A method and system for detecting flight deviation of a UAV and multi-channel cooperative deviation correction

Abstract

This invention relates to the field of multi-channel human-computer interaction technology, specifically to a method and system for detecting and coordinating flight deviation of a UAV. The method includes: acquiring flight status data (position, heading, and speed) and training status data when the UAV is in training flight mode; calculating flight deviation information, including deviation direction, deviation amount, and deviation level, based on a preset training reference object; acquiring coordinating adaptation relationship data based on the flight deviation information and training status data and generating a multi-channel coordinating deviation correction prompt strategy; outputting correction prompts with consistent direction and intensity through two of the visual, tactile, and auditory prompt channels according to the strategy; continuously updating the flight status data during the prompting process and adjusting or terminating the prompt strategy based on changes in deviation information to form a closed loop. This invention reduces reliance on single-channel and verbal prompts, reduces prompt conflicts and cognitive load, and improves training deviation correction efficiency and consistency.

Description

Technical Field

[0001] This invention relates to the field of multi-channel human-computer interaction technology, specifically to a method and system for detecting flight deviation and multi-channel collaborative correction of unmanned aerial vehicles (UAVs). Background Technology

[0002] With the expanding applications of drones in fields such as inspection, surveying, and security, standardized subjects for license examinations and training are becoming increasingly common. Taking multi-rotor training as an example, trainees (pilots) typically need to perform maneuvers such as hovering, spinning, altitude and speed control, and figure-eight flight paths. The figure-eight flight path often requires the drone to maintain its heading and trajectory tangent direction during flight, while simultaneously controlling the stability of its position and speed. Because of the coupling relationship between position, heading, and speed, and because operators are prone to stick lag or over-correction at points such as cornering and intersections, problems such as lateral deviation, heading deviation, and speed deviation are common during training. If these deviations are not detected and corrected in time, it will lead to decreased training efficiency, lower pass rates, and even risks such as exceeding limits or attitude instability.

[0003] In actual training organization, to improve training efficiency, the primary means of correction is currently verbal prompts from instructors. Instructors judge deviations based on visual observation or ground station visuals and provide verbal commands such as "correct left / right," "decelerate / accelerate," and "maintain heading." Trainees, through repeated practice, gradually develop a mapping and muscle memory between stick inputs and changes in flight status. Meanwhile, existing training systems typically display parameters such as flight trajectory, heading angle, and speed on the ground station interface and may set threshold alarms or prompts to assist in correction. However, during actual flight, trainees often need to keep their eyes on the aircraft to maintain spatial orientation and attitude judgment. Especially during critical sections of figure-eight flight paths, the tolerance for line-of-sight switching is low, making it difficult to obtain visual information from the ground station screen in a timely manner. This means that the visual feedback provided by the ground station is difficult to effectively utilize during crucial training moments, and correction still mainly relies on verbal prompts or post-flight debriefing.

[0004] The aforementioned training methods and existing systems have at least the following shortcomings: First, verbal prompts heavily rely on the instructor's experience and effort, resulting in subjectivity and lag. Furthermore, they are easily masked or confused in noisy environments or during multi-aircraft training, making it difficult to quantify and standardize the expression of offset magnitude and level. Second, the usability of ground station visual information is limited under the training characteristic of "trainees focusing on the aircraft throughout the training," and a single visual channel is insufficient for real-time correction tasks. Third, when multiple types of offsets coexist or offsets change rapidly, prompts are prone to repetition, conflict, or overload, lacking a "dominant channel—coordination / inhibition" scheduling mechanism. Therefore, there is an urgent need for a technical solution that can establish a collaborative adaptation relationship based on flight offset information and training status data, generate multi-channel collaborative correction prompt strategies, and maintain consistency in direction and intensity across visual, auditory, and tactile channels, achieving dynamic closed-loop adjustment. This would reduce reliance on single verbal prompts and single sensory channels, improve training correction efficiency, and shorten the repetitive training cycle. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems in existing UAV training, such as reliance on verbal prompts from instructors, difficulty in effectively utilizing ground station visual information during critical flight phases, and the potential for conflict or overload when multiple types of deviations coexist. This invention provides a method and system for UAV flight deviation detection and multi-channel collaborative correction to solve the problems mentioned in the background.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A method for detecting flight deviation and multi-channel collaborative correction of unmanned aerial vehicles (UAVs), the method comprising:

[0008] S1. When the UAV is in training flight mode, use sensors to acquire flight status data of the UAV; wherein the flight status data includes position information, heading information and speed information;

[0009] S2. Set a preset training reference object, then calculate the UAV's flight offset information based on the flight status data and the preset training reference object; wherein the flight offset information includes the offset direction, offset amount, and offset level representing the degree of offset;

[0010] S3. Obtain the collaborative adaptation relationship data between flight deviation information and the prompting channel, and generate a multi-channel collaborative deviation correction prompting strategy based on the collaborative adaptation relationship data;

[0011] S4. Based on a multi-channel collaborative correction prompt strategy, correction prompts are output to the operator through visual prompt channels, tactile prompt channels, and auditory prompt channels; among them, the correction prompts output by different prompt channels maintain consistency in direction and intensity expression or meet preset collaborative constraint rules.

[0012] S5. During the process of outputting correction prompts, the flight status data is continuously updated, and the multi-channel collaborative correction prompt strategy is adjusted or terminated according to the changes in flight deviation information, so as to form a multi-channel human-machine interaction closed loop for the operator.

