A method and device for determining the flight altitude of a UAV, an electronic device and a medium

Abstract

The application relates to a flight path height determination method and device of a UAV, electronic equipment and a medium, the method comprising: acquiring a scene type where the UAV is located, a UAV model and a signal strength coefficient; according to the UAV model, acquiring a wind force grade coefficient and a fuselage size parameter corresponding to the UAV model; if the scene type is a first scene, according to the fuselage size parameter corresponding to the UAV model, the wind force grade coefficient and the signal strength coefficient, determining the flight path height of the UAV; if the scene type is a second scene, acquiring a UAV speed, and according to the UAV speed, the fuselage size parameter, the wind force grade coefficient and the signal strength coefficient, determining the flight path height of the UAV. Through the method, the scene type where the UAV is located, the UAV model, the navigation signal strength and the flying UAV speed are comprehensively considered, the accuracy of the flight path height calculation is improved, and the flight adaptability and task execution capability of the UAV in a complex environment are enhanced.

Description

Technical Field

[0001] This invention relates to the field of air traffic control technology, and more specifically, to a method, apparatus, electronic device, and medium for determining the flight path altitude of an unmanned aerial vehicle (UAV). Background Technology

[0002] In the field of unmanned aerial vehicle (UAV) flight, accurate calculation of flight path altitude is crucial for flight safety, path planning, and mission execution efficiency. Calculating flight path altitude is a vital step in flight path planning. Traditional methods for calculating flight path altitude primarily rely on preset flight altitudes or simple terrain matching algorithms. While these methods can meet basic flight requirements to some extent, they have significant limitations in practical applications.

[0003] First, traditional methods typically assume ideal flight environments, neglecting the various complexities that may occur during actual flight. For example, they fail to adequately account for unforeseen circumstances that may arise during flight, such as brief interruptions in navigation signals or changes in local weather conditions. This assumption is often difficult to apply in real-world flight environments, leading to a mismatch between the calculated route altitude and actual flight requirements.

[0004] Secondly, existing methods for calculating flight path altitude lack flexibility and dynamic adjustment capabilities. During flight, UAVs may encounter various unforeseen situations, requiring real-time adjustments to flight altitude to ensure safety. However, traditional methods often cannot respond quickly to these changes, resulting in poor adaptability of UAVs in complex environments.

[0005] In summary, existing methods for calculating flight path altitude have many shortcomings in practical applications and are insufficient to meet the needs of modern UAV flight missions. Therefore, there is an urgent need for a more flexible, accurate, and adaptable method for calculating flight path altitude in complex environments to improve the safety of UAV flights and the efficiency of mission execution. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method, device, electronic device and medium for determining the flight path altitude of an unmanned aerial vehicle (UAV), aiming to solve at least one of the above-mentioned technical problems.

[0007] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problem is as follows: a method for determining the flight path altitude of an unmanned aerial vehicle (UAV), the method comprising:

[0008] Obtain the scene type, drone model, and signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene.

[0009] Based on the drone model, obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model. The wind force level coefficient represents the drone's ability to withstand wind.

[0010] If the scenario type is the first scenario, the flight path altitude of the drone is determined based on the drone's body size parameters, wind force coefficient, and signal strength coefficient.

[0011] If the scenario type is the second scenario, obtain the drone speed, and determine the drone's flight path altitude based on the drone speed, body size parameters, wind force coefficient, and signal strength coefficient. In the second scenario, there are more obstacles than in the first scenario, and the number of obstacles in the first scenario is less than the set number.

[0012] The beneficial effects of this invention are as follows: This solution addresses the shortcomings of existing route altitude calculation methods by proposing a method that comprehensively considers factors such as the UAV's scenario type, aircraft type, navigation signal strength, and UAV speed. First, by acquiring the scenario type of the UAV, this solution can dynamically adjust the route altitude calculation strategy according to the complexity of the scenario. In the first scenario, the route altitude is determined using aircraft size parameters, wind force coefficients, and signal strength coefficients, ensuring the flight stability and safety of the UAV in open environments. In the second scenario, the calculation is further combined with the UAV speed, enabling more accurate responses to complex environments, avoiding collision risks, and improving flight safety. Second, this solution introduces wind force coefficients and aircraft size parameters corresponding to the UAV model, fully considering the flight characteristics of different models, making the route altitude calculation more targeted and adaptable. Simultaneously, the signal strength coefficient of the navigation and positioning module reflects the strength of the navigation signal in real time, further optimizing altitude calculation and ensuring safe altitude control even in areas with significant signal interference. Furthermore, this solution combines UAV speed with route altitude calculation in the second scenario, enabling more flexible responses to dynamic flight environments and improving flight safety and efficiency. The solution provided in this application not only improves the accuracy of flight path altitude calculation, but also enhances the flight adaptability and mission execution capability of UAVs in complex environments, providing strong support for the widespread application of UAVs.

