Flight control method and device and aircraft

Abstract

The embodiment of the invention discloses a flight control method and device and an aircraft. The method comprises the following steps: acquiring the current working mode of the aircraft and the current displacement information of a joystick; on the basis of the current working mode and the current displacement information, corresponding control information is generated, and only the control information corresponding to the same displacement information of the first control rod in different working modes is different; and controlling the aircraft based on the control information. Through the mode, the corresponding control information can be generated on the basis of the current working mode and the current displacement information, so that the aircraft is controlled on the basis of the control information, and the control information corresponding to the same displacement information of the first joystick in different working modes is different; therefore, when a driver performs the same operation on the joystick in different working modes, the same control information is obtained to the greatest extent, and the flight safety of the aircraft is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and more specifically, to a flight control method, device, and aircraft. Background Art

[0002] As a solution for future three-dimensional air transportation, aircraft must be able to operate and fly safely. Manual control is a common method for controlling aircraft. However, since aircraft can have multiple operating modes, manual control can create inconsistencies between the pilot's control input and the aircraft's motion response, depending on the current operating mode. Summary of the Invention

[0003] In view of the above problems, the present application proposes a flight control method, device and aircraft to improve the above problems.

[0004] In a first aspect, the present application provides a flight control method, comprising: obtaining a current operating mode of an aircraft and current displacement information of a joystick, wherein the current operating mode is a translation rate instruction mode or a conventional speed mode, and the displacement information represents speed or acceleration control in the corresponding motion direction of the aircraft, and the joystick comprises a first joystick and a second joystick; based on the current operating mode and the current displacement information, generating corresponding control information, wherein only the same displacement information of the first joystick has different corresponding control information in different operating modes; and controlling the aircraft based on the control information.

[0005] In second aspect, the present application provides a flight control device, which includes: an information acquisition unit for acquiring a current operating mode of the aircraft and current displacement information of a joystick, wherein the current operating mode is a translation rate instruction mode or a conventional speed mode, and the displacement information represents speed or acceleration control in the corresponding motion direction of the aircraft, and the joystick includes a first joystick and a second joystick; a control unit for generating corresponding control information based on the current operating mode and the current displacement information, wherein only the same displacement information of the first joystick has different corresponding control information in different operating modes; and controlling the aircraft based on the control information.

[0006] In a third aspect, the present application provides an aircraft comprising a first joystick, a second joystick, one or more processors, and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned method.

[0007] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores program code, wherein the above method is executed when the program code is run.

[0008] The present application provides a flight control method, apparatus, aircraft, and storage medium. After obtaining the current operating mode of the aircraft and the current displacement information of the joystick, corresponding control information is generated based on the current operating mode and the current displacement information, wherein only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, and the aircraft is controlled based on the control information. Through the above-mentioned method, corresponding control information can be generated based on the current operating mode and the current displacement information, so that the aircraft can be controlled based on the control information. Because only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, when the pilot performs the same operation on the joystick in different operating modes, the pilot obtains the same control information to the greatest extent possible. This improves the consistency between the pilot's control input and the aircraft's motion response, thereby improving the flight safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A flowchart of a flight control method proposed in an embodiment of the present application;

[0011] Figure 2 A schematic diagram of a joystick proposed in this application is shown;

[0012] Figure 3 A flow chart of a flight control method proposed in another embodiment of the present application is shown;

[0013] Figure 4 A structural block diagram of a flight control device proposed in an embodiment of the present application is shown;

[0014] Figure 5 Shown is a structural block diagram of an aircraft proposed in this application. DETAILED DESCRIPTION

[0015] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0016] In an embodiment of the present application, the inventors propose a flight control method, device, and aircraft. After obtaining the current operating mode of the aircraft and the current displacement information of the joystick, corresponding control information is generated based on the current operating mode and the current displacement information, wherein only the same displacement information of the first joystick in different operating modes corresponds to different control information, and the aircraft is controlled based on the control information. Through the above-mentioned method, corresponding control information can be generated based on the current operating mode and the current displacement information, so that the aircraft can be controlled based on the control information. Since only the same displacement information of the first joystick in different operating modes corresponds to different control information, when the pilot performs the same operation on the joystick in different operating modes, the pilot obtains the same control information to the greatest extent possible, that is, the consistency between the pilot's control input and the aircraft's motion response is improved, thereby improving the flight safety of the aircraft.