[0013] Preferably, S1 includes:

[0014] S11. Use the positioning module to obtain the three-dimensional spatial position of the UAV in real time, including longitude, latitude and altitude;

[0015] S12. Obtain the current attitude and heading information of the UAV using the attitude sensing module and heading sensing module; wherein the heading data is provided in the form of northward yaw angle or heading angle, and is used to compare with the desired heading.

[0016] S13. Use a barometer, ground speed sensor or IMU to obtain the forward speed, ascent or descent speed and lateral speed of the UAV; among which, the actual flight speed of the UAV is calculated based on the ground speed and the speed of the aircraft itself, combined with the tilt angle and velocity vector of the aircraft.

[0017] S14. The control system determines the training subject type and training stage type based on the current training content and progress; wherein the training subject type includes flight trajectory following and fixed-point flight, and the training stage type includes basic training and advanced training.

[0018] Preferably, S2 includes:

[0019] S21. Obtain the current location of the drone. The figure-eight flight path is defined as consisting of two tangent circles with the same radius, and their centers are respectively... , Given a radius of R, calculate the distance from the current position to the centers of the two circles respectively: ;

[0020] Select , Let the circle with the smaller median distance be the current reference circle, and let the center of the current circle be... The corresponding distance is The shortest distance from the current position to the reference circle is: ;

[0021] in, The distance is "vertical distance / shortest distance"; the corresponding nearest projection point is "the intersection of the direction from the center of the circle to the current position and the circumference", which is used for subsequent calculation of the expected heading;

[0022] S22. Calculate the heading offset based on the current heading and the desired heading;

[0023] The desired heading is given by the tangent direction of the circle at the projection point: Then based on the current heading With the expected course The difference is used to obtain the heading offset. ;

[0024] in, The coordinates of the projection point, Determined by clockwise / counterclockwise rules;

[0025] S23. Calculate the lateral offset and velocity offset;

[0026] In a figure-eight flight path, the lateral offset is represented by the "radial difference to the circle": ;in, Indicates outside the circle. Indicates inside the circle. This is the offset size;

[0027] The speed offset is the current speed. Compared with reference speed The difference is denoted as ;

[0028] S24. Convert the offset into directional and intensity information that can be perceived by the operator;

[0029] The direction information is determined by the offset sign:

[0030] when Output "Inward Correction";

[0031] when Output "Outward Correction";

[0032] If the system uses left and right prompting hardware, then "inward / outward" will be mapped to "left / right" according to the clockwise / counterclockwise direction of the current loop segment to maintain semantic consistency across channels;

[0033] The intensity information is determined by the offset magnitude: when The larger the value, the stronger the cue, and the visual / tactile / auditory responses must remain monotonously consistent in intensity changes or meet preset collaborative constraints.

[0034] S25. Convert the offset information into offset levels based on the offset magnitude;

[0035] Set threshold The offset levels are: slight offset, moderate offset, and severe offset.

[0036] The slight offset: when At that time, it was determined to be a minor heading error;

[0037] The moderate offset: when If the offset is large, the operator needs to pay attention.

[0038] The severe offset: when If the deviation is too large and affects flight safety, it must be corrected immediately.

[0039] Preferably, S3 includes:

[0040] S31. Combining flight deviation information and training status data, the system will set adaptation rules based on the operator's perceptual load and comprehension efficiency: if the flight deviation is less than the threshold, the system will choose to provide feedback through visual cues, while if the deviation is greater than the threshold, it will provide enhanced cues through auditory and tactile channels.

[0041] S32. Based on the obtained cooperative adaptation relationship data, generate a correction prompt strategy suitable for the current flight state; the correction prompt strategy includes a prompt scheduling mechanism. When multiple types of flight deviation information or multiple prompt conditions exist simultaneously, all prompt channels will work in parallel, providing feedback information to the operator simultaneously through visual, tactile, and auditory channels; as the flight deviation information is continuously updated, the prompt intensity will gradually weaken or the number of activated prompt channels will be reduced as the deviation level decreases. When the aircraft's deviation drops below a preset threshold, the system will terminate all prompt outputs.

[0042] Preferably, S4 includes:

[0043] S41. Visual Cueing Channel: A linear light array module is installed on the UAV end. Based on flight status data and speed information, it calculates cueing parameters and outputs speed and offset cues through color, flashing frequency, and the number of illuminated units. The linear light array includes symmetrically distributed light units on both sides, with the number of light units on one side being [number missing]. The system refreshes at a certain cycle. renew;

[0044] S42, Tactile feedback channel: A left and right vibration module is set on the operator's remote control; the system refreshes at a certain interval. The flight offset is acquired and haptic cue parameters are calculated. The haptic coding of offset direction and degree is realized through left and right vibration output.

[0045] S43, Auditory Prompt Channel: Set up a voice broadcast module in the operating system, which includes: automatically generating voice prompts based on the aircraft's offset and offset direction; triggering a voice prompt when the offset reaches a preset threshold and the offset duration is greater than a time threshold; setting a minimum broadcast interval, that is, the system will not repeat the same voice prompt within a short period of time after the same type of voice prompt is broadcast.

[0046] S44. During flight, the system provides real-time feedback to the operator through parallel prompts via visual, tactile, and auditory channels, ensuring that the operator can accurately perceive the aircraft's status and make timely adjustments.

