Method and system for managing moving trajectory of low-altitude aircraft

Abstract

The invention provides a low-altitude aircraft moving trajectory management method and system, and belongs to the technical field of general aviation, and the method comprises the steps: obtaining a target moving trajectory of a low-altitude aircraft in a preset scene; based on the instant positioning and map construction technology and the shape characteristics of the target moving trajectory, the target moving trajectory is converted into a trajectory map with rule characteristics, and the rule characteristics are determined based on the shape characteristics; based on a preset detection precision requirement, sampling the trajectory map to obtain at least one target trajectory point; and acquiring a real-time moving trajectory point, comparing the target trajectory point with the real-time trajectory point based on an index corresponding to the shape characteristic of the target moving trajectory, judging whether the real-time moving trajectory of the low-altitude aircraft deviates from the target moving trajectory, and obtaining a moving trajectory detection result. Errors caused by complex and changeable shape characteristics of the target moving trajectory are avoided, the control precision and accuracy of the moving trajectory are improved, the correctness of the moving trajectory of the low-altitude aircraft is guaranteed, and the operation control precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of general aviation, and particularly to a method and system for managing the operation trajectory of a low-altitude aircraft. Background Art

[0002] At present, low-altitude aircraft in the general aviation field refer to aircraft that can fly within a certain height range below the ground (usually from a few meters to several kilometers), including light sport aircraft, unmanned aerial vehicles, etc., and can be applied to fields such as agriculture, logistics, monitoring, and rescue.

[0003] The operation trajectory of a low-altitude aircraft can be obtained through technologies such as the Global Positioning System (GPS), inertial navigation system, visual navigation, and ground control station. However, if the application scenario of the low-altitude aircraft is relatively complex and the target operation trajectory is complex and variable, there will inevitably be certain errors in controlling the real-time operation trajectory of the low-altitude aircraft based on the target operation trajectory, making it difficult to ensure the reliable flight and safety guarantee of the low-altitude aircraft. Summary of the Invention

[0004] The present invention provides a method and system for managing the operation trajectory of a low-altitude aircraft, effectively guaranteeing the correctness of the operation trajectory of the low-altitude aircraft and improving the operation control accuracy.

[0005] The present invention provides a method for managing the operation trajectory of a low-altitude aircraft, including: Obtaining the target operation trajectory of the low-altitude aircraft in a preset scenario; Based on the Simultaneous Localization and Mapping (SLAM) technology and the shape characteristics of the target operation trajectory, converting the target operation trajectory into a trajectory map with regular features, where the regular features are determined based on the shape characteristics; Sampling the trajectory map based on a preset detection accuracy requirement to obtain at least one target trajectory point; Obtaining the real-time operation trajectory point, comparing the target trajectory point and the real-time trajectory point based on the index corresponding to the shape characteristics of the target operation trajectory, and determining whether the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory to obtain the operation trajectory detection result.

[0006] As an embodiment, the converting the target operation trajectory into a trajectory map with regular features based on the Simultaneous Localization and Mapping (SLAM) technology and the shape characteristics of the target operation trajectory includes: Based on the shape characteristics of the target operation trajectory, determining the operation trajectory units corresponding to the target operation trajectory and the arrangement relationship between the operation trajectory units; Scaling the operation trajectory units based on the Simultaneous Localization and Mapping (SLAM) technology and generating the trajectory map according to the arrangement relationship.

[0007] As an embodiment, the indicators corresponding to the shape characteristics of the target operation trajectory include the trajectory radius and the trajectory displacement. Correspondingly, obtaining the real-time operation trajectory points and comparing the target trajectory points with the real-time trajectory points based on the indicators corresponding to the shape characteristics of the target operation trajectory includes: Obtain real-time trajectory points. According to the real-time trajectory points, determine the real-time trajectory radius and the real-time trajectory displacement. According to the target trajectory points, determine the target trajectory radius and the target trajectory displacement; Compare the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement respectively.

[0008] As an embodiment, the comparing the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement respectively includes: Determine whether the difference between the target trajectory radius and the real-time trajectory radius meets the first threshold; If the difference between the target trajectory radius and the real-time trajectory radius does not meet the first threshold, it is determined that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory; If the difference between the target trajectory radius and the real-time trajectory radius meets the first threshold, sequentially determine whether the displacement direction and the displacement value of the real-time trajectory displacement are consistent with the displacement direction and the displacement value of the target trajectory displacement. If both the displacement direction and the displacement value are consistent, it is determined that the real-time operation trajectory of the low-altitude aircraft does not deviate from the target operation trajectory; otherwise, it is determined that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory.

