CN105929838B - The flight control method and mobile terminal and flight control terminal of a kind of aircraft - Google Patents
The flight control method and mobile terminal and flight control terminal of a kind of aircraft Download PDFInfo
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- CN105929838B CN105929838B CN201610343359.8A CN201610343359A CN105929838B CN 105929838 B CN105929838 B CN 105929838B CN 201610343359 A CN201610343359 A CN 201610343359A CN 105929838 B CN105929838 B CN 105929838B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses a kind of flight control method of aircraft and mobile terminal and flight control terminals to improve the flexibility of aircraft playing method for simplifying user to the operation difficulty of aircraft.The embodiment of the present invention provides a kind of flight control method of aircraft, comprising: mobile terminal obtains the action script that editor completes by the user interface UI of the mobile terminal；The mobile terminal parses flare maneuver information from the action script, and the flare maneuver information includes: the corresponding action parameter of different type of action of at least one flare maneuver and the flare maneuver for aircraft configuration；The mobile terminal calls the programming interface of the mobile terminal to execute to flight control terminal and send the flare maneuver information, the flight control terminal is arranged on the aircraft, adjusts the flight attitude of the aircraft according to the flare maneuver information by the flight control terminal.
Description
Technical field
The present invention relates to the flight control method and mobile terminal of vehicle technology field more particularly to a kind of aircraft with
And flight control terminal.
Background technique
Aircraft has many applications in national economy, military affairs, at present aircraft oneself be widely used in taking photo by plane photography,
The fields such as electric inspection process, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance, battle assessment, aircraft are
Utilize the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation.Without cockpit on machine, but it is equipped with
The equipment such as automatic pilot, presetting apparatus, information collecting device, remote control station personnel carry out it by equipment such as radars
Tracking, positioning, remote control, telemetering and Digital Transmission.
Aircraft generallys use following three kinds of schemes when executing flare maneuver at present: 1, aircraft in flight course,
User passes through the remote controler of manual control aircraft, and aircraft carries out different flare maneuvers according to the control instruction of remote controler；
2, aircraft connects earth station before take-off, and earth station deposits a series of way point informations and flare maneuver in a manner of aerial mission
It stores up in aircraft, starts to execute the aerial mission after aircraft takeoff；3, aircraft connects earth station in flight course,
User reaches the volume to aircraft difference flare maneuver by carrying out the setting of destination and the switching of offline mode in earth station
Volume.
In above-mentioned current scheme, method 1 needs user to manipulate in real time to aircraft manually, to the behaviour of user
It is big to make difficulty, and manipulation is impossible to that aircraft is made to reach consistent flare maneuver every time；Method 2 needs aircraft to be previously stored
Set aerial mission, and task cannot make dynamic modification during aircraft flight；Method 3 is limited to the control of earth station
System, aircraft can only fly according to destination and set offline mode.Therefore, all there is control and fly in existing flight control method
The inflexible and inconvenient problem of row device.
Summary of the invention
The embodiment of the invention provides a kind of flight control method of aircraft and mobile terminal and flight control terminals, use
In simplifying user to the operation difficulty of aircraft, the flexibility of aircraft playing method is improved.
In order to solve the above technical problems, the embodiment of the present invention the following technical schemes are provided:
In a first aspect, the embodiment of the present invention provides a kind of flight control method of aircraft, comprising:
Mobile terminal obtains the action script that editor completes by the user interface UI of the mobile terminal；
The mobile terminal parses flare maneuver information from the action script, and the flare maneuver information includes:
For the corresponding action parameter of different type of action of at least one flare maneuver and the flare maneuver of aircraft configuration；
The mobile terminal calls the programming interface of the mobile terminal to execute to flight control terminal and send the flight
Action message, the flight control terminal are arranged on the aircraft, are believed by the flight control terminal according to the flare maneuver
Breath adjusts the flight attitude of the aircraft.
Second aspect, the embodiment of the present invention provide the flight control method of another aircraft, comprising:
Flight control terminal obtains mobile terminal and is believed by the flare maneuver for calling the programming interface of the mobile terminal to send
Breath, the flight control terminal setting is on board the aircraft；
The flight control terminal is parsed from the flare maneuver information to fly for at least one of the aircraft configuration
Action makees and the corresponding action parameter of different type of action of the flare maneuver；
The flight control terminal carries out posture to the corresponding action parameter of the different type of action of the flare maneuver
Fusion, obtains the posture fusion parameters of the aircraft；
The flight control terminal carries out flight control to the aircraft according to the posture fusion parameters.
The third aspect, the embodiment of the present invention also provide a kind of mobile terminal, comprising:
Action script obtains module, obtains the movement foot that editor completes for the user interface UI by the mobile terminal
This；
Parsing module, for parsing flare maneuver information from the action script, the flare maneuver information includes:
For the corresponding action parameter of different type of action of at least one flare maneuver and the flare maneuver of aircraft configuration；
Interface calling module is executed for calling the programming interface of the mobile terminal to described in the transmission of flight control terminal
Flare maneuver information, the flight control terminal are arranged on the aircraft, dynamic according to the flight by the flight control terminal
The flight attitude of the aircraft is adjusted as information.
Fourth aspect, a kind of flight control terminal provided in an embodiment of the present invention, comprising:
Module is obtained, the flare maneuver sent for obtaining mobile terminal by the programming interface of the calling mobile terminal
Information, the flight control terminal setting is on board the aircraft；
Parsing module, for parsing at least one flight for the aircraft configuration from the flare maneuver information
The corresponding action parameter of different type of action of movement and the flare maneuver；
Fusion Module carries out posture for the corresponding action parameter of different type of action to the flare maneuver and melts
It closes, obtains the posture fusion parameters of the aircraft；
Control module, for carrying out flight control to the aircraft according to the posture fusion parameters.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
In embodiments of the present invention, due to the action script that mobile terminal can be editted by user interface, because
This user only needs to edit out action script by user interface, and mobile terminal can be obtained by the parsing to action script
Flare maneuver and action parameter are additionally provided with programming interface in mobile terminal, by calling programming interface that can complete to flight
The function of control terminal transmission flare maneuver information.User of the embodiment of the present invention only needs to provide action script i.e. by user interface
The control to aircraft can be achieved, therefore the operation difficulty of user can be reduced.Flight control terminal passes through in the embodiment of the present invention
The program interface call of mobile terminal gets flare maneuver information, carries out posture to the corresponding action parameter of different type of action
Available posture fusion parameters are merged, flight control terminal and mobile terminal can be communicated in real time, and flight control terminal
Flare maneuver management mutually separated with the program interface call of mobile terminal, it is convenient mobile terminal and flight control terminal are carried out after
Continuous function upgrading and extension.User of the embodiment of the present invention can carry out aircraft by mobile terminal and flight control terminal
Control in real time connects earth station without aircraft, therefore the flexibility and convenience of aircraft operation can be improved.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the friendship of mobile terminal and flight control terminal in the flight control method of aircraft provided in an embodiment of the present invention
Mutual schematic diagram of a scenario；
Fig. 2 is a kind of process blocks schematic diagram of the flight control method of aircraft provided in an embodiment of the present invention；
Fig. 3 is the process blocks schematic diagram of the flight control method of another aircraft provided in an embodiment of the present invention；
Communication process schematic diagram of the Fig. 4 between mobile terminal provided in an embodiment of the present invention and flight control terminal；
Fig. 5 is the function structure schematic diagram of flight control terminal provided in an embodiment of the present invention；
Fig. 6 is the flight control process schematic diagram of flight control terminal provided in an embodiment of the present invention；
Fig. 7 is a kind of composed structure schematic diagram of mobile terminal provided in an embodiment of the present invention；
Fig. 8-a is a kind of composed structure schematic diagram of flight control terminal provided in an embodiment of the present invention；
Fig. 8-b is a kind of composed structure schematic diagram of Fusion Module provided in an embodiment of the present invention；
Fig. 8-c is the composed structure schematic diagram of another flight control terminal provided in an embodiment of the present invention；
Fig. 9 is that the flight control method of aircraft provided in an embodiment of the present invention shows applied to the composed structure of mobile terminal
It is intended to；
Figure 10 is that the flight control method of aircraft provided in an embodiment of the present invention is applied to the composition knot of flight control terminal
Structure schematic diagram.