[0047] Preferably, the visual cue channel in S41 includes:

[0048] S411, Speed ​​information encoding, obtain the current tangential speed. Compared with reference speed Calculate the velocity offset: Set speed threshold and flicker range ,when A solid green light indicates that the speed is within the allowable range; when The flashing indicator appears when the color code is applied; color rules are used to indicate the direction of offset: when... A red flashing indicator will appear to display "Too fast / Need to slow down"; when... A blue flashing indicator appears, displaying the message "Too slow / Needs to speed up".

[0049] S412. The flight offset direction is indicated by illuminating different numbers of light units; the flight offset is obtained. It follows a monotonically consistent rule that "the larger the offset, the more lights are lit," which is used to enhance long-distance recognizability.

[0050] S413. Determine the output side based on the offset sign: when Select the left light unit group to light up. One, when Select the right-side light unit group to light up. One; when Gradually reduce when below the preset safety threshold Until it is extinguished, so as to achieve a closed-loop effect of automatically weakening and exiting the prompt as the offset returns;

[0051] The lighting sequence adopts either "expanding from the center outwards" or "contracting from the outside to the center" to make the change in the number of lights more intuitive for the operator.

[0052] Preferably, the tactile cue channel in S42 includes:

[0053] S421, Vibration intensity adaptively increases with offset; obtain flight offset. Set trigger threshold ,when When there is no vibration or the output is at its lowest intensity, it is designed to reduce interference caused by minute vibrations; when The vibration intensity is gradually increased, providing a warning.

[0054] S422, the left and right vibration module includes a left vibration unit and a right vibration unit. The system assigns tactile cues to the left / right vibration unit according to the offset direction: when 0 is determined to be a left offset, when 0 indicates a rightward drift; when the flight drift occurs on the left-hand path or on the left aileron, the left vibration unit generates a strong vibration, prompting the operator to make a leftward adjustment; when the flight drift occurs on the right-hand path or on the right aileron, the right vibration unit generates a strong vibration, prompting the operator to make a rightward adjustment.

[0055] Preferably, S5 includes:

[0056] S51. The system continuously receives status data of the aircraft, including position, heading, and speed, through a continuous connection with the flight status acquisition module; wherein the status data is provided in real time by the aircraft's sensors, GPS, electronic compass, and other measuring devices.

[0057] S52. When flight status data changes, the system immediately detects it and triggers an update;

[0058] S53. When the aircraft's deviation decreases, indicating that the aircraft is returning to its normal flight trajectory, the system gradually reduces the intensity of the warning.

[0059] S54. When the aircraft's deviation drops below the preset threshold, it indicates that the aircraft has almost returned to the normal flight path, and the system will stop all prompt outputs. At this time, there is no longer a need for frequent prompts to disturb the operator, and the system will be in a normal monitoring mode. Prompts will only be enabled again when a new deviation occurs.

[0060] Preferably, the present invention also provides a UAV flight deviation detection and multi-channel collaborative correction system, characterized in that it includes: a flight status acquisition module, a deviation detection module, and a multi-channel prompt output module.

[0061] The flight status acquisition module is used to acquire flight status data and training status data; the offset detection module is used to calculate flight offset information and determine the offset level based on a preset reference object; the multi-channel prompt output module is used to output correction prompt content through the target prompt channel according to the collaborative prompt strategy, including a linear light array module, a left and right vibration module and a voice broadcast module, wherein the target prompt channel includes at least two of the following: auditory prompt channel, visual prompt channel and tactile prompt channel, and satisfies a preset collaborative rule to ensure consistent expression of prompt direction and prompt intensity output by different prompt channels.

[0062] The present invention also provides a UAV flight deviation detection and multi-channel collaborative correction device, characterized in that it includes a UAV-end prompting component and an operator control device (such as a ground station or remote controller), and a processing unit for acquiring collaborative adaptation relationship data and determining the target prompting channel.

[0063] The control device is used to generate or output correction prompts for auditory and tactile prompts; the UAV-side prompting component is used to output correction prompts for visual prompts; and the processing unit is used to generate a collaborative correction prompting strategy based on flight offset information and training status data, so that the prompting direction and prompting intensity of different prompting channels meet preset collaborative rules, thereby realizing multi-channel parallel prompting and closed-loop adjustment.

[0064] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0065] 1) Offset calculation strongly bound to the training reference object: Through mechanisms such as the nearest projection point and the expected heading of the trajectory tangent, the calculation of lateral offset, heading offset and velocity offset has a clear geometric meaning, which is applicable to training subjects such as figure-eight routes.

[0066] 2) Perceptible representation of offset information: The offset information is uniformly converted into direction information, intensity information and offset level, so that the prompt output has a consistent and quantifiable intensity change pattern, which is conducive to the operator's quick understanding.

[0067] 3) Parallel output of visual, tactile and auditory three channels: The simultaneous output of multiple channels significantly reduces the dependence on a single channel, and can still maintain perceptibility in scenarios such as high speed, heavy operation load and changes in lighting, and improve the timeliness of correction.

[0068] 4) Closed-loop dynamic adjustment and termination: The status is continuously updated and the intensity of the prompts is dynamically adjusted. The intensity is smoothly reduced when the offset decreases and the prompts are automatically terminated when the offset is below the threshold, reducing redundant interference and improving the training experience and efficiency.