[0009] As an embodiment, it further includes: If the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, generate a trajectory correction instruction and send the trajectory correction instruction to the low-altitude aircraft.

[0010] As an embodiment, if the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, generating a trajectory correction instruction includes: If the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, increase the detection accuracy requirement; Based on the improved detection accuracy requirement, sample and compare the target operation trajectory and the real-time operation trajectory respectively to determine the abnormal trajectory points that cause the trajectory deviation; Generate a trajectory correction instruction according to the abnormal trajectory points.

[0011] The present invention also provides a low-altitude aircraft operation trajectory management system, including: An acquisition module for acquiring the target operation trajectory of the low-altitude aircraft in a preset scenario; A map determination module, configured to convert the target running trajectory into a trajectory map with regular features based on the simultaneous localization and mapping technology and the shape characteristics of the target running trajectory, where the regular features are determined based on the shape characteristics; A sampling module, configured to sample the trajectory map based on a preset detection accuracy requirement to obtain at least one target trajectory point; A detection module, configured to obtain real-time running trajectory points, compare the target trajectory points and the real-time trajectory points based on an index corresponding to the shape characteristics of the target running trajectory, and determine whether the real-time running trajectory of the low-altitude aircraft deviates from the target running trajectory to obtain a running trajectory detection result.

[0012] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the low-altitude aircraft running trajectory management method as described in any one of the above is implemented.

[0013] The present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the low-altitude aircraft running trajectory management method as described in any one of the above is implemented.

[0014] The present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the low-altitude aircraft running trajectory management method as described in any one of the above is implemented.

[0015] The low-altitude aircraft running trajectory management method and system provided by the present invention convert the target running trajectory into a trajectory map with regular features through the simultaneous localization and mapping technology and the shape characteristics of the target running trajectory, and then collect target trajectory points from the trajectory map and compare them with the real-time running trajectory of the low-altitude aircraft, which can avoid errors caused by the complex and changeable shape characteristics of the target running trajectory, improve the accuracy and correctness of the running trajectory control, ensure the correctness of the low-altitude aircraft running trajectory, and improve the running control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is one of the flow diagrams of the low-altitude aircraft running trajectory management method provided by the present invention.

[0018] Figure 2 One of the schematic diagrams of the target operation trajectory provided by the present invention.

[0019] Figures 3a - 3c Schematic diagram defining the key parameters of the operation trajectory unit provided by the present invention.

[0020] Figure 4 Schematic diagram of the target trajectory point provided by the present invention.

[0021] Figure 5 Another schematic diagram of the target operation trajectory provided by the present invention.

[0022] Figure 6 Schematic structure of the low-altitude aircraft operation trajectory management system provided by the present invention.

[0023] Figure 7 Another schematic diagram of the process of the low-altitude aircraft operation trajectory management method provided by the present invention.

[0024] Figure 8 Schematic diagram of the structure of the electronic device provided by the present invention. Specific embodiments

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts fall within the scope of protection of the present invention.

[0026] Figure 1 One of the schematic diagrams of the process of the low-altitude aircraft operation trajectory management method provided by the present invention. As Figure 1 shown, the present invention provides a low-altitude aircraft operation trajectory management method, including the following steps.

[0027] Step S100, obtaining the target operation trajectory of the low-altitude aircraft in a preset scenario. The preset scenario refers to a scenario where the coincidence degree between the actual operation trajectory of the low-altitude aircraft and the target operation trajectory is relatively high, such as flight performance, emergency rescue, etc.

[0028] Step S200, based on the simultaneous localization and mapping technology and the shape characteristics of the target operation trajectory, converting the target operation trajectory into a trajectory map with regular features, and the rules are determined based on the shape characteristics. Taking the preset scenario as a flight performance as an example, the low-altitude aircraft is used for special effects performances such as multi-aircraft blooming, diving, and rolling. Its target operation trajectory has characteristics such as irregularity and variability. By splitting and quantifying the target operation trajectory, it is converted into a trajectory map with regular features.

[0029] Step S300: Based on a preset detection accuracy requirement, sample the trajectory map to obtain at least one target trajectory point. The higher the detection accuracy requirement, the higher the sampling frequency of the trajectory map, the more target trajectory points are obtained, and the shorter the sampling period.