[0013] Based on the above technical solution, the present invention can be further improved as follows.

[0014] Furthermore, the aforementioned drone models are mini, light and small, medium and small, large and medium-sized, or large models, and the fuselage size parameter is the outer diameter of the drone's spherical shape; based on the drone model, obtain the fuselage size parameters corresponding to the drone model, including:

[0015] If the drone model is a mini model, the spherical outer diameter of the drone is 1 meter. If the actual size of the spherical outer diameter of the mini drone exceeds 1 meter, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the light and small model.

[0016] If the drone model is a light and small model, the spherical outer diameter of the drone is 2.5 meters. If the actual size of the spherical outer diameter of the light and small drone exceeds 2.5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the medium and small models.

[0017] If the drone model is a small or medium-sized model, the spherical outer diameter of the drone is 5 meters. If the actual size of the spherical outer diameter of a small or medium-sized drone exceeds 5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to a large or medium-sized model.

[0018] If the drone model is a medium-sized or large model, the actual size of the drone's spherical outer diameter is rounded up to the nearest whole number as the drone's spherical outer diameter.

[0019] Furthermore, the larger the signal strength coefficient mentioned above, the smaller the delay response time of the drone in the second scenario.

[0020] Furthermore, if the scenario type is Scenario 1, the drone's flight path altitude is determined based on the drone's size parameters, wind force coefficient, and signal strength coefficient, including:

[0021] If the scenario type is Scenario 1, the flight path altitude of the drone is determined using the first formula based on the drone's spherical outer diameter, wind force coefficient, and signal strength coefficient. The first formula is:

[0022] H AR =D UAV ×f wind ×(1+u GNSS );

[0023] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind U represents the wind force rating coefficient. GNSS This represents the signal strength coefficient.

[0024] Furthermore, if the scenario type is the second scenario, the drone's flight path altitude is determined based on the drone's speed, size parameters, wind force coefficient, and signal strength coefficient, including:

[0025] If the scenario type is the second scenario, the drone's flight path altitude is determined using the second formula based on the drone's speed, the drone's spherical outer diameter, the wind force coefficient, and the signal strength coefficient. The second formula is:

[0026] H AR =D UAV ×f wind ×(1+u GNSS )+V UAV ×u GNSS ;

[0027] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind V represents the wind force rating coefficient. UAV Indicates the speed of the drone, u GNSS This represents the signal strength coefficient.

[0028] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides a flight path altitude determination device for a UAV, the device comprising:

[0029] The acquisition module is used to acquire the scene type, drone model, and signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene.

[0030] The parameter determination module is used to obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model. The wind force level coefficient represents the drone's wind resistance and maintenance capability.

[0031] The first determining module is used to determine the flight path altitude of the UAV based on the fuselage size parameters, wind force coefficient, and signal strength coefficient corresponding to the UAV model when the scenario type is the first scenario.

[0032] The second determining module is used to obtain the drone speed when the scene type is the second scene, and determine the drone's flight path altitude based on the drone speed, body size parameters, wind force level coefficient and signal strength coefficient. The number of obstacles in the second scene is greater than the number of obstacles in the first scene, and the number of obstacles in the first scene is less than the set number.

[0033] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for determining the flight path altitude of the UAV of the present application.

[0034] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for determining the flight path altitude of the UAV of the present application.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0037] Figure 1 A flowchart illustrating a method for determining the flight path altitude of an unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a flight path altitude determination device for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0040] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0041] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0042] The solution provided in this invention can be applied to any application scenario that requires determining the flight path altitude of a UAV. The solution provided in this invention can be executed by any electronic device, and this invention provides a possible implementation method, such as... Figure 1 The diagram shows a flowchart of a method for determining the flight path altitude of a UAV. This method can be executed by any electronic device, such as a terminal device communicating with the UAV. For ease of description, the method provided in this embodiment will be described below using a terminal device as the executing entity. Figure 1 The flowchart shown indicates that the method may include the following steps:

[0043] S10: Obtain the scene type, drone model, and signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene.

