of the target landing point according to the self-speeds of the at least two base stations; Generating a landing control instruction for the aircraft according to the real-time position of the target landing point and the real-time speed of the target landing point.

2. The method according to claim 1, characterized in that, The obtaining measurement data of at least two base stations set on a mobile platform includes: Receiving measurement data sent by a remote controller, where the measurement data is sent by the at least two base stations to the remote controller respectively.

3. The method according to claim 1, characterized in that The relative position relationship includes: the target landing point divides the line segment between the self-positions of the two base stations into a preset ratio; the determining the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point includes: Calculating the proportional point position of the target landing point between the self-positions of the two base stations according to the preset ratio; Determining the proportional point position as the real-time position of the target landing point.

4. The method according to claim 1, characterized in that, The relative position relationship includes: the target landing point is located at the geometric center of a triangle formed by three base stations; the determining the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point includes: Calculating the geometric point position of the triangle according to the self-positions of the three base stations and the geometric center; Determining the geometric point position of the triangle as the real-time position of the target landing point.

5. The method according to claim 1, characterized in that, The generating a landing control instruction for the aircraft according to the real-time position of the target landing point and the real-time speed of the target landing point includes: Judging whether the aircraft reaches the real-time position of the target landing point; If so, generating the landing control instruction according to the real-time position of the target landing point and the real-time speed of the target landing point, where the landing control instruction is used to control the aircraft to land on the mobile platform.

6. The method according to claim 5, wherein The judging whether the aircraft reaches the real-time position of the target landing point includes: Judging whether the aircraft continuously flies within a preset area range for a preset duration, where the preset area range includes the target landing point; If so, confirming that the aircraft reaches the real-time position of the target landing point, otherwise, confirming that the aircraft does not reach the real-time position of the target landing point.

7. The method according to claim 1, wherein The generating a landing control instruction for the aircraft according to the real-time position of the target landing point and the real-time speed of the target landing point includes: Determining the real-time position of the target landing point and the real-time speed of the target landing point as the feedback signal of a proportional integral derivative (PID) algorithm; Generating the landing control instruction through the feedback signal of the PID algorithm, where the landing control instruction is used to control the aircraft to land on the mobile platform.

8. A method for an aircraft to land, characterized in that, Applied to an electronic device, the electronic device communicates with an aircraft, and the method for the aircraft to land includes: Obtain measurement data of at least two base stations provided on a mobile platform, where the measurement data includes: the self-position and self-speed of the base stations; Determine the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of the at least two base stations. The real-time position and the real-time speed of the target landing point are used to generate a landing control instruction for the aircraft.

9. The method according to claim 8, wherein The electronic device is a remote controller; The method for the aircraft to land further includes: Generate a landing control instruction according to the real-time position and the real-time speed of the target landing point, and send the generated landing control instruction to the aircraft; Or, Send the real-time position and the real-time speed of the target landing point to the aircraft, so that the aircraft generates a landing control instruction according to the real-time position and the real-time speed of the target landing point.

10. An aircraft landing system, characterized in that, Includes: A mobile platform and an aircraft; At least two base stations provided on the mobile platform are used to collect measurement data, where the measurement data includes: the self-position and self-speed of the base stations; The aircraft is used to determine the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of the at least two base stations; The aircraft is further used to generate a landing control instruction according to the real-time position and the real-time speed of the target landing point.

11. The system according to claim 10, wherein, The aircraft landing system further includes: a remote controller; The remote controller is used to send the measurement data to the aircraft, and the measurement data is sent by the at least two base stations to the remote controller respectively.

12. An aircraft landing device, characterized in that, Applied to an aircraft, includes: A measurement data acquisition module, configured to obtain measurement data of at least two base stations provided on a mobile platform, where the measurement data includes: the self-position and self-speed of the base stations; A position and speed determination module, configured to determine the real-time position of the target landing point according to the self-positions of the at least two base stations and the relative position relationship between the at least two base stations and the target landing point, and determine the real-time speed of the target landing point according to the self-speeds of the at least two base stations; A landing instruction generation module, configured to generate a landing control instruction for the aircraft according to the real-time position and the real-time speed of the target landing point.

13. An electronic device, characterized in that, Includes: A processor and a memory, where the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are run by the processor, they execute the method according to any one of claims 1 to 9.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the method according to any one of claims 1 to 9.

15. A computer program product, characterized in that, Includes: A computer program or computer instructions which, when run by a processor, execute the method according to any one of claims 1 to 9.

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