[0069] 5) Modular implementation and easy integration: The device and system have a clear structure and can be flexibly deployed at the UAV end and the control device end. It is easy to integrate with existing flight control, positioning modules and remote control equipment, and is suitable for different training stages and training subjects. Attached Figure Description

[0070] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0071] Figure 1 This is a flowchart of a method for detecting flight deviation and multi-channel collaborative correction of unmanned aerial vehicles (UAVs) according to the present invention;

[0072] Figure 2 This is a structural framework diagram of the UAV flight deviation detection and multi-channel collaborative correction system of the present invention. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] Please see Figures 1-2 The present invention provides the following technical solution:

[0075] Example 1: This invention acquires flight status data such as position, heading, and speed of a UAV during training flight, and calculates the offset direction, offset amount, and offset level by combining the data with a preset training reference object. Furthermore, it establishes a collaborative adaptation relationship between the offset information and the training status data to generate a multi-channel collaborative correction prompt strategy. This strategy ensures that at least two prompt channels, such as visual, auditory, and tactile, maintain consistency in directional and intensity expression or meet preset collaborative constraint rules, thereby reducing the operator's dependence on a single prompt method and improving the efficiency and response speed of correction understanding.

[0076] Meanwhile, the present invention continuously updates flight status data during the prompt output process, and enhances, weakens, switches channels or terminates the prompt strategy according to the changes in offset information, forming a multi-channel human-computer interaction closed loop of detection-prompt-correction-re-detection, so as to achieve an adaptive balance between "effective prompts" and "low interference" in different training stages, improve training efficiency and consistency, and reduce repeated training cycles.

[0077] Specifically, such as Figure 1 As shown, a method for UAV flight offset detection and multi-channel collaborative correction includes:

[0078] S1. When the UAV is in training flight mode, use sensors to acquire flight status data of the UAV; wherein the flight status data includes position information, heading information and speed information;

[0079] Preferably, S1 includes:

[0080] S11. Use a positioning module (such as an RTK system or differential GPS system) to obtain the three-dimensional spatial position of the UAV in real time, including longitude, latitude and altitude;

[0081] S12. The current attitude and heading information of the UAV are obtained using an attitude sensing module (such as an inertial measurement unit (IMU)) and a heading sensing module (such as an electronic compass); wherein the heading data is provided in the form of north yaw angle or heading angle (0-360°) for comparison with the desired heading.

[0082] S13. Use a barometer, ground speed sensor or IMU to obtain the forward speed, ascent or descent speed and lateral speed of the UAV; among which, the actual flight speed of the UAV is calculated based on the ground speed and the speed of the aircraft itself, combined with the tilt angle and velocity vector of the aircraft.

[0083] S14. The control system determines the training subject type and training stage type (such as basic training, advanced training, etc.) based on the current training content and progress; wherein the training subject type includes flight trajectory following and fixed-point flight, and the training stage type includes basic training and advanced training; the training status data is transmitted to the offset detection module in real time to ensure that it can calculate flight offset information based on the current training objectives and steps.

[0084] S2. A preset training reference object is set, and the UAV's flight offset information is calculated based on the flight status data and the preset training reference object. The flight offset information includes at least one of lateral offset, heading offset, and velocity offset, and is converted into direction and intensity information suitable for human perception. The offset levels include at least slight offset, moderate offset, and severe offset, with different offset levels corresponding to different multi-channel cue combinations or cue intensity ranges to adapt to the operator's cognitive abilities at different training stages.

[0085] The preset training reference object is a figure-eight flight path reference trajectory. The calculation of flight offset information includes: determining the nearest projection point of the current position of the UAV on the figure-eight flight path reference trajectory, and using the trajectory tangent direction at the projection point as the desired heading to calculate the heading offset.

[0086] Preferably, S2 includes:

[0087] S21. Obtain the current location of the drone. The figure-eight flight path is defined as consisting of two tangent circles with the same radius, and their centers are respectively... , Given a radius of R, calculate the distance from the current position to the centers of the two circles respectively: ;

[0088] Select , The circle with the smaller median distance is used as the current reference circle (or it can be directly specified during the training phase), and the center of the current circle is set to... The corresponding distance is The shortest distance from the current position to the reference circle is: ;

[0089] in, The distance is "vertical distance / shortest distance"; the corresponding nearest projection point is "the intersection of the direction from the center of the circle to the current position and the circumference", which is used for subsequent calculation of the expected heading;

[0090] S22. Calculate the heading offset based on the current heading and the desired heading;

[0091] The desired heading is given by the tangent direction of the circle at the projection point. For the circular trajectory, the tangent direction is perpendicular to the radial direction from the center of the circle to the projection point, and whether it is clockwise or counterclockwise is specified by the training subject. Then based on the current heading With the expected course The difference (after angle normalization to avoid cross-boundary jumps) yields the heading offset. ;For example , ,but ;

[0092] in, The coordinates of the projection point, Determined by clockwise / counterclockwise rules;

[0093] S23. Calculate the lateral offset and velocity offset;

[0094] In a figure-eight flight path, the lateral offset is represented by the "radial difference to the circle": ;in, Indicates outside the circle. Indicates inside the circle. This is the offset size;

[0095] The speed offset is the current speed. Compared with reference speed The difference is denoted as ;

[0096] S24. Convert the offset into directional and intensity information that can be perceived by the operator;

[0097] The direction information is determined by the offset sign:

[0098] when The output is "Correct inward (towards the center)";

[0099] when Output "Correct outwards (away from the center)";

[0100] If the system uses left and right prompt hardware (light array / vibration left and right units), then "inward / outward" will be mapped to "left / right" according to the clockwise / counterclockwise direction of the current loop segment to maintain semantic consistency of each channel;

[0101] The intensity information is determined by the offset magnitude: when The larger the (or offset level) is, the stronger the cue, and the visual / tactile / auditory responses must remain monotonously consistent in intensity changes or meet preset collaborative constraints;

[0102] S25. Convert the offset information into offset levels based on the offset magnitude;

[0103] Set threshold The offset levels are: slight offset, moderate offset, and severe offset.