[0044] S20: Based on the drone model, obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model. The wind force level coefficient represents the drone's ability to withstand wind.

[0045] S30, if the scenario type is the first scenario, the flight path altitude of the drone is determined according to the drone model's body size parameters, wind force coefficient, and signal strength coefficient;

[0046] S40, if the scenario type is the second scenario, obtain the drone speed, and determine the drone's flight path altitude based on the drone speed, body size parameters, wind force coefficient, and signal strength coefficient. In the second scenario, the number of obstacles is greater than the number of obstacles in the first scenario, and the number of obstacles in the first scenario is less than the set number.

[0047] This solution addresses the shortcomings of existing route altitude calculation methods by proposing a comprehensive approach that considers factors such as the drone's environment, model, navigation signal strength, and flight speed. First, by identifying the drone's environment, the solution dynamically adjusts the route altitude calculation strategy based on the complexity of the environment. In the first scenario, the route altitude is determined using drone size parameters, wind force coefficients, and signal strength coefficients, ensuring flight stability and safety in open environments. In the second scenario, the drone's speed is further incorporated into the calculation, enabling more precise handling of complex environments, avoiding collision risks, and improving flight safety. Second, this solution introduces wind force coefficients and drone size parameters corresponding to the drone model, fully considering the flight characteristics of different models, making the route altitude calculation more targeted and adaptable. Simultaneously, the signal strength coefficient of the navigation and positioning module reflects the strength of the navigation signal in real time, further optimizing altitude calculation and ensuring accurate altitude control even in areas with significant signal interference. Furthermore, in the second scenario, the solution incorporates the drone's speed into the route altitude calculation, enabling more flexible responses to dynamic flight environments and improving flight efficiency. The solution provided in this application not only improves the accuracy of flight path altitude calculation, but also enhances the flight adaptability and mission execution capability of UAVs in complex environments, providing strong support for the widespread application of UAVs.

[0048] The following specific embodiments further illustrate the solution of the present invention. In these embodiments, the flight path altitude is closely related to the aircraft type and application scenario. Therefore, the flight path altitude determination method for a UAV provided in this embodiment may include the following steps:

[0049] S10: Obtain the scene type, drone model, and signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene.

[0050] The scenario type refers to the flight scenario in which the drone is located. It can be either a first scenario or a second scenario. The scenario can be determined based on the number of obstacles in the drone's environment or the type of the drone's environment. For example, the first scenario is an open field or park, while the second scenario is a scenario with man-made obstacles such as buildings on the side of the flight path that affect flight. In other words, it is easier for the drone to fly in the first scenario than in the second scenario. In this application, regardless of the method of determination, the number of obstacles in the second scenario is greater than the number of obstacles in the first scenario, and the number of obstacles in the first scenario is less than the set number.

[0051] Optionally, the signal strength coefficient of the navigation and positioning module (e.g., GNSS module) of the above-mentioned UAV represents the speed of the UAV's delay response time in the second scenario. The larger the signal strength coefficient, the smaller the delay response time of the UAV in the second scenario.

[0052] S20: Based on the drone model, obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model. The wind force level coefficient represents the drone's ability to withstand wind and can also be expressed as the wind vector acting on the fuselage.

[0053] The larger the drone fuselage size, the smaller the wind force coefficient. Different drone models correspond to different wind force coefficients and fuselage size parameters. In this application, the wind force coefficient and fuselage size parameters can affect the determination of the flight path altitude.

[0054] In the above S20, the drone model is a mini model, a light and small model, a medium and small model, a large and medium-sized model, or a large model, and the fuselage size parameter is the outer diameter of the drone's spherical shape; according to the drone model, obtain the fuselage size parameters corresponding to the drone model, including:

[0055] If the drone model is a mini model (for example, a drone whose spherical outer diameter is less than 1 meter), the drone's spherical outer diameter is 1 meter;

[0056] If the drone model is a small and lightweight type, the spherical outer diameter of the drone is 2.5 meters;

[0057] If the drone model is a small to medium-sized model, the spherical outer diameter of the drone is 5 meters;

[0058] If the drone model is a medium-sized or large model, the actual size of the drone's spherical outer diameter is rounded up to the nearest whole number as the drone's spherical outer diameter.