[0017] See also Figure 1 , an embodiment of the present application provides a flight control method, the method comprising:

[0018] S110: Acquire the current operating mode of the aircraft and the current displacement information of the joystick, wherein the current operating mode is a translation rate instruction mode or a normal speed mode, the displacement information represents speed or acceleration control in the corresponding motion direction of the aircraft, and the joystick includes a first joystick and a second joystick.

[0019] The Translational Rate Command (TRC) mode may refer to a working mode for controlling the takeoff and landing of an aircraft, and the normal speed mode may refer to a working mode for controlling the climb (increasing the flight altitude when flying in the air), descent (decreasing the flight altitude when flying in the air), and cruise of an aircraft. Figure 2 As shown, the joystick can move forward / backward (X) and left / right (Y). The current displacement information of the joystick can refer to the distance the joystick has moved in the corresponding direction of movement. The speed or acceleration control of the aircraft in the corresponding direction of movement can include the control of the aircraft's forward speed, forward acceleration, lateral speed, lateral acceleration, yaw rate, vertical speed, etc.

[0020] In an embodiment of the present application, two joysticks can be provided in the aircraft, and the two joysticks can be arranged left and right in the horizontal direction. When the left joystick is used as the first joystick, the right joystick can be used as the second joystick; when the left joystick is used as the second joystick, the right joystick can be used as the first joystick.

[0021] As a method, the configuration of the aircraft can be obtained; based on the configuration, the current operating mode can be obtained. In addition, the current displacement information of the joystick can be obtained based on a sensor used to measure displacement information in the aircraft, such as an RVDT (Rotary Variable Differential Transformer).

[0022] Optionally, when acquiring current displacement information, each joystick may have its displacement information measured by two or more RVDT sensors. For example, the displacement information of a first joystick may be measured by two RVDT sensors, where one RVDT sensor is used to measure the displacement information of the first joystick in the X direction, and the other RVDT sensor is used to measure the displacement information of the first joystick in the Y direction.

[0023] Among them, the configuration of the aircraft can be a rotor configuration, a transition configuration, or a fixed-wing configuration. The rotor configuration can refer to a configuration in which only the rotor in the aircraft is working, the transition configuration can refer to a configuration in which the rotor and the fixed wing work together, and the fixed-wing configuration can refer to a configuration in which only the fixed wing is working.

[0024] As a way to obtain the configuration of an aircraft, the airspeed of the aircraft can be obtained; if the airspeed is less than or equal to a first speed, it can be determined that the aircraft is in a rotor configuration; if the airspeed is greater than the first speed and the airspeed is less than or equal to a second speed, the aircraft is determined to be in a transition configuration; if the airspeed is greater than the second speed, the aircraft is determined to be in a fixed-wing configuration.

[0025] The airspeed may refer to the speed of an aircraft relative to the air and may be measured by an atmospheric sensor.

[0026] Optionally, the first speed and the second speed may be obtained based on multiple tests and data analysis. For example, the first speed may be 14 m / s and the second speed may be 35 m / s.

[0027] Optionally, when obtaining the aircraft's airspeed, you can verify whether the airspeed is valid. If the airspeed is valid, the airspeed measured by the atmospheric sensor can be used as the aircraft's airspeed. A valid airspeed means that the atmospheric sensor is not faulty or is operating normally.