[0030] Step S400: Obtain real-time operation trajectory points, compare the target trajectory points and the real-time trajectory points based on an index corresponding to the shape characteristic of the target operation trajectory, and determine whether the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory to obtain an operation trajectory detection result.

[0031] It can be understood that through the simultaneous localization and mapping technology and the shape characteristic of the target operation trajectory, the present invention converts the target operation trajectory into a trajectory map with regular features, and then collects target trajectory points from the trajectory map and compares them with the real-time operation trajectory of the low-altitude aircraft, which can avoid errors caused by the complex and variable shape characteristics of the target operation trajectory, improve the accuracy and precision of operation trajectory control, ensure the correctness of the operation trajectory of the low-altitude aircraft, and improve the operation control precision.

[0032] Based on the above embodiments, as an optional embodiment, the conversion of the target operation trajectory into a trajectory map with regular features based on the simultaneous localization and mapping technology and the shape characteristic of the target operation trajectory includes Step S210 - Step S220.

[0033] Step S210: Based on the shape characteristic of the target operation trajectory, determine the operation trajectory units corresponding to the target operation trajectory and the arrangement relationship between the operation trajectory units.

[0034] Through the study of the target operation trajectory, at least one regular shape that appears most frequently in the target operation trajectory is used as the operation trajectory unit. For example, the target operation trajectory of a low-altitude aircraft used for special stunts such as multi-aircraft blooming, diving, and rolling specifically includes regular shapes such as arcs, circles, and figure eights.

[0035] Step S220: Based on the simultaneous localization and mapping technology, scale the operation trajectory units and generate the trajectory map according to the arrangement relationship.

[0036] As Figure 2 shown, in the embodiment of the present invention, taking the target operation trajectory of a low-altitude aircraft as an example of a figure eight, the target operation trajectory is split into two circular operation trajectory units, the two circles are arranged left and right, the centers of the circles are on the same horizontal line, a point on the left circle is used as the starting point and the ending point of the trajectory, and the arrows around the circle are the trajectory operation directions.

[0037] AsFigures 3a - 3c As shown, the key parameters of the circular running trajectory unit include the reference center O, the trajectory radius R, the trajectory angle θ, and the trajectory displacement S. In other embodiments, parameters such as the size of the trajectory radius, the position of the center, the size of the trajectory angle, and the length of the trajectory distance of the circular running trajectory unit can be set according to actual needs.

[0038] Simultaneous Localization And Mapping (SLAM) is a technology that allows a robot or other agent to simultaneously build a map and localize itself in an unknown environment.

[0039] In the embodiments of the present invention, the API interface of the SLAM technology can be called to scale the running trajectory unit by using the SLAM technology. Let the scaling ratio of the trajectory map be k, where k < 1, that is Figure 3b the shown trajectory radius is k times the actual running trajectory radius. Since the trajectory angle θ is not affected by k, it remains the same before and after scaling. The trajectory displacement S is jointly calculated in combination with R and θ, as Figure 2 shown. The running trajectory starts in the clockwise direction. The parameters in the clockwise direction are set as positive values, while those in the counterclockwise direction are negative values, that is, the parameters in the same direction as the running trajectory are positive values, and the parameters in the opposite direction to the running trajectory are negative values.

[0040] Ideally, the low-altitude aircraft should fly at a constant speed along the target running trajectory, that is Figure 2 the two circular trajectories in. To ensure the correctness of the running trajectory of the low-altitude aircraft, target trajectory points are sampled from the trajectory map at regular intervals within a fixed period, and sampling is performed every fixed time interval.

[0041] Let C 圆 be the actual circumference of a single circular running trajectory, that is, the trajectory displacement for completing a full circle of flight. Its calculation formula is as follows: C 圆 = 2πR / k (1) where k is the scaling ratio of the trajectory map, and R is the circumferential radius of the trajectory map, which is 1 / k times different from the target running trajectory radius of the low-altitude aircraft.

[0042] The calculation formula for the trajectory angle is as follows: θ = 360° / n (2) where n is the number of sampling times, and the circular running trajectory is evenly divided into n equal parts.

[0043] The calculation formula for the trajectory displacement is as follows: S = θ·πR / 180 (3) Among them, S is the trajectory displacement between two adjacent target trajectory points on the trajectory map, which is k times different from the target trajectory displacement of the low-altitude aircraft.