Specific embodiment
The embodiment of the invention provides a kind of flight control method of aircraft and mobile terminal and flight control terminals, use
In simplifying user to the operation difficulty of aircraft, the flexibility of aircraft playing method is improved.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, this field
Technical staff's every other embodiment obtained, shall fall within the protection scope of the present invention.
Term " includes " in description and claims of this specification and above-mentioned attached drawing and " having " and they
Any deformation, it is intended that covering non-exclusive includes so as to a series of process, method comprising units, system, product or to set
It is standby to be not necessarily limited to those units, but be not clearly listed or these process, methods, product or equipment are consolidated
The other units having.
Referring initially to as shown in Figure 1, being interacted between mobile terminal provided in an embodiment of the present invention and flight control terminal
Realization schematic diagram of a scenario, user can pass through the user interface of mobile terminal (full name in English: User Interface, English
Referred to as: UI) the good action script of input editing, the mobile terminal are specially intelligent mobile terminal, such as mobile phone, tablet computer etc.
Equipment.Mobile terminal gets user by user interface and edits the action script completed, and mobile terminal is solved from action script
Flare maneuver information is precipitated, mobile terminal calls the programming interface of mobile terminal to send flare maneuver to execute to flight control terminal
Information.Flight control terminal receives flare maneuver information by the edition interface of mobile terminal, and flight control terminal flies according to this
Row action message controls aircraft, and aircraft specifically can be unmanned plane, be also possible to telecontrolled aircraft, aeromodelling airplane etc..It connects
Get off and describe one embodiment of the flight control method of aircraft of the present invention, specifically can be applied to the operation control to aircraft
It in scene processed, please refers to shown in Fig. 2, flies first from the mobile terminal side of user's operation to provided by one embodiment of the present invention
The flight control method of row device is illustrated, and this method may include steps of:
201, mobile terminal obtains the action script that editor completes by the user interface of mobile terminal.
In embodiments of the present invention, the user interface of mobile terminal is the editing interface that user edits flare maneuver, user
Mobile terminal is sent to by user interface in a manner of action script, mobile terminal can be obtained by the detection to user interface
It gets user and edits the action script completed.Detailed, the action script that user edits completion can be (English complete with JSON
Claim: JavaScript Object Notation) description script of action sequence that format defines, it does not limit, acts foot
Originally other formats can also be taken to define, the Format Type and user for being specifically dependent upon mobile terminal support edit flare maneuver
The control protocol of use.User can input the specific flare maneuver for oneself wishing to control aircraft by user interface, such as
The action script that user can be done rotation movement with input control aircraft, can also be with input control aircraft takeoff or landing
Action script, specific implementation process is without limitation.
202, mobile terminal parses flare maneuver information from action script, and flare maneuver information includes: for aircraft
The corresponding action parameter of different type of action of at least one flare maneuver and flare maneuver of configuration.
In embodiments of the present invention, after mobile terminal gets action script by user interface, mobile terminal is to this
Action script is parsed, can by the parsing to action script since action script is corresponding with the content of specific data structure
To obtain flare maneuver information, specifically, acquisition for mobile terminal to flare maneuver information may include for aircraft configuration
At least one flare maneuver action parameter corresponding with the type of action of the flare maneuver.Wherein, user can match for aircraft
The flare maneuver for setting a variety of different type of action, needs to be arranged corresponding action parameter, example when configuring different flare maneuvers
It is needed to configure if user needs to control when aircraft does rocking action and waves directioin parameter and wave intensive parameter, for difference
The type of action crossed can according to need the specific action parameter of configuration.It should be noted that user in embodiments of the present invention
Specific action parameter can be configured for certain flare maneuvers when editing flare maneuver, but some action parameters can also be not required to
User is wanted to configure, but provide action parameter by way of specified default, specific connected applications scene is realized.
In some embodiments of the invention, may include in flare maneuver information at least one type of action flight it is dynamic
Make, specifically, the type of action may include following types of at least one: landing type, direction type, revolution type, from
Turn type and rocker type.Wherein, landing type refers to the takeoff and landing of aircraft, direction type refer to aircraft by
Mobile according to the target point of three-dimensional, revolution type refers to that aircraft carries out pitch of the laps, rotation class according to by the center of circle of specified point
Type refers to the horizontal rotation of aircraft itself, and rocker type refers to that aircraft carries out roll and pitch etc..It needs to illustrate
, user need to control aircraft carry out user when the flare maneuver of which kind of type of action can be edited in action script it is dynamic
Make type and corresponding action parameter can be set, but the editable type of action of user can not limit in the embodiment of the present invention
Illustrate in the example above, it is specific to be determined in conjunction with controlling behavior of the user to aircraft.
In some embodiments of the invention, further, when type of action includes landing type, action parameter packet
It includes: moving distance and movement speed in the up-down direction；When type of action includes direction type, action parameter include:
The movement speed in moving distance and corresponding direction in front-rear direction, left and right directions and up and down direction；When type of action includes
When the type that revolves, action parameter includes: revolution-radius and revolution angular speed；When type of action includes rotation type, movement ginseng
Number includes: spin velocity；When type of action includes rocker type, action parameter includes: to wave direction and wave intensity.Example
Such as, when user needs to control the flare maneuver of aircraft execution rotation type, user can come according to the control amount oneself needed
Determine spin velocity, user determines angle of rotation speed according to default configuration it is also not necessary to input spin velocity
Degree.It should be noted that can be configured when user edits flare maneuver in embodiments of the present invention for certain flare maneuvers above-mentioned
Action parameter, but it is also not necessary to users to configure for these action parameters, but are provided by way of specified default
Action parameter value, specific connected applications scene are realized.