[0028] In the embodiment of the present application, by incorporating whether the airspeed is valid into the configuration determination conditions, the problem of obtaining an erroneous airspeed due to a malfunction of the atmospheric sensor, which in turn leads to inaccurate configuration judgment, can be avoided.

[0029] Optionally, when determining the current operating mode based on the configuration, if the configuration of the aircraft is a transitional configuration or a fixed-wing configuration, the current operating mode can be determined as a conventional speed mode; if the configuration of the aircraft is a rotor configuration, the current operating mode can be determined based on the ground speed and mode state value of the aircraft.

[0030] Ground speed refers to the aircraft's speed relative to the ground coordinate system. It can be the vector sum of airspeed and wind speed. In calm weather, airspeed can be equal to ground speed. Ground speed can be measured using navigation sensors.

[0031] Optionally, if the configuration of the aircraft is a rotor configuration, the mode state value is the first target value, and the ground speed is valid and less than or equal to the third speed, it can be determined that the current operating mode is the translation rate instruction mode; if the configuration of the aircraft is a rotor configuration, the mode state value is the second target value, and the ground speed is valid and greater than the third speed, it is determined that the current operating mode is the conventional speed mode.

[0032] The mode status value may refer to whether the TRC switch is pressed. If the TRC switch is pressed, it indicates that the pilot desires the aircraft's current operating mode to be TRC mode. In this case, the mode status value may be a first target value. If the TRC switch is not pressed, it indicates that the pilot desires the aircraft's current operating mode to be conventional speed mode. In this case, the mode status value may be a second target value. For example, the first target value may be 1, and the second target value may be 0. A valid ground speed may be understood as indicating that the navigation sensor is not faulty or is operating normally.

[0033] Among them, Figure 2 As shown, the TRC switch can be set on the joystick. In addition, the TRC switch can also be set on the control panel of the aircraft.

[0034] Optionally, whether the ground speed is valid may be determined based on a ground speed signal. Exemplarily, the ground speed validity signal may be represented as nav_vel_x_vld. When nav_vel_x_vld=1, it may indicate that the ground speed is valid; when nav_vel_x_vld=0, it may indicate that the ground speed is invalid.

[0035] In an embodiment of the present application, by incorporating whether the ground speed is valid into the determination conditions of the current working mode, it is possible to avoid the problem of obtaining an erroneous ground speed due to a navigation sensor failure, which in turn leads to inaccurate judgment of the working mode under the rotor configuration, thereby improving the accuracy of the working mode judgment, which is conducive to obtaining more accurate control information and improving the flight safety of the aircraft.

[0036] Optionally, when the configuration of the aircraft is a rotor configuration, the mode state value is the second target value, and the ground speed is valid and less than or equal to the third speed, it may indicate that the aircraft is switching from the TRC mode to the conventional speed mode;

[0037] It should be noted that the aircraft may be a vertical take-off and landing aircraft, which may be understood as an aircraft that can take off and land without taxiing.

[0038] S120: Generate corresponding control information based on the current working mode and the current displacement information, wherein only the same displacement information of the first joystick has different corresponding control information in different working modes.

[0039] As a method, if the current working mode is the translation rate instruction mode and the current displacement information is the first displacement information, the first control information can be generated, and the first control information can be used to control the forward speed of the aircraft; if the current working mode is the translation rate instruction mode and the current displacement information is the second displacement information, the second control information can be generated, and the second control information can be used to control the lateral speed of the aircraft, and the first displacement information and the second displacement information can be the displacement information of the first joystick in different moving directions; if the current working mode is the translation rate instruction mode and the current displacement information is the third displacement information, the third control information can be generated, and the third control information can be used to control the yaw angle rate of the aircraft; if the current working mode is the translation rate instruction mode and the current displacement information is the fourth displacement information, the fourth control information can be generated, and the fourth control information can be used to control the vertical speed of the aircraft, and the third displacement information and the fourth displacement information can be the displacement information of the second joystick in different moving directions.