[0059] The spherical outer diameter of the UAV can be determined by the largest aircraft type operating on the route. In this application, four levels can be preset: less than 1 meter, with a default spherical outer diameter of 1 meter, for light and small UAVs; typically, the spherical outer diameter of the UAV is 1-2.5 meters, with a spherical outer diameter of 2.5 meters in this application, for medium and small UAVs; typically, the spherical outer diameter of the UAV is 2.5 meters, with a spherical outer diameter of 5 meters in this application, for medium and large UAVs or large aircraft; typically, the spherical outer diameter of the UAV is more than 5 meters, with the actual size rounded up as the spherical outer diameter. Optionally, medium and large UAVs include large UAVs and eVTOLs.

[0060] In this application, a first correspondence can be established between different drone models and their corresponding drone spherical outer diameters. Based on this first correspondence, the drone spherical outer diameters corresponding to different drone models can be accurately determined.

[0061] Similarly, a second correspondence between different drone models and their corresponding wind force coefficients can be established in advance. Based on this second correspondence, the wind force coefficients corresponding to different drone models can be accurately determined.

[0062] In this application, the wind force level coefficient is related to the wind resistance performance of the UAV itself and the local gust, shear wind, and turbulent wind levels. The smaller the UAV, the weaker its wind resistance and the larger the coefficient. Typically, the wind force level coefficient is greater than 1, corresponding to D. UAV The four levels are assigned relative values: 3, 2, 1.5, and 1.2. That is, if the drone model is mini, the wind force level coefficient is 3; if the drone model is light and small, the wind force level coefficient is 2; if the drone model is medium and small, the wind force level coefficient is 1.5; and if the drone model is large and medium-sized, the wind force level coefficient is 1.2.

[0063] S30, if the scenario type is the first scenario, the flight path altitude of the drone is determined according to the drone model's body size parameters, wind force coefficient, and signal strength coefficient;

[0064] Alternatively, one implementation of S30 above is as follows:

[0065] If the scenario type is Scenario 1, the drone's flight path altitude is determined based on the drone's size parameters, wind force coefficient, and signal strength coefficient, including:

[0066] If the scenario type is Scenario 1, the flight path altitude of the drone is determined using the first formula based on the drone's spherical outer diameter, wind force coefficient, and signal strength coefficient. The first formula is:

[0067] H AR =D UAV ×f wind ×(1+u GNSS );

[0068] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind U represents the wind force rating coefficient. GNSS This represents the signal strength coefficient. In open areas, where ground reinforcement is lacking, the vertical positioning is worse than the horizontal positioning, and it cannot be ignored as 0.

[0069] S40, if the scenario type is the second scenario, obtain the drone speed, and determine the drone's flight path altitude based on the drone speed, body size parameters, wind force coefficient, and signal strength coefficient. In the second scenario, the number of obstacles is greater than the number of obstacles in the first scenario, and the number of obstacles in the first scenario is less than the set number.

[0070] Different drone models correspond to different drone speeds. In this application, the drone speed can be the average drone speed over a period of time, accurately reflecting the drone's flight status. The drone speed is also related to wind direction and the angle between the wind vector and the flight path centerline. When the drone flies against the wind, its speed decreases; when it flies with the wind, its speed increases.

[0071] Furthermore, based on the wind direction of the UAV and the angle between the wind vector and the flight path centerline, the specific implementation scheme for determining the UAV speed is as follows:

[0072] To acquire wind direction and speed data, specifically, through airborne meteorological sensors or ground-based meteorological data services, real-time information on wind direction and speed in the drone's flight environment is obtained. Wind direction indicates the direction from which the wind is coming, and wind speed indicates the intensity of the wind.

[0073] Determine the direction of the flight path centerline. Specifically, based on the UAV's preset flight path, determine the direction vector of the flight path centerline. This vector can be calculated by connecting adjacent waypoints or obtained directly from the flight mission planning system.

[0074] Calculate the angle between the wind vector and the centerline of the flight path; specifically, calculate the angle between the wind vector and the direction vector of the centerline of the flight path.