203, mobile terminal calls the programming interface of mobile terminal to send flare maneuver information to execute to flight control terminal,
Flight control terminal is arranged on board the aircraft, by flight control terminal according to the flight attitude of flare maneuver information adjustment aircraft.
In embodiments of the present invention, after mobile terminal gets flare maneuver information by step 202, mobile terminal is needed
Control instruction is assigned to flight control terminal, which needs to carry flare maneuver information.Wherein, match in mobile terminal
It is equipped with programming interface, which is packaged with the function of transmission data, after acquisition for mobile terminal is to flare maneuver information,
It can be realized by calling the programming interface inside the mobile terminal to flight control terminal and send flare maneuver information, then flown
Control terminal receives the flare maneuver information of mobile terminal transmission by the program interface call of the mobile terminal.
In some embodiments of the invention, step 203 mobile terminal call mobile terminal programming interface come execute to
After flight control terminal sends flare maneuver information, the flight control method of aircraft provided in an embodiment of the present invention can also be wrapped
Include following steps:
A1, mobile terminal obtain new action script by user interface；
A2, mobile terminal parse new flare maneuver information, new flare maneuver packet from new action script
It includes: the corresponding new action parameter of different type of action of new flare maneuver and new flare maneuver；
A3, mobile terminal call programming interface to send new flare maneuver information to flight control terminal to execute.
Specifically, mobile terminal can be held after user inputs an action script by the user interface of mobile terminal
Row step 201 is to step 203, and when user also needs to control aircraft again, user can operate user interface input again
New action script, then mobile terminal can detect user interface in real time, extract new action script, with step 202 and
Step 203 is similar, and mobile terminal execution step A2 and step A3, acquisition for mobile terminal is to new flare maneuver information, then
Mobile terminal can call the programming interface of mobile terminal to send new flare maneuver information, flight control to flight control terminal again
End processed is called again by the programming interface of mobile terminal can receive new flare maneuver information, the new flare maneuver letter
Breath is the new action script that user edits, and flight control terminal can control aircraft according to the new flare maneuver information
Sporting flying.
In some embodiments of the invention, the flare maneuver that mobile terminal is parsed from action script in step 102
Information can also include: to call the time point of flare maneuver, i.e. the time point is that control mobile terminal sends flare maneuver information
Time control information, in this case, step 103 mobile terminal calls the programming interface of mobile terminal to execute to flight
Control terminal sends flare maneuver information, can specifically include following steps:
B1, mobile terminal call the programming interface of mobile terminal according to time point to execute to send to flight control terminal and fly
Action message.
In embodiments of the present invention, it if including the time point for calling flare maneuver in flare maneuver information, can move
Dynamic terminal can be come temporarily to call the programming interface of mobile terminal at the time point to execute to send to fly to flight control terminal and move
Make information.Therefore user can be with input control time point, so as to mobile terminal to flight when editing action script
Control terminal sends the time of flare maneuver information, and flight control terminal can pass through the programming interface tune of mobile terminal at the time point
With getting flare maneuver information.
By above embodiments to the description of the embodiment of the present invention it is found that since mobile terminal can be obtained by user interface
To the action script editted, therefore user only needs to edit out action script by user interface, and mobile terminal can lead to
It crosses and flare maneuver and action parameter is obtained to the parsing of action script, by calling programming interface that can complete to flight control terminal
Send the function of flare maneuver information.User of the embodiment of the present invention, which only needs to provide action script by user interface, can be realized
Automatic control to aircraft, therefore the operation difficulty of user can be reduced.Flight control terminal passes through shifting in the embodiment of the present invention
The program interface call of dynamic terminal gets flare maneuver information, carries out posture to the corresponding action parameter of different type of action and melts
Available posture fusion parameters are closed, flight control terminal and mobile terminal can be communicated in real time, and flight control terminal
Flare maneuver management is mutually separated with the program interface call of mobile terminal, convenient subsequent to mobile terminal and the progress of flight control terminal
Function upgrading and extension.User of the embodiment of the present invention can carry out aircraft by mobile terminal and flight control terminal real
When control, connect earth station without aircraft, therefore the flexibility and convenience of aircraft operation can be improved.
Mobile terminal side describes the flight control method of aircraft provided in an embodiment of the present invention in previous embodiment, connects
Get off from carry-on flight control terminal side and introduce the flight control method of aircraft provided in an embodiment of the present invention, asks
Refering to as shown in figure 3, the flight control method of aircraft provided in an embodiment of the present invention includes the following steps:
301, flight control terminal obtains mobile terminal and is believed by the flare maneuver for calling the programming interface of mobile terminal to send
Breath, flight control terminal are arranged on board the aircraft.
In embodiments of the present invention, programming interface is configured in mobile terminal, which is packaged with transmission data
Function can be by calling the programming interface inside the mobile terminal after acquisition for mobile terminal is to flare maneuver information
Flare maneuver information is sent to realize to flight control terminal, then flight control terminal is connect by the program interface call of the mobile terminal
Receive the flare maneuver information of mobile terminal transmission.
In some embodiments of the invention, step 301 flight control terminal obtains mobile terminal by calling mobile terminal
Programming interface send flare maneuver information, include the following steps:
C1, flight control terminal are according to the volume for calling the time point acquisition mobile terminal of flare maneuver to pass through calling mobile terminal
The flare maneuver information that journey interface is sent.
Wherein, user can be with input control time point, so as to mobile terminal to flying when editing action script
Row control terminal sends the time of flare maneuver information, and flight control terminal can pass through the programming interface of mobile terminal at the time point
Calling gets flare maneuver information.The time point of flare maneuver is called by being arranged in flare maneuver information, user can
Flight control terminal receives flare maneuver information in control aircraft, to realize that the time to aircraft response flare maneuver is controlled
System.
302, flight control terminal parsed from flare maneuver information for aircraft configuration at least one flare maneuver and
The corresponding action parameter of different type of action of flare maneuver.
In embodiments of the present invention, after flight control terminal gets flare maneuver information, flight control terminal is to the flight
Action message is parsed, so as to get at least one flare maneuver and different movements that user is aircraft configuration
The corresponding action parameter of type.Wherein, user can be the flare maneuver of a variety of different type of action of aircraft configuration, work as configuration
Need to be arranged corresponding action parameter when different flare maneuver, such as user needs to control when aircraft does rocking action and just needs
It configures and waves directioin parameter and wave intensive parameter, it is specific dynamic to can according to need configuration for the type of action of different mistakes
Make parameter.