[0104] The slight offset: when At that time, it was determined to be a minor heading error;

[0105] The moderate offset: when If the offset is large, the operator needs to pay attention.

[0106] The severe offset: when If the deviation is large and affects flight safety, it needs to be corrected immediately. It is permissible to adjust the threshold in stages according to the training phase (for example, take a stricter threshold for intersections / turns and a more lenient threshold for stable sections) in order to balance sensitivity and low interference.

[0107] S3. Obtain the collaborative adaptation relationship data between flight deviation information and the prompting channel, and generate a multi-channel collaborative deviation correction prompting strategy based on the collaborative adaptation relationship data;

[0108] Preferably, S3 includes:

[0109] S31. Combining flight deviation information and training status data, the system will set adaptation rules based on the operator's perceptual load and comprehension efficiency: if the flight deviation is less than the threshold, the system will choose to provide feedback through visual cues, while if the deviation is greater than the threshold, it will provide enhanced cues through auditory and tactile channels; through research and experiments, the system will determine which one or more cues channels are suitable for each deviation situation, as well as the cues intensity and frequency of each channel.

[0110] S32. Based on the obtained cooperative adaptation relationship data, generate a correction prompt strategy suitable for the current flight state; the correction prompt strategy includes a prompt scheduling mechanism. When multiple types of flight deviation information or multiple prompt conditions exist simultaneously, all prompt channels will work in parallel, providing feedback information to the operator simultaneously through visual, tactile, and auditory channels; as the flight deviation information is continuously updated, the prompt intensity will gradually weaken or the number of activated prompt channels will be reduced as the deviation level decreases. When the aircraft's deviation drops below a preset threshold, the system will terminate all prompt outputs.

[0111] S4. Based on a multi-channel collaborative correction prompt strategy, correction prompts are output to the operator through visual prompt channels, tactile prompt channels, and auditory prompt channels; among them, the correction prompts output by different prompt channels maintain consistency in direction and intensity expression or meet preset collaborative constraint rules.

[0112] Preferably, S4 includes:

[0113] S41. Visual Cueing Channel: A linear light array module is installed on the UAV end. Based on flight status data and speed information, it calculates cueing parameters and outputs speed and offset cues through color, flashing frequency, and the number of illuminated units. The linear light array includes symmetrically distributed light units on both sides, with the number of light units on one side being [number missing]. The system refreshes at a certain cycle. renew;

[0114] Preferably, the visual cue channel in S41 includes:

[0115] S411, Speed ​​information encoding, obtain the current tangential speed. Compared with reference speed Calculate the velocity offset: Set speed threshold and flicker range ,when A solid green light (or low-frequency flashing) indicates that the speed is within the allowable range; when... The flashing indicator appears when the color code is applied; color rules are used to indicate the direction of offset: when... A red flashing indicator will appear to display "Too fast / Need to slow down"; when... A blue flashing indicator appears, displaying the message "Too slow / Needs to speed up".

[0116] S412. The flight offset direction is indicated by illuminating different numbers of light units; the flight offset is obtained. (For example, lateral offset or radial offset under double-circle figure-eight trajectory), which satisfies the monotonous and consistent rule of "the greater the offset, the more lights are lit", and is used to enhance long-distance recognition.

[0117] S413. Determine the output side based on the offset sign: when Select the left light unit group to light up. One, when Select the right-side light unit group to light up. One; when Gradually reduce when below the preset safety threshold Until it is extinguished, so as to achieve a closed-loop effect of automatically weakening and exiting the prompt as the offset returns;

[0118] The lighting sequence adopts either "expanding from the center outwards" or "contracting from the outside to the center" to make the change in the number of lights more intuitive for the operator.

[0119] S42, Tactile feedback channel: Left and right vibration modules (left and right vibration units) are set on the operator's remote control; the system refreshes at a certain interval. The flight offset is acquired and haptic cue parameters are calculated. The haptic coding of offset direction and degree is realized through left and right vibration output.

[0120] Preferably, the tactile cue channel in S42 includes:

[0121] S421, Vibration intensity adaptively increases with offset; obtain flight offset. (This can be a lateral offset relative to a reference trajectory, or an equivalent lateral offset calculated from aileron / flight offset), set the trigger threshold. ,when When there is no vibration or the output is at its lowest intensity, it is designed to reduce interference caused by minute vibrations; when The vibration intensity is gradually increased, providing a warning.

[0122] S422, the left and right vibration module includes a left vibration unit and a right vibration unit. The system assigns tactile cues to the left / right vibration unit according to the offset direction: when 0 is determined to be a left offset, when 0 indicates a rightward drift; when the flight drift occurs on the left-hand path or on the left aileron, the left vibration unit generates a strong vibration, prompting the operator to make adjustments on the left; when the flight drift occurs on the right-hand path or on the right aileron, the right vibration unit generates a strong vibration, prompting the operator to make adjustments on the right; through the difference in left and right vibrations, the operator can clearly perceive the direction of the flight drift and make real-time adjustments based on the tactile cues to ensure that the aircraft maintains the correct flight trajectory.