[0075] Calculate the drone's ground speed. Specifically, the drone's actual ground speed is the vector sum of the drone's airspeed and the wind speed.

[0076] Determine the drone's flight speed adjustment strategy; specifically, adjust the drone's flight speed based on the included angle. The specific strategy is as follows:

[0077] When the included angle is 0 degrees or 180 degrees, and the wind direction is parallel to the centerline of the flight path, the wind speed mainly affects the speed of the UAV by increasing or decreasing it.

[0078] When the angle is greater than 0 degrees or less than 180 degrees, there is an angle between the wind direction and the flight path centerline. Wind speed affects the UAV's speed in two ways: by changing its speed and by shifting its direction. In this case, the magnitude and direction of the UAV's ground velocity can be calculated using vector synthesis.

[0079]

[0080] Among them, V air It is the airspeed of the drone, V w It refers to wind speed; the sign depends on whether the wind is with or against the wind. (V) ground θ is the ground speed of the drone, and θ is the angle between the wind vector and the direction vector of the flight path centerline.

[0081] The direction of ground velocity can be calculated using the following formula:

[0082]

[0083] Where α is the angle between the ground velocity direction and the direction of the flight path centerline.

[0084] The above method can accurately calculate the speed of the UAV based on the wind direction and the angle between the wind vector and the centerline of the flight path, thereby optimizing the flight path and improving flight safety and mission execution efficiency.

[0085] Optionally, if the scenario type is the second scenario, in S40, the flight path altitude of the drone is determined based on the drone's speed, fuselage size parameters, wind force coefficient, and signal strength coefficient, including:

[0086] If the scenario type is the second scenario, the drone's flight path altitude is determined using the second formula based on the drone's speed, the drone's spherical outer diameter, the wind force coefficient, and the signal strength coefficient. The second formula is:

[0087] H AR =D UAV ×f wind ×(1+u GNSS )+V UAV ×u GNSS ;

[0088] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind V represents the wind force rating coefficient. UAV Indicates the speed of the drone, u GNSS This represents the signal strength coefficient.

[0089] The signal strength coefficient reflects the performance of the communication network and surveillance. The closer to buildings, the greater the impact from building obstruction and electromagnetic interference. RTK effectiveness, GNSS satellite coverage, and time accuracy are inversely proportional to the height and density of nearby buildings; that is, the lower the flight path altitude, the worse the signal. GNSS The larger the coefficient (signal strength coefficient), the longer the response time can be determined based on the signal strength coefficient, for example, 2 seconds.

[0090] In this application, a safe horizontal and vertical distance should be maintained between a single flight path and the surrounding environment. For small and light drones, the Civil Aviation Administration of China (CAAC) recommended industry standard level 16 grid, approximately equivalent to 0.48m x 0.48m at the equator. For small, medium, and medium-large drones, the CAAC recommended industry standard level 15 grid, approximately equivalent to 0.97m x 0.97m at the equator. For large drones, the CAAC recommended industry standard level 14 grid, approximately equivalent to 1.93m x 1.93m at the equator. Regarding flight path altitude, drones typically fly in horizontal planes, and the vertical variation of the flight path is also affected by upwind and downwind winds and navigation / positioning signals.

[0091] According to the solution of the present invention, the flight path altitudes in Table 1 below can be obtained based on different UAV models and scenario types.

[0092] Table 1

[0093]

[0094] Based on and Figure 1 Using the same principle as the method shown, this embodiment of the invention also provides a flight path altitude determination device 20 for unmanned aerial vehicles (UAVs), such as... Figure 2 As shown, the flight path altitude determination device 20 of the UAV may include an acquisition module 210, a parameter determination module 220, a first determination module 230, and a second determination module 240, wherein:

[0095] The acquisition module 210 is used to acquire the scene type where the drone is located, the drone model, and the signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene.

[0096] The parameter determination module 220 is used to obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model. The wind force level coefficient represents the drone's wind resistance and maintenance capability.

[0097] The first determining module 230 is used to determine the flight path altitude of the UAV based on the fuselage size parameters, wind force coefficient and signal strength coefficient corresponding to the UAV model when the scenario type is the first scenario.

[0098] The second determining module 240 is used to obtain the speed of the drone when the scene type is the second scene, and determine the flight path altitude of the drone based on the drone speed, body size parameters, wind force level coefficient and signal strength coefficient. The number of obstacles in the second scene is greater than the number of obstacles in the first scene, and the number of obstacles in the first scene is less than the set number.