[0040] As a method, if the current working mode is the normal speed mode and the current displacement information is the first displacement information, the fifth control information can be generated, and the fifth control information can be used to control the forward acceleration of the aircraft; if the current working mode is the normal speed mode and the current displacement information is the second displacement information, the sixth control information can be generated, and the sixth control information can be used to control the lateral acceleration of the aircraft; if the current working mode is the normal speed mode and the current displacement information is the third displacement information, the third control information can be generated; if the current working mode is the normal speed mode and the current displacement information is the fourth displacement information, the fourth control information can be generated.

[0041] The forward velocity and lateral velocity may refer to the horizontal velocity of the aircraft, with the forward velocity and lateral velocity moving in perpendicular directions. The vertical velocity may refer to the vertical velocity of the aircraft. The yaw rate may refer to the rate at which the aircraft rotates about the vertical axis in the aircraft coordinate system. The sixth control information may refer to control information for the roll angle of the aircraft. By controlling the roll angle of the aircraft, the lateral acceleration of the aircraft can be controlled.

[0042] Optionally, a mapping relationship between the working mode, configuration and displacement information may be pre-stored in the aircraft, and the mapping relationship may be stored as a table as shown in Table 1.

[0043] Table 1

[0044]

[0045]

[0046] The joystick being released can be understood as the displacement information of the joystick in the X direction and the Y direction being 0. The joystick in the embodiment of the present application is damped and can automatically return to the center, that is, when the driver does not operate the joystick, the joystick can automatically release.

[0047] In the embodiment of the present application, since the control information corresponding to the same displacement information of the first joystick / the second joystick is the same when the aircraft operates in the conventional speed mode in different configurations, the consistency between the pilot's control input and the aircraft's motion response can be achieved in different configurations of the conventional speed mode. At the same time, the inconsistency of the control input caused by the configuration conversion can be avoided, thereby reducing the difficulty for the pilot to control the aircraft.

[0048] Furthermore, in the embodiment of the present application, since the TRC mode is used for takeoff or landing of an aircraft, in order to maintain a stable flight attitude during takeoff or landing for vertical takeoff and landing, it is necessary to control the forward speed and lateral speed of the aircraft to reach corresponding target values, which can just overcome wind disturbance (wind speed). Therefore, in order to reduce the difficulty of the pilot in controlling the aircraft, the control information corresponding to the first displacement information in the TRC mode can be set to the forward speed, and the control information corresponding to the second displacement information can be set to the lateral speed. At the same time, when there is no wind, the first joystick can automatically return to the center, thereby avoiding the need for the pilot to constantly control the first joystick, thereby simplifying the method for the pilot to control the aircraft to a certain extent.

[0049] At the same time, in an embodiment of the present application, since the conventional speed mode is used for the aircraft to climb, descend or cruise, in order to better control the speed of the aircraft during the process of climbing, descending or cruising, the control information corresponding to the first displacement information in the conventional speed mode can be set to the forward acceleration, and the control information corresponding to the second displacement information can be set to the lateral speed. Moreover, when the current speed of the aircraft reaches the desired forward speed, the first joystick can automatically return to the center, so that the aircraft always maintains the current speed, thereby avoiding the need for the pilot to control the first joystick all the time, thereby simplifying the method for the pilot to control the aircraft to a certain extent.

[0050] S130: Control the aircraft based on the control information.

[0051] As a method, the control information corresponding to the first joystick and the second joystick can be independent of each other (not affecting each other), so that the aircraft can be controlled directly based on the control information corresponding to the first joystick and the second joystick.

[0052] As another way, the control information corresponding to the first joystick and the second joystick can affect each other (for example, when the vertical speed of the aircraft changes, the altitude of the aircraft will change, and then the wind disturbance will change, thereby affecting the forward speed and lateral speed of the aircraft). Based on the control information corresponding to the first joystick and the second joystick and a preset control information fusion algorithm, target control information can be obtained, and the aircraft can be controlled based on the target control information.