In some embodiments of the invention, may include in flare maneuver information at least one type of action flight it is dynamic
Make, specifically, the type of action may include following types of at least one: landing type, direction type, revolution type, from
Turn type and rocker type.When the type of action of flare maneuver includes landing type, action parameter includes: in the up-down direction
Moving distance and movement speed；When the type of action of flare maneuver includes direction type, action parameter includes: in front and back
The movement speed in moving distance and corresponding direction on, left and right directions and up and down direction；When the type of action of flare maneuver
When including revolution type, action parameter includes: revolution-radius and revolution angular speed；When the type of action of flare maneuver includes rotation
When type, action parameter includes: spin velocity；When the type of action of flare maneuver includes rocker type, action parameter packet
It includes: waving direction and wave intensity.It should be noted that can be certain when user edits flare maneuver in embodiments of the present invention
A little flare maneuvers configure above-mentioned action parameter, but it is also not necessary to users to configure for these action parameters, but pass through
The mode of specified default provides action parameter value, and specific connected applications scene is realized.
303, flight control terminal carries out posture fusion to the corresponding action parameter of the different type of action of flare maneuver,
Obtain the posture fusion parameters of aircraft.
In embodiments of the present invention, it is dynamic for the flare maneuver of aircraft configuration and difference to parse user for flight control terminal
After making the corresponding action parameter of type, flight control terminal can carry out appearance to the corresponding action parameter of different type of action
State fusion, obtains the posture fusion parameters of aircraft.Wherein, posture fusion parameters refer to that flight control terminal is carried out to aircraft
To the parameter of the posture setting of aircraft when action management.It can be aircraft by user by the posture fusion in step 303
The type of action and action parameter of setting are converted to the specific control instruction to aircraft, which is merged with posture joins
Several forms generates in flight control terminal.
In some embodiments of the invention, step 303 flight control terminal distinguishes the different type of action of flare maneuver
Corresponding action parameter carries out posture fusion, obtains the posture fusion parameters of aircraft, can specifically include following steps:
D1, flight control terminal carry out waypoint location according to the corresponding action parameter of different type of action of flare maneuver
Adjustment and at least one of following three kinds of attitude angles angle adjustment: yaw angle, pitch angle and roll angle；
D2, flight control terminal determine posture fusion parameters include: waypoint location adjusted and yaw angle adjusted or
Pitch angle or roll angle.
Wherein, flight control terminal by flare maneuver acquisition of information to user be aircraft be arranged specific type of action with
And after action parameter, flight control terminal can need to adjust waypoint location according to the determination of the specific type of action of user setting,
Need to adjust yaw angle, or adjustment pitch angle, or adjustment roll angle.It should be noted that the various motion that the example above illustrates
Type can merge together, by the primary calling of the programming interface of mobile terminal, be performed simultaneously user as aircraft setting
Flare maneuver, when only doing specific fusion, the control in posture fusion parameters that the flare maneuver of different type of action influences
Face processed is different.For example, the calculating of yaw angle can be by the flare maneuver of autobiography type when there are the flare maneuver of rotation type
It influences.
Further, in some embodiments of the invention, step D1 flight control terminal carries out destination according to action parameter
The adjustment of position and the adjustment of at least one of following three kinds of attitude angles angle: yaw angle, pitch angle and roll angle, it specifically can be with
Include the following steps:
D11, flight control terminal obtain the corresponding type of action of action parameter；
D12, when the type of action that flight control terminal is got include direction type and revolution type when, to waypoint location into
Row adjustment；
D13, when the type of action that flight control terminal is got includes rotation type, yaw angle is adjusted；
D14, when the type of action that flight control terminal is got includes rocker type, pitch angle or roll angle are adjusted
It is whole.
Wherein, step D12 to step D14 is the specific implementation being adjusted to waypoint location, attitude angle, for example,
When the flare maneuver of direction type and the flare maneuver of revolution type exist simultaneously, need to be adjusted waypoint location, direction
The corresponding action parameter of type action parameter corresponding with revolution type carries out Parameter fusion, the waypoint location after being adjusted.
In addition the adjustment of yaw angle or pitch angle or roll angle can also be determined in conjunction with specific attitude angle calculation.
304, flight control terminal carries out flight control to aircraft according to posture fusion parameters.
In embodiments of the present invention, flight control terminal passes through in step 303 to the corresponding action parameter of different type of action
Posture fusion parameters are generated after carrying out posture fusion, the flight appearance of aircraft next can be adjusted according to the posture fusion parameters
State, to realize that the flight to aircraft controls.
In some embodiments of the invention, the flight control method of aircraft provided in an embodiment of the present invention can also wrap
Include following steps:
During E1, flight control terminal carry out flight control to aircraft according to posture fusion parameters, flight control terminal
Judge whether to receive new flare maneuver information from mobile terminal；
If E2, flight control terminal receive new flare maneuver information from mobile terminal, flight control terminal is to new flight
The corresponding new action parameter of the different type of action of movement carries out posture fusion, obtains new posture fusion parameters；
E3, flight control terminal carry out flight control to aircraft according to new posture fusion parameters.
Specifically, for the action script that user is inputted by user interface, flight control terminal can execute step
301 to step 304, and when user also needs to control aircraft again, user can operate user interface again and input new move
Make script, then flight control terminal can get new flare maneuver information by the program interface call of mobile terminal, with step
Rapid 302 is similar with step 303, and flight control terminal performs step E1 to step E3, and flight control terminal passes through mobile terminal
Programming interface is called again can receive new flare maneuver information, after determining that receiving new flight letter movement ceases,
The sporting flying that flight control terminal can control aircraft according to the new flare maneuver information, flight control terminal pass through to shifting
The real-time monitoring of dynamic terminal, controls the sporting flying of aircraft according to new flare maneuver information in time, to make aircraft
It can be realized the control mode that response user is exported by user interface.
By above embodiments to the description of the embodiment of the present invention it is found that since mobile terminal can be obtained by user interface
To the action script editted, therefore user only needs to edit out action script by user interface, and mobile terminal can lead to
It crosses and flare maneuver and action parameter is obtained to the parsing of action script, be additionally provided with programming interface in mobile terminal, pass through calling
Programming interface can complete the function that flare maneuver information is sent to flight control terminal.User of the embodiment of the present invention only needs to pass through
User interface, which provides action script, can be realized the control to aircraft, therefore can reduce the operation difficulty of user.The present invention
Flight control terminal gets flare maneuver information by the program interface call of mobile terminal in embodiment, to different type of action
Corresponding action parameter carries out posture and merges available posture fusion parameters, and flight control terminal and mobile terminal can carry out in real time
Communication, and the flare maneuver management of flight control terminal is mutually separated with the program interface call of mobile terminal, convenient to movement
Terminal and flight control terminal carry out subsequent function upgrading and extension.User of the embodiment of the present invention can by mobile terminal and
Flight control terminal controls aircraft in real time, connects earth station without aircraft, therefore aircraft can be improved
The flexibility and convenience of operation.