[0044] Based on the above formula, the following formula can be obtained: S 目标 = 2πR / n (4) S 实际 = 1 / k · 2πR / n (5) Among them, S 目标 is the target trajectory displacement of the low-altitude aircraft on the trajectory map, and S 实际 is the actual trajectory displacement of the low-altitude aircraft under ideal conditions.

[0045] As Figure 4 shown, the circular running trajectory is evenly divided into n equal parts. Starting from the trajectory starting point, the target trajectory displacements are S0, S1, S2, S3... Sn in sequence. Taking the first 4 target trajectory points S0 - S3 as application examples, theoretically, S0 = S1 = S2 = S3 = S 目标 = 2πR / n.

[0046] When the low-altitude aircraft flies uniformly along the target trajectory, that is, flies with a fixed radius and a constant speed, the difference between two adjacent trajectory displacements should be exactly equal. Based on this determination, the control method for the low-altitude aircraft can be formulated according to two major indicators: the trajectory radius R and the trajectory displacement difference △S, that is, by determining the changes of R and △S to further calculate the compliance between the actual running trajectory and the target running trajectory of the low-altitude aircraft.

[0047] It can be understood that according to the shape characteristics of the target running trajectory, the present invention splits the target running trajectory into several running trajectory units, reduces the complexity of the target running trajectory, and improves the accuracy of detecting and abnormally determining the running trajectory of the low-altitude aircraft.

[0048] Based on the above embodiment, as an optional embodiment, the indicators corresponding to the shape characteristics of the target running trajectory include the trajectory radius and the trajectory displacement. Correspondingly, the obtaining of the real-time running trajectory points and comparing the target trajectory points with the real-time trajectory points based on the indicators corresponding to the shape characteristics of the target running trajectory include step S410 - step S420.

[0049] Step S410, obtain the real-time trajectory points, determine the real-time trajectory radius and the real-time trajectory displacement according to the real-time trajectory points, and determine the target trajectory radius and the target trajectory displacement according to the target trajectory points.

[0050] Step S420, respectively compare the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement.

[0051] Optionally, the step of separately comparing the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement includes the following steps: Step S421, determine whether the difference between the target trajectory radius and the real-time trajectory radius meets the first threshold; Step S422, if the difference between the target trajectory radius and the real-time trajectory radius does not meet the first threshold, determine that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory; Step S423, if the difference between the target trajectory radius and the real-time trajectory radius meets the first threshold, sequentially determine whether the displacement direction and displacement value of the real-time trajectory displacement are the same as those of the target trajectory displacement. If both the displacement direction and displacement value are the same, determine that the real-time operation trajectory of the low-altitude aircraft does not deviate from the target operation trajectory; otherwise, determine that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory.

[0052] In step S410, the real-time trajectory points can be obtained through technologies such as the Global Positioning System (GPS), inertial navigation system, visual navigation, and ground control station, which will not be elaborated here.

[0053] As Figure 5 shown, assuming that the circular operation trajectory is divided into 8 parts, for the convenience of viewing, only the upper semi-circumference is shown in the figure, corresponding to 4 target trajectory displacements in the (S0 - S3) regions. Taking the trajectory displacement in the S0 segment as an example, the solid trajectory corresponding to the A region is the preset trajectory. Through mirroring, it can be obtained that the dotted trajectory corresponding to the B region is the same as the solid trajectory, that is, the low-altitude aircraft flies along the dotted trajectory at a constant speed, and its corresponding real-time trajectory displacement is equal to the target trajectory displacement, and the corresponding trajectory angles are also the same. Therefore, it can be seen that if only the magnitude of the trajectory displacement is concerned, there will definitely be a risk of misjudgment. Similarly, there are also the same misjudgment risks in other region segments of the same circumference. The actual control process divides and sets the sampling points according to the requirements of the sampling accuracy, that is, the higher the sampling accuracy requirement, the more corresponding sampling regions, and similarly, the more sampling points, so that the control of the operation trajectory will be more accurate.

[0054] Based on the above situation, to further improve the detection accuracy, in step S420, on the basis of determining the trajectory displacement, it is necessary to synchronously combine the trajectory radius for comprehensive determination. Further, the determination of the trajectory radius should be placed in the first step, followed by the detection of the trajectory displacement, and finally, the real-time operation trajectory is determined whether it deviates from the target operation trajectory by combining the detection results of the previous two steps.