[0053] This embodiment provides a flight control method that, after obtaining the current operating mode of an aircraft and current displacement information of a joystick, generates corresponding control information based on the current operating mode and the current displacement information, wherein only the same displacement information of a first joystick differs in the corresponding control information between different operating modes, and controls the aircraft based on the control information. Through the above-described method, corresponding control information can be generated based on the current operating mode and the current displacement information, and the aircraft can be controlled based on the control information. Because only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, when a pilot performs the same operation on the joystick in different operating modes, the pilot obtains the same control information to the greatest extent possible. This improves the consistency between the pilot's control input and the aircraft's motion response, thereby enhancing the flight safety of the aircraft.

[0054] See also Figure 3 , an embodiment of the present application provides a flight control method, the method comprising:

[0055] S210: Obtain the current operating mode of the aircraft and the current displacement information of the joystick, wherein the current operating mode is a translation rate instruction mode or a normal speed mode, the displacement information represents speed or acceleration control in the corresponding motion direction of the aircraft, and the joystick includes a first joystick and a second joystick.

[0056] S220: Generate corresponding control information based on the current working mode and the current displacement information, wherein only the same displacement information of the first joystick has different corresponding control information in different working modes.

[0057] S230: Obtaining a feedback speed of the aircraft based on the current working mode.

[0058] The feedback speed may refer to the speed fed back by the aircraft to the pilot to provide a reference for the pilot to control the aircraft.

[0059] As a method, if the current working mode is the translation rate command mode, the ground speed of the aircraft can be used as the feedback speed; if the current working mode is the conventional speed mode and the ground speed of the aircraft is less than or equal to the fourth speed, the ground speed of the aircraft can be used as the feedback speed; if the current working mode is the conventional speed mode and the ground speed of the aircraft is greater than the fourth speed, the airspeed of the aircraft can be used as the feedback speed.

[0060] Optionally, when the current operating mode is the normal speed mode, the ground speed of the aircraft is greater than the fourth speed and the airspeed is confirmed to be valid, the airspeed of the aircraft can be used as the feedback speed. When the airspeed changes from valid to invalid, the ground speed of the aircraft can be used as the feedback speed instead.

[0061] Optionally, when the feedback speed switches between airspeed and groundspeed, a filter can be used to smooth the feedback speed to avoid jumps.

[0062] S240: Control the aircraft based on the control information and the feedback speed.

[0063] As a method, after the aircraft is controlled by the control information, the feedback speed of the aircraft can be obtained, so that the aircraft can continue to be controlled based on the feedback speed.

[0064] Optionally, the aircraft can continue to be controlled based on the feedback speed of the aircraft and the pilot's desired speed. When the feedback speed of the aircraft reaches the pilot's desired speed, the aircraft can continue to maintain the feedback speed by controlling the displacement information of the joystick. When the feedback speed of the aircraft does not reach the pilot's desired speed, the aircraft can gradually reach the desired speed by controlling the displacement information of the joystick.

[0065] This embodiment provides a flight control method that, through the aforementioned method, generates corresponding control information based on the current operating mode and current displacement information, thereby controlling the aircraft based on the control information. Because only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, the pilot, when performing the same joystick operation in different operating modes, obtains the same control information to the greatest extent possible. This improves the consistency between the pilot's control input and the aircraft's motion response, thereby enhancing flight safety. Furthermore, in this embodiment, by obtaining different types of feedback speeds in different operating modes, the adaptability of the feedback speed to the operating mode can be improved, thereby enhancing the accuracy of aircraft control.

[0066] See also Figure 4 The present application provides a flight control device 400, the device 400 comprising:

[0067] An information acquisition unit 410 is configured to acquire a current operating mode of the aircraft and current displacement information of a joystick, wherein the current operating mode is a translation rate command mode or a normal speed mode, and the displacement information indicates speed or acceleration control in a corresponding motion direction of the aircraft. The joystick includes a first joystick and a second joystick.