In order to facilitate a better understanding and implementation of the above scheme of the embodiment of the present invention, corresponding application scenarios of illustrating below come
It is specifically described.Aircraft is in flight course, and user can only manual real-time control aircraft progress difference in the prior art
The flight of movement, it is very high to the operational capacity requirement of user in this way, it is difficult, and user manipulation can not make to fly every time
Row device reaches consistent flare maneuver.Standard set programming interface is provided for user in the embodiment of the present invention, and user only need to be
User interface edits action script, and aircraft can execute different flare maneuvers, to reduce the threshold that uses of user, letter
Change the operation difficulty of user, and improves the flexibility of aircraft playing method.For needing to be previously stored for set aerial mission,
Aircraft task in the flight course for being detached from earth station cannot make dynamic and modify, change of the user for aircraft maneuvers
It is not real-time.The action script that user edits in the embodiment of the present invention is real-time effect to carry-on, is not necessarily to aircraft
It connects earth station to update, improves convenience.It can only fly according to destination and set offline mode for what earth station provided
For, flare maneuver is limited to the control of earth station.The embodiment of the present invention provides a set of flexible programming interface, by the reality of movement
It now calls and separates with user with management, carry out function upgrading and extension after convenient.
In the flight control method of aircraft provided in an embodiment of the present invention, main includes flight control terminal flare maneuver
It realizes, the management of flight control terminal flare maneuver, flight control terminal is supplied to the programming interface of mobile terminal.As shown in figure 4, being
Communication process schematic diagram between mobile terminal provided in an embodiment of the present invention and flight control terminal can be set in mobile terminal
Be supplied to the application program (English abbreviation: APP) of user's operation aircraft, may include in mobile terminal user interface, programming connect
Mouthful and communication module, include communication module and action management module in flight control terminal, can be to more in action management module
A movement is managed, for example, to movement 1 ..., movement N is managed, wherein communication module in mobile terminal and flight control
Communication module in end processed is the digital transmission module that can be using wireless network connection or pairing.Mobile terminal and flight control
It end can be using micro-air-vehicles connection (full name in English: Micro Air Vehicle Link, English abbreviation: MavLink) association
View, MavLink agreement is a kind of communication protocol for miniature self-service carrier, can be real between mobile terminal and flight control terminal
Existing communication interaction.
In the embodiment of the present invention, user passes through user interface editor's execution script first, which can be
The script of JSON program, mobile terminal get the action script by user interface, then parse action script, flown
Action message, last mobile terminal can call the programming interface of mobile terminal, be sent by communication module to flight control terminal
Flare maneuver information.Wherein, flare maneuver is the Basic Flight Maneuver realized in advance in aircraft flight control terminal, including landing
Type, direction type, revolve type, rotation type and rocker type etc..
As shown in figure 5, for the function structure schematic diagram of flight control terminal provided in an embodiment of the present invention, in flight control terminal
Four type of action, flare maneuver management module, gesture stability and motor function realization layers can be distinguished.Flight control terminal is led to
Letter module can receive flare maneuver information by MavLink agreement, wherein a flare maneuver is the basic of programming calling
Unit.In addition to landing type, different types of flare maneuver can merge progress simultaneously.The action management module of flight control terminal
It is to be managed to the flare maneuver of realization.Different types of flare maneuver is needed in fusion according to respective implementation feature
It is merged, to obtain posture fusion parameters.When the type of action of fusion has direction type and revolution type, to navigate
The adjustment of point position；When there are rotation type, the adjustment of Yao Jinhang yaw angle；When there are rocker type, Yao Jinhang pitching
The adjustment of angle or roll angle.Action management module completes different type according to the difference for the action script for programming calling each time
The fusion and execution of movement.Wherein, the flare maneuver of different type of action can merge together, only when specific fusion, no
The control point that the movement of same type influences is different.After action management module exports posture fusion parameters, gesture stability module is just
Flight control is completed according to the motor that the gesture stability module controls aircraft.
As shown in fig. 6, being the flight control process schematic diagram of flight control terminal provided in an embodiment of the present invention.Action management
After the completion of module initialization, new program interface call is determined whether first, if so, then believing according to new flare maneuver
Various types of flare maneuvers are arranged in breath, then merge different types of flare maneuver；If not new flare maneuver information,
Last flare maneuver is then continued to execute, until movement executes completion.Action management module needs to call renewal function always,
Ensure to timely respond to and act execution to action invocation.For example, circular flow renewal function (i.e. update function), calculates this
Secondary output executes corresponding actions for controlling aircraft.
In embodiments of the present invention, flight control terminal be supplied to the programming interface of mobile terminal for mobile terminal calling,
Mobile terminal only needs to call programming interface according to action script set by user to execute corresponding movement flight, movement is eventually
Next movement of flight control terminal is issued at end by communication module, without directly controlling aircraft flight.Here direct
Control aircraft flight is to be directly changed the roll angle of aircraft, pitch angle, yaw angle or throttle (English name:
The control amounts such as Throttle), this only needs to edit action script with user in the embodiment of the present invention and is then called by mobile terminal
Programming interface is different, and in the embodiment of the present invention when flare maneuver has upgrading to modify, as long as programming interface does not change, is moved
Dynamic terminal is without carrying out any modification, if the movement upgrading modification optimization that only movement appearance is realized, does not change programming interface
Parameter, therefore programming interface haves no need to change.
It should be noted that action script set by user can be retouched using JSON formatted file in the embodiment of the present invention
It states, the corresponding JSON data structure of the calling of one-time programming interface, which describes calls in different time points
Different type of action and action parameter.Mobile terminal calls programming according to given time point by parsing the JSON procedure script
Interface is sent to flight control terminal by MavLink agreement and executes corresponding flare maneuver.
The present invention realizes that flight control terminal flare maneuver management, flight control terminal is mentioned by flight control terminal flare maneuver
Three parts of mobile terminal programming interface are supplied, one is provided for user and control aircraft is facilitated to execute different flare maneuvers
Method, user only need to be in programming interface editor's action scripts, and aircraft can execute different flare maneuvers, to reduce user
Use threshold, simplify the operation difficulty of user, and improve the flexibility of aircraft playing method.
By it is aforementioned to illustration of the invention it is found that flight control terminal flare maneuver realize core function be for
Mobile terminal provides independent flare maneuver unit one by one, and motor unit is by movement Type division, different types of movement
Unit can merge execution.Direction rotation, revolves, waves and can all merge together, the two landing types of takeoff and landing
It generally to independently execute, without fusion.The core function of flight control terminal flare maneuver management is the volume to mobile terminal
Journey interface calling makes respective handling, manages the fusion treatment mechanism of execution and the different type movement of flare maneuver.Flight
The core function that control terminal is supplied to mobile terminal programming interface is to provide a set of flexible programming interface, by the realization of movement
And management is separated with the programming of user calling, carries out function upgrading and extension after convenient.By the calling interface of movement and realization
Separation does not interfere with the modification of the programming interface of mobile terminal to the modification that the movement of flight control terminal is realized.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules is not necessarily of the invention
It is necessary.