[0055] R0 - R4 are the target trajectory radii on the trajectory map. Due to the scale ratio of the trajectory map being k, the actual trajectory radius of the low-altitude aircraft under ideal conditions is R 实际=R / k. Substitute R0 - R4 into the above formula and compare the actual trajectory radius with the real-time trajectory radius. If the difference between the actual trajectory radius and the real-time trajectory radius is less than or equal to the first threshold, it indicates that the low-altitude aircraft is not currently deviating from the target operating trajectory. If it is greater than the first threshold, the actual trajectory point can be recorded as an abnormal trajectory point to facilitate subsequent real-time correction and regulation of the real-time operating trajectory.

[0056] Figure 5 For the convenience of observing the trajectory map, only 4 sampling areas are divided. Based on Figure 5 the solid trajectory shown and the dotted trajectory obtained by mirroring, that is, area A corresponds to area B by mirroring, area C corresponds to area D, area E corresponds to area F, and area G corresponds to area H. Without determining the trajectory radius, the trajectory displacements corresponding to these 4 groups of areas are equal, including the trajectory angles. This will bring a certain risk of misjudgment to the determination of the trajectory operation compliance. To avoid this potential risk, the determination of the trajectory radius is combined synchronously, that is, on the basis of determining that the trajectory radius meets the requirements, the trajectory displacement is determined again.

[0057] First, calculate the corresponding real-time trajectory displacement based on the real-time trajectory radius of the low-altitude aircraft collected, that is, the displacement between the 5 points corresponding to (R0 - R4). Taking the trajectory displacement between R0, R1, and R2 as an example, combined with the trajectory radii of the 3 collected points, and synchronously combined with formula (3 - 4), calculate the actual trajectory displacement corresponding to adjacent two sampling points, where the trajectory displacement S R0 corresponding to the starting point R0 is 0.

[0058] S 实1 = 1 / k·θ1·πR1 / 180 ………… (6) S 实2 = 1 / k·θ2·πR2 / 180 ………… (7) In formulas (6 - 7), the trajectory angles θ1 and θ2 are the trajectory angles corresponding to the real-time trajectory displacement within the sampling period, that is, the circular trajectory is divided into n equal parts. Within a fixed sampling period, even if the low-altitude aircraft is running at a constant speed, when deviating from the trajectory displacement at any moment, the real-time trajectory radius and the real-time trajectory displacement corresponding to the current sampling period will both shift, and there will also be a deviation between the trajectory angle and 360° / n obtained after the n equal parts division.

[0059] On the basis of clearly defining the clockwise direction as the trajectory running direction, when the calculated real-time trajectory displacement S < 0, it is first determined that this trajectory does not meet the requirements. Combining Figure 5 what is known, the trajectory displacements corresponding to areas A, C, E, and G are all positive, while the trajectory displacements of areas B, D, F, and H are negative. Therefore, the determination focuses on the displacements in the positive-value areas A, C, E, and G. Still taking the trajectory displacements of R0, R1, and R2 as an example.

[0060] Based on the set conditions of uniform motion and a fixed sampling period, the theoretical value of the trajectory displacement is calculated by synchronously combining formula (4-5).

[0061] S 实理论 = 1 / k·2πR / n ………… (8) At this time: △S1 = S 实1 - S 实理论 ………… (9) Combining formula (6), (8) and (9) gives: △S1 = 1 / k·θ1·πR1 / 180 - 1 / k·2πR / n = π / k (θ1R1 / 180 - 2R / n) …… (10) Similarly: △S2 = π / k (θ2R2 / 180 - 2R / n) ………… (11) And so on, gradually obtaining the real-time trajectory displacement deviations △S3, △S4, etc. for all sampling periods of the entire operating trajectory. When △S meets the determination requirements, the real-time operating trajectory of the low-altitude aircraft conforms to the preset trajectory requirements. When it is detected that the real-time trajectory displacement difference of the low-altitude aircraft within the sampling period is abnormal, while marking the current sampling period as abnormal, based on the displacement sampling detection principle and detection steps, the real-time operating trajectory of the current sampling period segment is further subdivided, and the trajectory radius and displacement within each subdivided period are gradually reviewed and calculated until the specific abnormal point is locked, so as to facilitate real-time correction and effective control of the real-time operating trajectory of the low-altitude aircraft.