[0123] S43. Auditory Prompt Channel: A voice broadcast module is configured in the operating system, specifically including: automatically generating voice prompts based on the aircraft's offset and direction; for example, when the aircraft veers to the left, the voice broadcast will prompt: "Veering to the left, please adjust your heading." When the aircraft veers to the right, the voice broadcast will prompt: "Veering to the right, please adjust your heading." If the aircraft's speed is too high or too low, the system may issue voice prompts: "Speed ​​too high, please decelerate" or "Speed ​​too low, please accelerate."

[0124] When the offset reaches a preset threshold and the offset duration exceeds a time threshold, a voice prompt is triggered. This way, the system will only remind the operator via voice after the offset reaches a certain level and lasts for a period of time, avoiding frequent and unnecessary interference. To prevent frequent voice broadcasts due to rapidly changing offsets, a minimum broadcast interval is set. That is, the system will not repeat the same voice prompt within a short period of time after the same type of voice prompt is broadcast. This ensures that the operator will not be disturbed by repeated broadcasts, improving the smoothness and efficiency of the interaction.

[0125] S44. During flight, the system provides real-time feedback to the operator through parallel visual, tactile, and auditory prompts, ensuring that the operator can accurately perceive the aircraft's status and make timely adjustments. In this embodiment, all three prompting channels are activated simultaneously and work in parallel, ensuring that every important state of the aircraft is transmitted to the operator through different sensory channels. Each channel independently transmits offset information, ensuring that the operator perceives the aircraft's status through different senses simultaneously, avoiding missing important information due to reliance on a single channel.

[0126] When the aircraft deviates significantly, the light strip enhances visual feedback through flashing frequency, the remote controller provides tactile cues through vibration feedback, and a voice prompt informs the operator of the specific adjustment direction. All feedback channels operate simultaneously to ensure the operator can make quick and clear adjustments.

[0127] When the aircraft's deviation is small, the system will still maintain parallel operation of the three channels, but the intensity of the feedback will be weakened. For example, the flashing frequency of the light strip will be reduced, the intensity of tactile feedback will be weakened, and the triggering frequency of voice prompts will also be reduced, with voice feedback only provided after the deviation has lasted for a longer period of time.

[0128] Through three parallel channels, the system can simultaneously convey flight status information to the operator via visual, tactile, and auditory means. This parallel operation ensures that the operator receives feedback from multiple senses during flight, allowing for timely adjustments and improved flight safety and operational precision. Feedback from all channels remains consistent across all flight states, avoiding information conflicts or redundancy and making aircraft control more intuitive and fluid.

[0129] S5. During the process of outputting correction prompts, the flight status data is continuously updated, and the multi-channel collaborative correction prompt strategy is adjusted or terminated according to the changes in flight deviation information, so as to form a multi-channel human-machine interaction closed loop for the operator.

[0130] Preferably, S5 includes:

[0131] S51. The system continuously receives status data of the aircraft, including position, heading, and speed, through a continuous connection with the flight status acquisition module; wherein the status data is provided in real time by the aircraft's sensors, GPS, electronic compass, and other measuring devices.

[0132] S52. When flight status data changes, the system immediately detects and triggers an update. For example, when the drone's current position shifts, its heading changes, or its speed fluctuates, the offset detection module will recalculate the aircraft's offset information (such as lateral offset, heading offset, etc.) based on the new data and automatically adjust subsequent prompting strategies to ensure that the operator can receive the latest and most accurate flight status feedback.

[0133] S53. As the aircraft's deviation decreases, indicating that the aircraft is returning to its normal flight trajectory, the system gradually reduces the intensity of the cues. For example, when the deviation is large, the system provides a strong visual, tactile, or auditory alert; as the deviation decreases, the system gradually weakens the intensity of the cues to avoid excessive interference with the operator. For visual cues, the flashing frequency or brightness of the lights will gradually decrease; for tactile cues, the vibration intensity will decrease; for auditory cues, the frequency or intensity of the voice cues will decrease.

[0134] S54. When the offset decreases to a certain threshold, the system reduces the number of activated prompting channels based on the actual situation. For example, if visual, tactile, and auditory prompting methods were previously enabled simultaneously, when the offset is small, the system may only retain the most suitable prompting channel (such as visual or tactile prompting), and other channels will stop or reduce their prompting. This approach can avoid the operator being disturbed by too much prompting information, while maintaining the simplicity and effectiveness of the feedback.

[0135] S55. When the aircraft's deviation drops below the preset threshold, it indicates that the aircraft has almost returned to the normal flight path, and the system will stop all prompt outputs. At this time, there is no longer a need for frequent prompts to disturb the operator, and the system will be in a normal monitoring mode. Prompts will only be enabled again when a new deviation occurs.

[0136] Through the above steps, the system can dynamically adapt to changes in flight status, ensuring that the operator's feedback during flight is both timely and not excessive, thereby improving flight safety and control precision.

[0137] Example 2: Figure 2 As shown, the present invention provides a UAV flight deviation detection and multi-channel collaborative correction system, including: a flight status acquisition module, a deviation detection module, and a multi-channel prompt output module.

[0138] The flight status acquisition module is used to acquire flight status data and training status data; the offset detection module is used to calculate flight offset information and determine the offset level based on a preset reference object; the multi-channel prompt output module is used to output correction prompt content through the target prompt channel according to the collaborative prompt strategy, including a linear light array module, a left and right vibration module and a voice broadcast module, wherein the target prompt channel includes at least two of the following: auditory prompt channel, visual prompt channel and tactile prompt channel, and satisfies a preset collaborative rule to ensure consistent expression of prompt direction and prompt intensity output by different prompt channels.