For the above scheme convenient for the better implementation embodiment of the present invention, phase for implementing the above scheme is also provided below
Close device.
It please refers to shown in Fig. 7, a kind of mobile terminal 700 provided in an embodiment of the present invention, may include: that action script obtains
Module 701, parsing module 702 and interface calling module 703, wherein
Action script obtains module 701, obtains the dynamic of editor's completion for the user interface UI by the mobile terminal
Make script；
Parsing module 702, for parsing flare maneuver information, the flare maneuver packet from the action script
It includes: at least one flare maneuver of aircraft configuration and the corresponding movement ginseng of the different type of action of the flare maneuver
Number；
Interface calling module 703 is executed for calling the programming interface of the mobile terminal and is sent to flight control terminal
The flare maneuver information, the flight control terminal are arranged on the aircraft, are flown by the flight control terminal according to described
Row action message adjusts the flight attitude of the aircraft.
In some embodiments of the invention, the type of action of the flare maneuver includes following types of at least one:
Landing type, direction type, revolution type, rotation type and rocker type.
In some embodiments of the invention, when the type of action includes the landing type, the action parameter
It include: moving distance and movement speed in the up-down direction；
When the type of action includes the direction type, the action parameter includes: in front-rear direction, left and right directions
With the movement speed in the moving distance and corresponding direction in up and down direction；
When the type of action includes the revolution type, the action parameter includes: revolution-radius and revolution angle speed
Degree；
When the type of action includes the rotation type, the action parameter includes: spin velocity；
When the type of action includes the rocker type, the action parameter includes: to wave direction and wave intensity.
In some embodiments of the invention, the action script obtains module 701, is also used to the interface calling module
703 call the programming interface of the mobile terminal to execute after the flight control terminal transmission flare maneuver information, pass through
The user interface obtains new action script；
The parsing module 702 is also used to parse new flare maneuver information from the new action script, described
New flare maneuver information includes: that the different type of action of new flare maneuver and the new flare maneuver are corresponding new
Action parameter；
The interface calling module 703 is also used to that the programming interface is called to send to execute to the flight control terminal
The new flare maneuver information.
In some embodiments of the invention, the flare maneuver information further include: call the time of the flare maneuver
Point；The interface calling module 703, specifically for calling the programming interface of the mobile terminal to execute according to the time point
The flare maneuver information is sent to flight control terminal.
By above embodiments to the description of the embodiment of the present invention it is found that mobile terminal passes through the user of mobile terminal first
Interface obtains the action script that editor completes, and mobile terminal parses flare maneuver information, flare maneuver letter from action script
Breath includes: at least one flare maneuver of aircraft configuration and the corresponding movement ginseng of the different type of action of flare maneuver
Number, mobile terminal call the programming interface of mobile terminal to execute to flight control terminal and send flare maneuver information, flight control
End setting on board the aircraft, the flight attitude of aircraft is adjusted by flight control terminal according to flare maneuver information.Due to mobile whole
The action script that can be editted by user interface is held, therefore user only needs to edit out movement foot by user interface
This, mobile terminal can be obtained flare maneuver and action parameter by the parsing to action script, be also set up in mobile terminal
There is programming interface, passes through the function of calling programming interface that can complete to send flare maneuver information to flight control terminal.The present invention
Embodiment user only needs that the control to aircraft can be realized by user interface offer action script, therefore can reduce use
The operation difficulty at family.Flight control terminal gets flare maneuver by the program interface call of mobile terminal in the embodiment of the present invention
Information carries out posture to the corresponding action parameter of different type of action and merges available posture fusion parameters, flight control terminal
It can be communicated in real time with mobile terminal, and the flare maneuver management of flight control terminal and the programming interface tune of mobile terminal
With mutually separating, subsequent function upgrading and extension conveniently are carried out to mobile terminal and flight control terminal.User of the embodiment of the present invention
Aircraft can be controlled by mobile terminal and flight control terminal in real time, connect ground without aircraft
It stands, therefore the flexibility and convenience of aircraft operation can be improved.
It please refers to shown in Fig. 8-a, a kind of flight control terminal 800 provided in an embodiment of the present invention, may include: acquisition module
801, parsing module 802, Fusion Module 803, control module 804, wherein
Module 801 is obtained, the flight sent for obtaining mobile terminal by the programming interface of the calling mobile terminal
Action message, the flight control terminal setting is on board the aircraft；
Parsing module 802, for parsing from the flare maneuver information as at least one of the aircraft configuration
The corresponding action parameter of the different type of action of flare maneuver and the flare maneuver；
Fusion Module 803 carries out appearance for the corresponding action parameter of different type of action to the flare maneuver
State fusion, obtains the posture fusion parameters of the aircraft；
Control module 804, for carrying out flight control to the aircraft according to the posture fusion parameters.
In some embodiments of the invention, described dynamic when the type of action of the flare maneuver includes landing type
It include: moving distance and movement speed in the up-down direction as parameter；
When the type of action of the flare maneuver includes direction type, the action parameter includes: in front-rear direction, a left side
The movement speed in moving distance and corresponding direction in right direction and up and down direction；
When the type of action of the flare maneuver includes revolution type, the action parameter includes: revolution-radius and public affairs
Tarnsition velocity；
When the type of action of the flare maneuver includes rotation type, the action parameter includes: spin velocity；
When the type of action of the flare maneuver includes rocker type, the action parameter includes: to wave direction and shake
Put intensity.
In some embodiments of the invention, it please refers to as shown in Fig. 8-b, the Fusion Module 803, comprising: adjustment mould
Block 8031, wherein
The adjustment module 8031, for the corresponding action parameter of different type of action according to the flare maneuver
Carry out the adjustment of waypoint location adjusted at least one of following three kinds of attitude angles angle: yaw angle, pitch angle and roll angle；
Determine that the posture fusion parameters include: waypoint location adjusted and yaw angle adjusted or pitch angle or roll angle.
In some embodiments of the invention, it is corresponding to be specifically used for the acquisition action parameter for the adjustment module 8031
Type of action；When the type of action got includes direction type and revolution type, the waypoint location is adjusted；
When the type of action got includes rotation type, the yaw angle is adjusted；When the type of action got includes
When rocker type, the pitch angle or the roll angle are adjusted.
In some embodiments of the invention, it please refers to as shown in Fig. 8-c, the flight control terminal 800 further include: monitoring
Module 805, wherein
The monitoring module 805, for the control module 804 according to the posture fusion parameters to the aircraft into
During row flight control, judge that mobile terminal described in the acquisition module 801 receives new flare maneuver information；
The Fusion Module 803 moves if being also used to the acquisition module 801 and receiving new flight from the mobile terminal
Make information, new action parameter corresponding to the different type of action of new flare maneuver carries out posture fusion, obtains new
Posture fusion parameters；
The control module 804 is also used to carry out flight control to the aircraft according to the new posture fusion parameters
System.