[0062] Based on the above embodiments, as an optional embodiment, a method for managing the operating trajectory of a low-altitude aircraft provided by the present invention further includes the following steps: Step S500, if the operating trajectory detection result indicates that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory, generate a trajectory correction instruction and send the trajectory correction instruction to the low-altitude aircraft.

[0063] Optionally, if the operating trajectory detection result indicates that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory, generating a trajectory correction instruction includes: Step S510, if the operating trajectory detection result indicates that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory, increase the detection accuracy requirement; Step S520, based on the increased detection accuracy requirement, sample and compare the target operating trajectory and the real-time operating trajectory respectively to determine the abnormal trajectory point causing the trajectory deviation; Step S530: Generate a trajectory correction instruction according to the abnormal trajectory points.

[0064] It can be understood that the present invention further subdivides the detection period of the abnormal section in combination with the control accuracy requirements. Similarly, the displacements corresponding to the subdivided detection sections in the current area are detected one by one in combination with the detection principle and the control process, and the abnormal points are corrected in real time, effectively ensuring the correctness of the operation trajectory of the low-altitude aircraft and improving the operation control accuracy.

[0065] The low-altitude aircraft operation trajectory management system provided by the present invention will be described below. The low-altitude aircraft operation trajectory management system described below can be mutually referred to the low-altitude aircraft operation trajectory management method described above.

[0066] Figure 6 is a schematic structural diagram of the low-altitude aircraft operation trajectory management system provided by the present invention. As Figure 6 shown, the present invention also provides a low-altitude aircraft operation trajectory management system, including the following modules.

[0067] An acquisition module 610, configured to acquire the target operation trajectory of the low-altitude aircraft in a preset scenario; A map determination module 620, configured to convert the target operation trajectory into a trajectory map with regular features based on the simultaneous localization and mapping technology and the shape characteristics of the target operation trajectory, where the regular features are determined based on the shape characteristics; A sampling module 630, configured to sample the trajectory map based on a preset detection accuracy requirement to obtain at least one target trajectory point; A detection module 640, configured to acquire real-time operation trajectory points, compare the target trajectory points and the real-time trajectory points based on the indexes corresponding to the shape characteristics of the target operation trajectory, and determine whether the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory to obtain an operation trajectory detection result.

[0068] As an embodiment, the map determination module 620 is further configured to: Determine the operation trajectory units corresponding to the target operation trajectory and the arrangement relationship between the operation trajectory units based on the shape characteristics of the target operation trajectory; Scale the operation trajectory units based on the simultaneous localization and mapping technology and generate the trajectory map according to the arrangement relationship.

[0069] As an embodiment, the indexes corresponding to the shape characteristics of the target operation trajectory include a trajectory radius and a trajectory displacement. Correspondingly, the detection module 640 is further configured to: Obtain real-time trajectory points, determine the real-time trajectory radius and real-time trajectory displacement according to the real-time trajectory points, and determine the target trajectory radius and target trajectory displacement according to the target trajectory points; Compare the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement respectively.

[0070] As an embodiment, the detection module 640 is further configured to: Determine whether the difference between the target trajectory radius and the real-time trajectory radius satisfies a first threshold; If the difference between the target trajectory radius and the real-time trajectory radius does not satisfy the first threshold, determine that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory; If the difference between the target trajectory radius and the real-time trajectory radius satisfies the first threshold, sequentially determine whether the displacement direction and displacement value of the real-time trajectory displacement are consistent with the displacement direction and displacement value of the target trajectory displacement. If both the displacement direction and displacement value are consistent, determine that the real-time operating trajectory of the low-altitude aircraft does not deviate from the target operating trajectory; otherwise, determine that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory.

[0071] As an embodiment, it further includes a correction module, and the correction module is further configured to: If the operating trajectory detection result indicates that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory, generate a trajectory correction instruction and send the trajectory correction instruction to the low-altitude aircraft.

[0072] As an embodiment, the correction module is further configured to: If the operating trajectory detection result indicates that the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory, increase the detection accuracy requirement; Based on the increased detection accuracy requirement, sample and compare the target operating trajectory and the real-time operating trajectory respectively to determine the abnormal trajectory points that cause the trajectory deviation; Generate a trajectory correction instruction according to the abnormal trajectory points.

[0073] Figure 7 Disclosed is a flow schematic diagram of a management method implemented based on a low-altitude aircraft operating trajectory management system. To ensure the detection accuracy and accurate determination of the operating trajectory, it mainly includes trajectory radius detection and trajectory displacement detection.