[0068] The control unit 420 is used to generate corresponding control information based on the current working mode and the current displacement information, wherein only the same displacement information of the first joystick has different corresponding control information in different working modes; and control the aircraft based on the control information.

[0069] As a method, the information acquisition unit 410 is specifically used to acquire the configuration of the aircraft; and based on the configuration, obtain the current working mode.

[0070] Optionally, the information acquisition unit 410 is specifically used to obtain the airspeed of the aircraft; if the airspeed is less than or equal to a first speed, the aircraft is determined to be in a rotor configuration; if the airspeed is greater than the first speed and the airspeed is less than or equal to a second speed, the aircraft is determined to be in a transition configuration, and the transition configuration is a configuration in which the rotor and the fixed wing work together; if the airspeed is greater than the second speed, the aircraft is determined to be in a fixed-wing configuration.

[0071] Optionally, the information acquisition unit 410 is specifically used to determine that the current operating mode is the conventional speed mode if the configuration of the aircraft is a transition configuration or a fixed-wing configuration; if the configuration of the aircraft is a rotor configuration, determine the current operating mode based on the ground speed and mode state value of the aircraft.

[0072] Optionally, the information acquisition unit 410 is specifically used to determine that the current operating mode is the translation rate instruction mode if the configuration of the aircraft is a rotor configuration, the mode state value is the first target value, and the ground speed is valid and less than or equal to the third speed; if the configuration of the aircraft is a rotor configuration, the mode state value is the second target value, and the ground speed is valid and greater than the third speed, determine that the current operating mode is the conventional speed mode.

[0073] As a method, the control unit 420 is specifically used to generate first control information if the current working mode is the translation rate instruction mode and the current displacement information is the first displacement information, and the first control information is used to control the forward speed of the aircraft; if the current working mode is the translation rate instruction mode and the current displacement information is the second displacement information, then generate second control information, and the second control information is used to control the lateral speed of the aircraft, and the first displacement information and the second displacement information are the displacement information of the first joystick in different moving directions; if the current working mode is the translation rate instruction mode and the current displacement information is the third displacement information, then generate third control information, and the third control information is used to control the yaw angle rate of the aircraft; if the current working mode is the translation rate instruction mode and the current displacement information is the fourth displacement information, then generate fourth control information, and the fourth control information is used to control the vertical speed of the aircraft, and the third displacement information and the fourth displacement information are the displacement information of the second joystick in different moving directions.

[0074] Optionally, the control unit 420 is specifically used to generate fifth control information if the current operating mode is the normal speed mode and the current displacement information is the first displacement information, and the fifth control information is used to control the forward acceleration of the aircraft; if the current operating mode is the normal speed mode and the current displacement information is the second displacement information, then generate sixth control information, and the sixth control information is used to control the lateral acceleration of the aircraft.

[0075] As another embodiment, the control unit 420 is specifically configured to obtain a feedback speed of the aircraft based on the current working mode; and control the aircraft based on the control information and the feedback speed.

[0076] Optionally, the control unit 420 is specifically used to use the ground speed of the aircraft as the feedback speed if the current operating mode is the translation rate instruction mode; use the ground speed of the aircraft as the feedback speed if the current operating mode is the conventional speed mode and the ground speed of the aircraft is less than or equal to the fourth speed; and use the airspeed of the aircraft as the feedback speed if the current operating mode is the conventional speed mode and the ground speed of the aircraft is greater than the fourth speed.

[0077] The following will be combined Figure 5 An aircraft provided in this application is described.

[0078] See also Figure 5 Based on the aforementioned flight control method and apparatus, embodiments of the present application also provide another aircraft 100 capable of executing the aforementioned flight control method. Aircraft 100 includes a processor 102, a memory 104, a first joystick 106, a second joystick 108, and a sensor module 110. The memory 104 stores a program capable of executing the aforementioned embodiments, and the backup processor 102 can execute the program stored in the memory 104.