In some embodiments of the invention, the acquisition module 801, specifically for according to the time for calling flare maneuver
Point obtains the flare maneuver information that mobile terminal is sent by the programming interface of the calling mobile terminal.
By above embodiments to the description of the embodiment of the present invention it is found that the setting of flight control terminal on board the aircraft, is flown
Control terminal obtain mobile terminal by call mobile terminal programming interface send flare maneuver information, flight control terminal from fly
The different type of action difference of at least one flare maneuver and flare maneuver for aircraft configuration is parsed in row action message
Corresponding action parameter, flight control terminal carry out posture to the corresponding action parameter of the different type of action of flare maneuver and melt
It closes, obtains the posture fusion parameters of aircraft, flight control terminal carries out flight control to aircraft according to posture fusion parameters.By
In the action script that mobile terminal can be editted by user interface, therefore user only needs through user interface editor
Action script out, mobile terminal can obtain flare maneuver and action parameter, mobile terminal by the parsing to action script
In be additionally provided with programming interface, pass through call programming interface can complete to flight control terminal send flare maneuver information function
Energy.User of the embodiment of the present invention only needs that the control to aircraft can be realized by user interface offer action script, therefore
The operation difficulty of user can be reduced.Flight control terminal is obtained by the program interface call of mobile terminal in the embodiment of the present invention
To flare maneuver information, posture is carried out to the corresponding action parameter of different type of action and merges available posture fusion parameters,
Flight control terminal and mobile terminal can be communicated in real time, and flare maneuver management and the mobile terminal of flight control terminal
Program interface call mutually separates, convenient to carry out subsequent function upgrading and extension to mobile terminal and flight control terminal.The present invention
Embodiment user can control aircraft by mobile terminal and flight control terminal in real time, without aircraft
Earth station is connected, therefore the flexibility and convenience of aircraft operation can be improved.
The embodiment of the invention also provides another mobile terminals, as shown in figure 9, for ease of description, illustrate only with
The relevant part of the embodiment of the present invention, it is disclosed by specific technical details, please refer to present invention method part.The movement
Terminal can be include mobile phone, tablet computer, PDA (Personal Digital Assistant, personal digital assistant), POS
Any terminal device such as (Point of Sales, point-of-sale terminal), vehicle-mounted computer, by taking mobile terminal is mobile phone as an example:
Fig. 9 shows the block diagram of the part-structure of mobile phone relevant to mobile terminal provided in an embodiment of the present invention.Ginseng
Fig. 9 is examined, mobile phone includes: radio frequency (Radio Frequency, RF) circuit 1010, memory 1020, input unit 1030, display
Unit 1040, sensor 1050, voicefrequency circuit 1060, Wireless Fidelity (wireless fidelity, WiFi) module 1070, place
Manage the components such as device 1080 and power supply 1090, programming interface 1001.It will be understood by those skilled in the art that hand shown in Fig. 9
Machine structure does not constitute the restriction to mobile phone, may include components more more or fewer than diagram, or combine certain components, or
The different component layout of person.
It is specifically introduced below with reference to each component parts of the Fig. 9 to mobile phone:
RF circuit 1010 can be used for receiving and sending messages or communication process in, signal sends and receivees, particularly, by base station
After downlink information receives, handled to processor 1080；In addition, the data for designing uplink are sent to base station.In general, RF circuit
1010 include but is not limited to antenna, at least one amplifier, transceiver, coupler, low-noise amplifier (Low Noise
Amplifier, LNA), duplexer etc..In addition, RF circuit 1010 can also be logical with network and other equipment by wireless communication
Letter.Any communication standard or agreement, including but not limited to global system for mobile communications (Global can be used in above-mentioned wireless communication
System of Mobile communication, GSM), general packet radio service (General Packet Radio
Service, GPRS), CDMA (Code Division Multiple Access, CDMA), wideband code division multiple access
(Wideband Code Division Multiple Access, WCDMA), long term evolution (Long Term Evolution,
LTE), Email, short message service (Short Messaging Service, SMS) etc..
Memory 1020 can be used for storing software program and module, and processor 1080 is stored in memory by operation
1020 software program and module, thereby executing the various function application and data processing of mobile phone.Memory 1020 can be led
It to include storing program area and storage data area, wherein storing program area can be needed for storage program area, at least one function
Application program (such as sound-playing function, image player function etc.) etc.；Storage data area, which can be stored, uses institute according to mobile phone
Data (such as audio data, phone directory etc.) of creation etc..In addition, memory 1020 may include high random access storage
Device, can also include nonvolatile memory, and a for example, at least disk memory, flush memory device or other volatibility are solid
State memory device.
Input unit 1030 can be used for receiving the number or character information of input, and generate with the user setting of mobile phone with
And the related key signals input of function control.Specifically, input unit 1030 may include touch panel 1031 and other inputs
Equipment 1032.Touch panel 1031, also referred to as touch screen collect touch operation (such as the user of user on it or nearby
Use the behaviour of any suitable object or attachment such as finger, stylus on touch panel 1031 or near touch panel 1031
Make), and corresponding attachment device is driven according to preset formula.Optionally, touch panel 1031 may include touch detection
Two parts of device and touch controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect touch operation band
The signal come, transmits a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and by it
It is converted into contact coordinate, then gives processor 1080, and order that processor 1080 is sent can be received and executed.In addition,
Touch panel 1031 can be realized using multiple types such as resistance-type, condenser type, infrared ray and surface acoustic waves.In addition to touch surface
Plate 1031, input unit 1030 can also include other input equipments 1032.Specifically, other input equipments 1032 may include
But in being not limited to physical keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, operating stick etc.
It is one or more.
Display unit 1040 can be used for showing information input by user or be supplied to user information and mobile phone it is each
Kind menu.Display unit 1040 may include display panel 1041, which can show a user interface, Yong Hutong
Cross the action script that input unit 1030 can be completed with input editing.Optionally, liquid crystal display (Liquid can be used
Crystal Display, LCD), the forms such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED)
To configure display panel 1041.Further, touch panel 1031 can cover display panel 1041, when touch panel 1031 detects
After arriving touch operation on it or nearby, processor 1080 is sent to determine the type of touch event, is followed by subsequent processing device
1080 provide corresponding visual output according to the type of touch event on display panel 1041.Although in Fig. 9, touch panel
1031 and display panel 1041 are the input and input function for realizing mobile phone as two independent components, but in certain realities
Apply in example, can be integrated by touch panel 1031 and display panel 1041 and that realizes mobile phone output and input function.
Mobile phone may also include at least one sensor 1050, such as optical sensor, motion sensor and other sensors.
Specifically, optical sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can be according to ambient light
Light and shade adjust the brightness of display panel 1041, proximity sensor can close display panel when mobile phone is moved in one's ear
1041 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect in all directions (generally three axis) and add
The size of speed can detect that size and the direction of gravity when static, can be used to identify application (such as the horizontal/vertical screen of mobile phone posture
Switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Also as mobile phone
The other sensors such as configurable gyroscope, barometer, hygrometer, thermometer, infrared sensor, details are not described herein.