[0074] After the control program of the low-altitude aircraft operating trajectory management system is initialized, it will enter the operating trajectory detection link, and in combination with the preset target operating trajectory and corresponding index parameters, call the SLAM function to generate a trajectory map.

[0075] Enter the trajectory detection process. First, perform trajectory radius detection. Compare and analyze the difference between the actual trajectory radius (amplified from the target trajectory radius) and the real-time trajectory radius in each sampling period. If the difference meets the detection requirements, proceed to the next process normally; otherwise, promptly correct the operating trajectory based on the detection results. Meanwhile, record the detection data and results (including both normal and abnormal situations), laying a foundation for the traceability of the operating trajectory and trajectory repair, and further enhancing the operating reliability and safety of the low-altitude aircraft.

[0076] Trajectory displacement detection includes two major aspects: displacement direction determination and displacement magnitude determination. First, determine the correctness of the trajectory displacement direction based on the target operating trajectory and operating direction. If the determination result is normal, execute the flow displacement magnitude determination process; otherwise, promptly correct the operating direction based on the detection data.

[0077] The displacement magnitude determination process means that according to the equal division of the operating trajectory and the setting of the sampling period, conduct segment-by-segment detection one by one. When the detection result is normal, it is determined that the real-time operating trajectory meets the operating requirements of the target operating trajectory; otherwise, further subdivide the detection period for the abnormal segment according to the control accuracy requirements, and conduct one-by-one detection of the displacement corresponding to the subdivided detection segment in the current area in combination with the detection principle and control process. Meanwhile, perform real-time correction on the abnormal points, effectively ensuring the correctness of the operating trajectory of the low-altitude aircraft and improving the operating control accuracy.

[0078] The low-altitude aircraft operating trajectory management system provided by the present invention is used to execute the low-altitude aircraft operating trajectory management method described in any of the above embodiments, and has corresponding technical effects to those of the low-altitude aircraft operating trajectory management method, which will not be elaborated herein.

[0079] Figure 8 Illustrates a schematic physical structure diagram of an electronic device, as Figure 8As shown in the figure, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call logic instructions in the memory 830 to execute the low-altitude aircraft flight trajectory management method. The method includes: obtaining the target flight trajectory of the low-altitude aircraft in a preset scenario; based on the simultaneous localization and mapping technology and the shape characteristics of the target flight trajectory, converting the target flight trajectory into a trajectory map with regular features, where the regular features are determined based on the shape characteristics; sampling the trajectory map based on a preset detection accuracy requirement to obtain at least one target trajectory point; obtaining real-time flight trajectory points, comparing the target trajectory points and the real-time trajectory points based on the metrics corresponding to the shape characteristics of the target flight trajectory, and determining whether the real-time flight trajectory of the low-altitude aircraft deviates from the target flight trajectory to obtain a flight trajectory detection result.

[0080] In addition, when the logic instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical disks, and other various media that can store program codes.

[0081] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the low-altitude aircraft flight path management method provided by the above-mentioned various methods. The method includes: obtaining the target flight path of the low-altitude aircraft in a preset scenario; based on the simultaneous localization and mapping technology and the shape characteristics of the target flight path, converting the target flight path into a trajectory map with regular features, where the regular features are determined based on the shape characteristics; based on a preset detection accuracy requirement, sampling the trajectory map to obtain at least one target trajectory point; obtaining real-time flight path points, comparing the target trajectory points and the real-time trajectory points based on the indexes corresponding to the shape characteristics of the target flight path, and determining whether the real-time flight path of the low-altitude aircraft deviates from the target flight path to obtain a flight path detection result.

[0082] In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the low-altitude aircraft flight path management method provided by the above-mentioned various methods. The method includes: obtaining the target flight path of the low-altitude aircraft in a preset scenario; based on the simultaneous localization and mapping technology and the shape characteristics of the target flight path, converting the target flight path into a trajectory map with regular features, where the regular features are determined based on the shape characteristics; based on a preset detection accuracy requirement, sampling the trajectory map to obtain at least one target trajectory point; obtaining real-time flight path points, comparing the target trajectory points and the real-time trajectory points based on the indexes corresponding to the shape characteristics of the target flight path, and determining whether the real-time flight path of the low-altitude aircraft deviates from the target flight path to obtain a flight path detection result.