[0099] Optionally, the aforementioned drone model can be a mini, light-sized, medium-sized, large-medium-sized, or large model, and the fuselage size parameter is the spherical outer diameter of the drone; when the parameter determination module obtains the fuselage size parameter corresponding to the drone model, it is specifically used for:

[0100] If the drone model is a mini model, the spherical outer diameter of the drone is 1 meter. If the actual size of the spherical outer diameter of the mini drone exceeds 1 meter, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the light and small model.

[0101] If the drone model is a light and small model, the spherical outer diameter of the drone is 2.5 meters. If the actual size of the spherical outer diameter of the light and small drone exceeds 2.5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the medium and small models.

[0102] If the drone model is a small or medium-sized model, the spherical outer diameter of the drone is 5 meters. If the actual size of the spherical outer diameter of a small or medium-sized drone exceeds 5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to a large or medium-sized model.

[0103] If the drone model is a medium-sized or large model, the actual size of the drone's spherical outer diameter is rounded up to the nearest whole number as the drone's spherical outer diameter.

[0104] Optionally, the higher the signal strength coefficient, the lower the delay response time of the drone in the second scenario.

[0105] Optionally, if the scenario type is the first scenario, when the first determining module 230 determines the flight path altitude of the UAV based on the UAV's fuselage size parameters, wind force coefficient, and signal strength coefficient, it is specifically used for:

[0106] If the scenario type is Scenario 1, the drone's flight path altitude is determined using the first formula based on the drone's size parameters, wind force coefficient, and signal strength coefficient. The first formula is:

[0107] H AR =D UAV ×f wind ×(1+u GNSS );

[0108] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind U represents the wind force rating coefficient. GNSS This represents the signal strength coefficient.

[0109] Optionally, if the scenario type is the second scenario, the second determining module 240, when determining the flight path altitude of the UAV based on the UAV speed, fuselage size parameters, wind force coefficient, and signal strength coefficient, is specifically used for:

[0110] If the scenario type is the second scenario, the drone's flight path altitude is determined using the second formula based on the drone's speed, the drone's spherical outer diameter, the wind force coefficient, and the signal strength coefficient. The second formula is:

[0111] H AR =D UAV ×f wind ×(1+u GNSS )+V UAV ×u GNSS ;

[0112] Among them, H AR Indicates the altitude of the flight path, D UAV f represents the outer diameter of the spherical shape of the UAV. wind V represents the wind force rating coefficient. UAV Indicates the speed of the drone, u GNSS This represents the signal strength coefficient.

[0113] The UAV flight path altitude determination device of this embodiment can execute the UAV flight path altitude determination method provided in this embodiment. The implementation principle is similar. The actions performed by each module and unit in the UAV flight path altitude determination device in each embodiment of this invention correspond to the steps in the UAV flight path altitude determination method in each embodiment of this invention. For detailed functional descriptions of each module of the UAV flight path altitude determination device, please refer to the descriptions in the corresponding UAV flight path altitude determination methods shown above, which will not be repeated here.

[0114] The aforementioned drone flight path altitude determination device can be a computer program (including program code) running on a computer device, such as an application software; the device can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0115] In some embodiments, the UAV route altitude determination device provided in this invention can be implemented using a combination of hardware and software. As an example, the UAV route altitude determination device provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the UAV route altitude determination method provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0116] In other embodiments, the UAV flight path altitude determination device provided in this invention can be implemented in software. Figure 2 A device for determining the flight path altitude of a UAV stored in a memory is shown. It can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a parameter determination module 220, a first determination module 230, and a second determination module 240, for implementing the UAV flight path altitude determination method provided in the embodiments of the present invention.