[0079] The processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and circuits to connect various components within the aircraft 100. It executes instructions, programs, code sets, or instruction sets stored in the memory 104 and accesses data stored in the memory 104 to perform various functions and process data for the aircraft 100. Alternatively, the processor 102 may be implemented using at least one of the following hardware forms: a network processor (NPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 102 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is responsible for wireless communication. It is understandable that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0080] The memory 104 may include random access memory (RAM), read-only memory (ROM), and double data rate synchronous dynamic random access memory (DDR). The memory 104 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, and the like. The data storage area may also store data created by the aircraft 100 during use (such as a phone book, audio and video data, and chat history data).

[0081] The sensor module 110 may include at least one sensor. Specifically, the sensor module 110 may include, but is not limited to, a navigation sensor, an atmospheric sensor, a level meter, a light sensor, a motion sensor, a pressure sensor, an infrared thermal sensor, a distance sensor, an acceleration sensor, and other sensors.

[0082] The navigation sensor can detect the ground speed of the aircraft 100 , and the atmospheric sensor can detect the air speed of the aircraft 100 .

[0083] The pressure sensor may be a sensor that detects pressure generated by pressing on the aircraft 100. That is, the pressure sensor detects pressure generated by contact or pressure between the user and the aircraft 100, such as pressure generated by contact or pressure between the user's hand and the aircraft 100. Therefore, the pressure sensor can be used to determine whether contact or pressure has occurred between the user and the aircraft 100, as well as the magnitude of the pressure.

[0084] The accelerometer can detect the magnitude of acceleration in all directions (generally three axes) and the magnitude and direction of gravity when stationary. This can be used for applications such as identifying the attitude of aircraft 100 (e.g., magnetometer attitude calibration) and vibration recognition functions (e.g., pedometer, tapping). Furthermore, aircraft 100 may also be equipped with other sensors such as a gyroscope, barometer, hygrometer, and thermometer, which are not detailed here.

[0085] An embodiment of the present application provides a computer-readable storage medium having program code stored therein, wherein the program code can be invoked by a processor to execute the method described in the above method embodiment.

[0086] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program codes can be compressed, for example, in an appropriate form.

[0087] In summary, the present application provides a flight control method, device, and aircraft. After obtaining the current operating mode of the aircraft and the current displacement information of the joystick, corresponding control information is generated based on the current operating mode and the current displacement information, wherein only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, and the aircraft is controlled based on the control information. Through the above-described method, corresponding control information can be generated based on the current operating mode and the current displacement information, so that the aircraft can be controlled based on the control information. Because only the same displacement information of the first joystick differs in the corresponding control information between different operating modes, when the pilot performs the same operation on the joystick in different operating modes, the pilot obtains the same control information to the greatest extent possible. This improves the consistency between the pilot's control input and the aircraft's motion response, thereby improving the flight safety of the aircraft.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight control method, characterized in that: The method comprises: Obtaining a current operating mode of the aircraft and current displacement information of a joystick, wherein the current operating mode is a translation rate command mode or a normal speed mode, the displacement information indicates speed or acceleration control in a corresponding motion direction of the aircraft, and the joystick includes a first joystick and a second joystick; generating corresponding control information based on the current working mode and the current displacement information, wherein only the control information corresponding to the same displacement information of the first joystick in different working modes is different; The aircraft is controlled based on the control information.

2. The method according to claim 1, characterized in that The obtaining of the current operating mode of the aircraft includes: obtaining a configuration of the aircraft; Based on the configuration, the current working mode is obtained.