[0083] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0084] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for managing the flight path of a low-altitude aircraft, characterized in that, Including: Obtaining a target operation trajectory of a low-altitude aircraft in a preset scenario; Based on the simultaneous localization and mapping technology and the shape characteristics of the target operation trajectory, converting the target operation trajectory into a trajectory map with regular features, where the regular features are determined based on the shape characteristics; Sampling the trajectory map according to a preset detection accuracy requirement to obtain at least one target trajectory point; Obtaining a real-time operation trajectory point, comparing the target trajectory point and the real-time trajectory point based on an index corresponding to the shape characteristics of the target operation trajectory, and determining whether the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory to obtain an operation trajectory detection result.

2. The method for managing the flight path of a low-altitude aircraft according to claim 1, wherein The converting the target operation trajectory into a trajectory map with regular features based on the simultaneous localization and mapping technology and the shape characteristics of the target operation trajectory includes: Based on the shape characteristics of the target operation trajectory, determining the operation trajectory units corresponding to the target operation trajectory and the arrangement relationship between the operation trajectory units; Scaling the operation trajectory units based on the simultaneous localization and mapping technology and generating the trajectory map according to the arrangement relationship.

3. The method for managing the flight path of a low-altitude aircraft according to claim 1 or 2, characterized in that The index corresponding to the shape characteristics of the target operation trajectory includes a trajectory radius and a trajectory displacement. Correspondingly, the obtaining a real-time operation trajectory point and comparing the target trajectory point and the real-time trajectory point based on an index corresponding to the shape characteristics of the target operation trajectory includes: Obtaining a real-time trajectory point, determining a real-time trajectory radius and a real-time trajectory displacement according to the real-time trajectory point, and determining a target trajectory radius and a target trajectory displacement according to the target trajectory point; Respectively comparing the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement.

4. The method for managing the flight path of a low-altitude aircraft according to claim 3, characterized in that, The respectively comparing the target trajectory radius with the real-time trajectory radius and the target trajectory displacement with the real-time trajectory displacement includes: Judging whether the difference between the target trajectory radius and the real-time trajectory radius meets a first threshold; If the difference between the target trajectory radius and the real-time trajectory radius does not meet the first threshold, determining that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory; If the difference between the target trajectory radius and the real-time trajectory radius meets the first threshold, sequentially judging whether the displacement direction and displacement value of the real-time trajectory displacement are consistent with the displacement direction and displacement value of the target trajectory displacement. If both the displacement direction and displacement value are consistent, determining that the real-time operation trajectory of the low-altitude aircraft does not deviate from the target operation trajectory, otherwise, determining that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory.

5. The low-altitude aircraft flight path management method according to claim 1, wherein, Also including: If the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, generating a trajectory correction instruction and sending the trajectory correction instruction to the low-altitude aircraft.

6. The method for managing the flight path of a low-altitude aircraft according to claim 5, characterized in that, If the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, generating a trajectory correction instruction includes: If the operation trajectory detection result indicates that the real-time operation trajectory of the low-altitude aircraft deviates from the target operation trajectory, increasing the detection accuracy requirement; Based on the improved detection accuracy requirements, sample and compare the target operating trajectory and the real-time operating trajectory respectively to determine the abnormal trajectory points that cause the trajectory deviation; Generate a trajectory correction instruction according to the abnormal trajectory points.

7. A low-altitude aircraft flight path management system, characterized in that, Including: An acquisition module, configured to acquire the target operating trajectory of a low-altitude aircraft in a preset scenario; A map determination module, configured to convert the target operating trajectory into a trajectory map with regular features based on the Simultaneous Localization and Mapping (SLAM) technology and the shape characteristics of the target operating trajectory, and the regular features are determined based on the shape characteristics; A sampling module, configured to sample the trajectory map based on the preset detection accuracy requirements to obtain at least one target trajectory point; A detection module, configured to acquire real-time operating trajectory points, compare the target trajectory points with the real-time trajectory points based on the metrics corresponding to the shape characteristics of the target operating trajectory, and determine whether the real-time operating trajectory of the low-altitude aircraft deviates from the target operating trajectory to obtain a running trajectory detection result.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that When the processor executes the computer program, it implements the low-altitude aircraft operating trajectory management method according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the low-altitude aircraft operating trajectory management method according to any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the low-altitude aircraft operating trajectory management method according to any one of claims 1-6.

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