[0117] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0118] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0119] In one alternative embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0120] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0121] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0122] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0123] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0124] Among these, electronic devices can also be terminal devices. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0125] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0126] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0127] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0129] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0130] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0131] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for determining the flight path altitude of an unmanned aerial vehicle (UAV), characterized in that, include: The scene type, drone model, and signal strength coefficient of the drone's navigation and positioning module are obtained. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene. Based on the drone model, obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model, wherein the wind force level coefficient characterizes the drone's wind resistance and maintenance capability; If the scenario type is the first scenario, the flight path altitude of the drone is determined according to the fuselage size parameters, wind force coefficient, and signal strength coefficient corresponding to the drone model; If the scenario type is the second scenario, the drone speed is obtained, and the flight path altitude of the drone is determined based on the drone speed, the fuselage size parameter, the wind force level coefficient, and the signal strength coefficient. In this scenario, the number of obstacles in the second scenario is greater than the number of obstacles in the first scenario, and the number of obstacles in the first scenario is less than a set number. The drone model is a mini, light-sized, medium-sized, large-medium-sized, or large model, and the fuselage size parameter is the spherical outer diameter of the drone; based on the drone model, obtain the fuselage size parameters corresponding to the drone model, including: If the drone model is a mini model, the spherical outer diameter of the drone is 1 meter. If the actual size of the spherical outer diameter of the mini drone exceeds 1 meter, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the light and small model. If the drone model is a light and small model, the spherical outer diameter of the drone is 2.5 meters. If the actual size of the spherical outer diameter of the light and small drone exceeds 2.5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the medium and small model. If the drone model is a small or medium-sized model, the spherical outer diameter of the drone is 5 meters. If the actual size of the spherical outer diameter of the small or medium-sized drone exceeds 5 meters, the spherical outer diameter of the drone is determined by the spherical outer diameter of the drone corresponding to the large or medium-sized model. If the drone model is a medium-sized or large model, the actual size of the drone's spherical outer diameter is rounded up to the nearest whole number as the drone's spherical outer diameter. If the scenario type is the first scenario, the flight path altitude of the drone is determined based on the drone's size parameters, wind force coefficient, and signal strength coefficient, including: If the scenario type is the first scenario, the flight path altitude of the drone is determined according to the drone's spherical outer diameter, wind force coefficient, and signal strength coefficient, based on the drone model's corresponding drone type, using a first formula, wherein the first formula is: H AR = D UAV × f wind ×(1+ u GNSS )； Among them, H AR Indicates the altitude of the flight path. D UAV This indicates the spherical outer diameter of the drone. f wind Indicates the wind force rating coefficient. u GNSS This represents the signal strength coefficient.

2. The method according to claim 1, characterized in that, The higher the signal strength coefficient, the lower the delay response time of the drone in the second scenario.

3. The method according to claim 1, characterized in that, If the scenario type is the second scenario, the flight path altitude of the drone is determined based on the drone's speed, fuselage size parameters, wind force coefficient, and signal strength coefficient, including: If the scenario type is the second scenario, the flight path altitude of the drone is determined using a second formula based on the drone's speed, the drone's spherical outer diameter, wind force coefficient, and signal strength coefficient. The second formula is: H AR = D UAV × f wind ×(1+ u GNSS ) +V UAV × u GNSS ； Among them, H AR Indicates the altitude of the flight path. D UAV This indicates the spherical outer diameter of the drone. f wind Indicates the wind force rating coefficient. V UAV Indicates the speed of the drone. u GNSS This represents the signal strength coefficient.

4. A flight path altitude determination device for an unmanned aerial vehicle (UAV), characterized in that, The method for determining the flight path altitude of a UAV according to claim 1, wherein the apparatus comprises: The acquisition module is used to acquire the scene type where the drone is located, the drone model, and the signal strength coefficient of the drone's navigation and positioning module. The magnitude of the signal strength coefficient represents the speed of the drone's delay response time in the second scene. The parameter determination module is used to obtain the wind force level coefficient and fuselage size parameters corresponding to the drone model, wherein the wind force level coefficient characterizes the drone's wind resistance and maintenance capability. The first determining module is used to determine the flight path altitude of the UAV based on the fuselage size parameters, wind force coefficient, and signal strength coefficient corresponding to the UAV model when the scenario type is the first scenario. The second determining module is used to acquire the speed of the drone when the scenario type is the second scenario, and determine the flight path altitude of the drone based on the drone speed, the fuselage size parameter, the wind force coefficient and the signal strength coefficient, wherein the number of obstacles in the second scenario is greater than the number of obstacles in the first scenario, and the number of obstacles in the first scenario is less than a set number.

5. The apparatus according to claim 4, characterized in that, The higher the signal strength coefficient, the lower the delay response time of the drone in the second scenario.

6. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-3.

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