3. The method according to claim 2, characterized in that The obtaining of the configuration of the aircraft includes: Obtaining the airspeed of the aircraft; If the airspeed is less than or equal to a first speed, determining that the aircraft is in a rotor configuration; If the airspeed is greater than the first speed and the airspeed is less than or equal to the second speed, it is determined that the aircraft is in a transition configuration, where the transition configuration is a configuration in which the rotor and the fixed wing work together; If the airspeed is greater than the second speed, it is determined that the aircraft is in a fixed-wing configuration.

4. The method according to claim 2, characterized in that The obtaining of the current working mode based on the configuration includes: If the configuration of the aircraft is a transitional configuration or a fixed-wing configuration, determining that the current operating mode is the normal speed mode; If the configuration of the aircraft is a rotor configuration, the current operating mode is determined based on the ground speed and the mode state value of the aircraft.

5. The method according to claim 4, characterized in that If the configuration of the aircraft is a rotor configuration, determining the current operating mode based on the ground speed and mode state value of the aircraft includes: If the configuration of the aircraft is a rotor configuration, the mode state value is the first target value, and the ground speed is valid and less than or equal to a third speed, determining that the current operating mode is the translation rate command mode; If the configuration of the aircraft is a rotor configuration, the mode state value is the second target value, and the ground speed is valid and greater than the third speed, the current operating mode is determined to be the normal speed mode.

6. The method according to claim 1, wherein The generating corresponding control information based on the current working mode and the current displacement information includes: If the current operating mode is the translation rate command mode and the current displacement information is the first displacement information, generating first control information, wherein the first control information is used to control the forward speed of the aircraft; If the current operating mode is the translation rate command mode and the current displacement information is second displacement information, generating second control information, the second control information being used to control the lateral speed of the aircraft, the first displacement information and the second displacement information being displacement information of the first joystick in different movement directions; If the current operating mode is the translation rate command mode and the current displacement information is third displacement information, generating third control information, wherein the third control information is used to control the yaw rate of the aircraft; If the current working mode is the translation rate instruction mode and the current displacement information is the fourth displacement information, fourth control information is generated, and the fourth control information is used to control the vertical speed of the aircraft. The third displacement information and the fourth displacement information are the displacement information of the second joystick in different movement directions.

7. The method according to claim 6, characterized in that The method further comprises: If the current operating mode is the normal speed mode and the current displacement information is the first displacement information, generating fifth control information, wherein the fifth control information is used to control the forward acceleration of the aircraft; If the current operating mode is the normal speed mode and the current displacement information is the second displacement information, sixth control information is generated, and the sixth control information is used to control the lateral acceleration of the aircraft.

8. The method according to claim 1, characterized in that The controlling the aircraft based on the control information includes: Based on the current working mode, obtaining a feedback speed of the aircraft; The aircraft is controlled based on the control information and the feedback speed.

9. The method according to claim 8, characterized in that The obtaining, based on the current operating mode, a feedback speed of the aircraft, includes: If the current operating mode is the translation rate command mode, the ground speed of the aircraft is used as the feedback speed; If the current operating mode is the normal speed mode and the ground speed of the aircraft is less than or equal to a fourth speed, using the ground speed of the aircraft as the feedback speed; If the current operating mode is the normal speed mode and the ground speed of the aircraft is greater than the fourth speed, the airspeed of the aircraft is used as the feedback speed.

10. A flight control device, characterized in that: The device comprises: an information acquisition unit, configured to acquire a current operating mode of the aircraft and current displacement information of a joystick, wherein the current operating mode is a translation rate command mode or a normal speed mode, and the displacement information represents speed or acceleration control in a corresponding motion direction of the aircraft, and the joystick includes a first joystick and a second joystick; A control unit is configured to generate corresponding control information based on the current operating mode and the current displacement information, wherein only the same displacement information of the first joystick has different corresponding control information in different operating modes; and control the aircraft based on the control information.

11. An aircraft, characterized in that: comprising a first joystick, a second joystick, one or more processors, and a memory; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program code, wherein when the program code is run, the method according to any one of claims 1 to 9 is executed.

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