[0139] Example 3: The present invention provides a UAV flight deviation detection and multi-channel collaborative correction device, characterized in that it includes a UAV-end prompting component and an operator control device (such as a ground station or remote controller), as well as a processing unit for acquiring collaborative adaptation relationship data and determining the target prompting channel.

[0140] The control device is used to generate or output correction prompts for auditory and tactile prompts; the UAV-side prompting component is used to output correction prompts for visual prompts; and the processing unit is used to generate a collaborative correction prompting strategy based on flight offset information and training status data, so that the prompting direction and prompting intensity of different prompting channels meet preset collaborative rules, thereby realizing multi-channel parallel prompting and closed-loop adjustment.

[0141] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for detecting flight deviation and multi-channel collaborative correction of unmanned aerial vehicle (UAV) flight paths, characterized in that: The method includes: S1. When the UAV is in training flight mode, use sensors to acquire flight status data of the UAV; wherein the flight status data includes position information, heading information and speed information; S2. Set a preset training reference object, then calculate the UAV's flight offset information based on the flight status data and the preset training reference object; wherein the flight offset information includes the offset direction, offset amount, and offset level representing the degree of offset; S3. Obtain the collaborative adaptation relationship data between flight deviation information and the prompting channel, and generate a multi-channel collaborative deviation correction prompting strategy based on the collaborative adaptation relationship data; S4. Based on a multi-channel collaborative correction prompt strategy, correction prompts are output to the operator through visual prompt channels, tactile prompt channels, and auditory prompt channels; among them, the correction prompts output by different prompt channels maintain consistency in direction and intensity expression or meet preset collaborative constraint rules. S5. During the process of outputting correction prompts, the flight status data is continuously updated, and the multi-channel collaborative correction prompt strategy is adjusted or terminated according to the changes in flight deviation information, so as to form a multi-channel human-machine interaction closed loop for the operator.

2. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 1, characterized in that, S1 includes: S11. Use the positioning module to obtain the three-dimensional spatial position of the UAV in real time, including longitude, latitude and altitude; S12. Obtain the current attitude and heading information of the UAV using the attitude sensing module and heading sensing module; wherein the heading data is provided in the form of northward yaw angle or heading angle, and is used to compare with the desired heading. S13. Use a barometer, ground speed sensor or IMU to obtain the forward speed, ascent or descent speed and lateral speed of the UAV; among which, the actual flight speed of the UAV is calculated based on the ground speed and the speed of the aircraft itself, combined with the tilt angle and velocity vector of the aircraft. S14. The control system determines the training subject type and training stage type based on the current training content and progress; wherein the training subject type includes flight trajectory following and fixed-point flight, and the training stage type includes basic training and advanced training.

3. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 1, characterized in that, The S2 includes: S21. Obtain the current location of the drone. The figure-eight flight path is defined as consisting of two tangent circles with the same radius, and their centers are respectively... , Given a radius of R, calculate the distance from the current position to the centers of the two circles respectively: ; Select , Let the circle with the smaller median distance be the current reference circle, and let the center of the current circle be... The corresponding distance is The shortest distance from the current position to the reference circle is: ; in, The value is "vertical distance / shortest distance"; the corresponding nearest projection point is "the intersection of the direction from the center of the circle to the current position and the circumference", which is used for subsequent calculation of the desired heading; S22. Calculate the heading offset based on the current heading and the desired heading; The desired heading is given by the tangent direction of the circle at the projection point: Then based on the current heading With the expected course The difference is used to obtain the heading offset. ; in, The coordinates of the projection point, Determined by clockwise / counterclockwise rules; S23. Calculate the lateral offset and velocity offset; In a figure-eight flight path, the lateral offset is represented by the "radial difference to the circle": ;in, Indicates outside the circle. Indicates inside the circle. This is the offset size; The speed offset is the current speed. Compared with reference speed The difference is denoted as ; S24. Convert the offset into directional and intensity information that can be perceived by the operator; The direction information is determined by the offset sign: when The output is "correct inward". when Output "Outward correction"; If the system uses left and right prompting hardware, then "inward / outward" will be mapped to "left / right" according to the clockwise / counterclockwise direction of the current loop segment to maintain semantic consistency across channels; The intensity information is determined by the offset magnitude: when The larger the value, the stronger the cue, and the visual / tactile / auditory responses must remain monotonously consistent in intensity changes or meet preset collaborative constraints. S25. Convert the offset information into offset levels based on the offset magnitude; Set threshold The offset levels are: slight offset, moderate offset, and severe offset. The slight offset: when At that time, it was determined to be a minor heading error; The moderate offset: when If the offset is large, the operator needs to pay attention. The severe offset: when If the deviation is too large and affects flight safety, it must be corrected immediately.

4. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 1, characterized in that, The S3 includes: S31. Combining flight deviation information and training status data, the system will set adaptation rules based on the operator's perceptual load and comprehension efficiency: if the flight deviation is less than the threshold, the system will choose to provide feedback through visual cues, while if the deviation is greater than the threshold, it will provide enhanced cues through auditory and tactile channels. S32. Based on the obtained cooperative adaptation relationship data, generate a correction prompt strategy suitable for the current flight state; the correction prompt strategy includes a prompt scheduling mechanism. When multiple types of flight deviation information or multiple prompt conditions exist simultaneously, all prompt channels will work in parallel, providing feedback information to the operator simultaneously through visual, tactile, and auditory channels; as the flight deviation information is continuously updated, the prompt intensity will gradually weaken or the number of activated prompt channels will be reduced as the deviation level decreases. When the aircraft's deviation drops below a preset threshold, the system will terminate all prompt outputs.

5. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 1, characterized in that, The S4 includes: S41. Visual Cueing Channel: A linear light array module is installed on the UAV end. Based on flight status data and speed information, it calculates cueing parameters and outputs speed and offset cues through color, flashing frequency, and the number of illuminated units. The linear light array includes symmetrically distributed light units on both sides, with the number of light units on one side being [number missing]. The system refreshes at a certain cycle. renew; S42, Tactile feedback channel: A left and right vibration module is set on the operator's remote control; the system refreshes at a certain interval. The flight offset is acquired and haptic cue parameters are calculated. The haptic coding of offset direction and degree is realized through left and right vibration output. S43, Auditory Prompt Channel: Set up a voice broadcast module in the operating system, which includes: automatically generating voice prompts based on the aircraft's offset and offset direction; triggering a voice prompt when the offset reaches a preset threshold and the offset duration is greater than a time threshold; setting a minimum broadcast interval, that is, the system will not repeat the same voice prompt within a short period of time after the same type of voice prompt is broadcast. S44. During flight, the system provides real-time feedback to the operator through parallel prompts via visual, tactile, and auditory channels, ensuring that the operator can accurately perceive the aircraft's status and make timely adjustments.

6. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 5, characterized in that, The visual cue channel in S41 includes: S411, Speed ​​information encoding, obtain the current tangential speed. Compared with reference speed Calculate the velocity offset: Set speed threshold and flicker range ,when A solid green light indicates that the speed is within the allowable range; when The flashing indicator appears when the color code is applied; color rules are used to indicate the direction of offset: when... A red flashing indicator will appear, displaying the message "Too fast / Need to slow down"; when... A blue flashing indicator appears, displaying the message "Too slow / Needs to speed up". S412. The flight offset direction is indicated by illuminating different numbers of light units; the flight offset is obtained. It follows a monotonically consistent rule that "the larger the offset, the more lights are lit," which is used to enhance long-distance recognizability. S413. Determine the output side based on the offset sign: when Select the left light unit group to light up. One, when Select the right-side light unit group to light up. One; when Gradually reduce when below the preset safety threshold Until it is extinguished, so as to achieve a closed-loop effect of automatically weakening and exiting the prompt as the offset returns; The lighting sequence adopts either "expanding from the center outwards" or "contracting from the outside to the center" to make the change in the number of lights more intuitive for the operator.

7. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 5, characterized in that, The tactile feedback channel in S42 includes: S421, Vibration intensity adaptively increases with offset; obtain flight offset. Set trigger threshold ,when When there is no vibration or the output is at its lowest intensity, it is designed to reduce interference caused by minute vibrations; when The vibration intensity is gradually increased, providing a warning. S422, the left and right vibration module includes a left vibration unit and a right vibration unit. The system assigns tactile cues to the left / right vibration unit according to the offset direction: when 0 is determined to be a left offset, when 0 indicates a rightward drift; when the flight drift occurs on the left-hand path or on the left aileron, the left vibration unit generates a strong vibration, prompting the operator to make a leftward adjustment; when the flight drift occurs on the right-hand path or on the right aileron, the right vibration unit generates a strong vibration, prompting the operator to make a rightward adjustment.

8. The method for detecting and multi-channel collaboratively correcting flight deviations of a UAV as described in claim 1, characterized in that, The S5 includes: S51. The system continuously receives status data of the aircraft, including position, heading, and speed, through a continuous connection with the flight status acquisition module; wherein the status data is provided in real time by the aircraft's sensors, GPS, electronic compass, and other measuring devices. S52. When flight status data changes, the system immediately detects it and triggers an update; S53. When the aircraft's deviation decreases, indicating that the aircraft is returning to its normal flight trajectory, the system gradually reduces the intensity of the warning. S54. When the aircraft's deviation drops below the preset threshold, it indicates that the aircraft has almost returned to the normal flight path, and the system will stop all prompt outputs. At this time, there is no longer a need for frequent prompts to disturb the operator, and the system will be in a normal monitoring mode. Prompts will only be enabled again when a new deviation occurs.

9. A UAV flight drift detection and multi-channel collaborative correction system for implementing the UAV flight drift detection and multi-channel collaborative correction method according to any one of claims 1-8, comprising: Flight status acquisition module, offset detection module, and multi-channel prompt output module; The flight status acquisition module is used to acquire flight status data and training status data; The offset detection module is used to calculate flight offset information and determine the offset level based on a preset reference object; The multi-channel prompt output module is used to output correction prompt content through the target prompt channel according to the collaborative prompt strategy. It includes a linear light array module, a left and right vibration module and a voice broadcast module. The target prompt channel includes at least two of the following: auditory prompt channel, visual prompt channel and tactile prompt channel, and satisfies the preset collaborative rules.

10. A UAV flight offset detection and multi-channel collaborative correction device for implementing the UAV flight offset detection and multi-channel collaborative correction method according to any one of claims 1-8, comprising: Drone-side prompting components and operator control devices; The control device is used to generate or output correction prompts for auditory and tactile prompts. The UAV-side prompting component is used to output the correction prompting content of the visual prompting channel; and the system includes a processing unit for acquiring cooperative adaptation relationship data and determining the target prompting channel, so that the prompting direction and prompting intensity of different prompting channels meet the preset cooperative rules.

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