Voicefrequency circuit 1060, loudspeaker 1061, microphone 1062 can provide the audio interface between user and mobile phone.Audio
Electric signal after the audio data received conversion can be transferred to loudspeaker 1061, be converted by loudspeaker 1061 by circuit 1060
For voice signal output；On the other hand, the voice signal of collection is converted to electric signal by microphone 1062, by voicefrequency circuit 1060
Audio data is converted to after reception, then by after the processing of audio data output processor 1080, through RF circuit 1010 to be sent to ratio
Such as another mobile phone, or audio data is exported to memory 1020 to be further processed.
WiFi belongs to short range wireless transmission technology, and mobile phone can help user's transceiver electronics postal by WiFi module 1070
Part, browsing webpage and access streaming video etc., it provides wireless broadband internet access for user.Although Fig. 9 is shown
WiFi module 1070, but it is understood that, and it is not belonging to must be configured into for mobile phone, it can according to need do not changing completely
Become in the range of the essence of invention and omits.
Processor 1080 is the control centre of mobile phone, using the various pieces of various interfaces and connection whole mobile phone,
By running or execute the software program and/or module that are stored in memory 1020, and calls and be stored in memory 1020
Interior data execute the various functions and processing data of mobile phone, to carry out integral monitoring to mobile phone.Optionally, processor
1080 may include one or more processing units；Preferably, processor 1080 can integrate application processor and modulation /demodulation processing
Device, wherein the main processing operation system of application processor, user interface and application program etc., modem processor is mainly located
Reason wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 1080.
Mobile phone further includes the power supply 1090 (such as battery) powered to all parts, it is preferred that power supply can pass through power supply
Management system and processor 1080 are logically contiguous, to realize management charging, electric discharge and power consumption pipe by power-supply management system
The functions such as reason.
Although being not shown, mobile phone can also include camera, bluetooth module etc., and details are not described herein.
In embodiments of the present invention, processor 1080 included by the terminal also has control execution is above to be executed by terminal
Aircraft flight control method process.
Figure 10 is a kind of structural schematic diagram of flight control terminal provided in an embodiment of the present invention, which sets
It sets on board the aircraft, it may include one that flight control terminal 1100, which can generate bigger difference because configuration or performance are different,
Or more than one central processing unit (central processing units, CPU) 1122 is (for example, at one or more
Manage device) and memory 1132, one or more store application programs 1142 or data 1144 storage medium 1130 (such as
One or more mass memory units).Wherein, memory 1132 and storage medium 1130 can be of short duration storage or lasting
Storage.The program for being stored in storage medium 1130 may include one or more modules (diagram does not mark), each module
It may include to the series of instructions operation in flight control terminal.Further, central processing unit 1122 can be set to
Storage medium 1130 communicates, and the series of instructions operation in storage medium 1130 is executed in flight control terminal 1100.This field
Technical staff is appreciated that flight control end structure shown in Figure 10 does not constitute the restriction to flight control terminal, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
Flight control terminal 1100 can also include one or more power supplys 1126, one or more wireless networks
Interface 1150, one or more input/output interfaces 1158, and/or, one or more operating systems 1141, such as
Android system etc..The radio network interface 1150 can be communicated based on Mavlink agreement and terminal.
The flight rate-determining steps of the aircraft as performed by flight control terminal can be based on Figure 10 institute in above-described embodiment
The flight control end structure shown.
In addition it should be noted that, the apparatus embodiments described above are merely exemplary, wherein described as separation
The unit of part description may or may not be physically separated, component shown as a unit can be or
It can not be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Border needs to select some or all of the modules therein to achieve the purpose of the solution of this embodiment.In addition, provided by the invention
In Installation practice attached drawing, the connection relationship between module indicates there is communication connection between them, specifically can be implemented as one
Item or a plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can
It understands and implements.
Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can borrow
Help software that the mode of required common hardware is added to realize, naturally it is also possible to by specialized hardware include specific integrated circuit, specially
It is realized with CPU, private memory, special components and parts etc..Under normal circumstances, all functions of being completed by computer program are ok
It is easily realized with corresponding hardware, moreover, being used to realize that the specific hardware structure of same function is also possible to a variety of more
Sample, such as analog circuit, digital circuit or special circuit etc..But software program is real in situations more for the purpose of the present invention
It is now more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words makes the prior art
The part of contribution can be embodied in the form of software products, which is stored in the storage medium that can be read
In, such as the floppy disk of computer, USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
Device (RAM, Random Access Memory), magnetic or disk etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
In conclusion the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to upper
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to upper
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (22)
1. a kind of flight control method of aircraft characterized by comprising
Mobile terminal obtains the action script that editor completes by the user interface UI of the mobile terminal；
The mobile terminal parses flare maneuver information from the action script, the flare maneuver information include: be winged
The corresponding action parameter of different type of action of at least one flare maneuver and the flare maneuver of the configuration of row device；
The mobile terminal calls the programming interface of the mobile terminal to execute to flight control terminal and send the flare maneuver
Information, the flight control terminal is arranged on the aircraft, by the flight control terminal according to the flare maneuver information tune
The flight attitude of the whole aircraft.
2. the method according to claim 1, wherein the type of action of the flare maneuver includes following types of
It is at least one: landing type, direction type, revolution type, rotation type and rocker type.
3. according to the method described in claim 2, it is characterized in that, when the type of action includes the landing type, institute
Stating action parameter includes: moving distance and movement speed in the up-down direction；
When the type of action includes the direction type, the action parameter include: front-rear direction, left and right directions and on
Movement speed in lower section upward moving distance and corresponding direction；
When the type of action includes the revolution type, the action parameter includes: revolution-radius and revolution angular speed；
When the type of action includes the rotation type, the action parameter includes: spin velocity；
When the type of action includes the rocker type, the action parameter includes: to wave direction and wave intensity.
4. the method according to claim 1, wherein the mobile terminal calls the programming of the mobile terminal to connect
Mouthful come after executing and sending the flare maneuver information to flight control terminal, the method also includes:
The mobile terminal obtains new action script by the user interface；
The mobile terminal parses new flare maneuver information, the new flare maneuver letter from the new action script
Breath includes: the corresponding new action parameter of different type of action of new flare maneuver and the new flare maneuver；
The mobile terminal calls the programming interface to execute to the flight control terminal and send the new flare maneuver letter
Breath.
5. the method according to claim 1, wherein the flare maneuver information further include: call the flight
The time point of movement；
The mobile terminal calls the programming interface of the mobile terminal to execute to flight control terminal and send the flare maneuver
Information, comprising:
The mobile terminal calls the programming interface of the mobile terminal according to the time point to execute to flight control terminal and send out
Send the flare maneuver information.
6. a kind of flight control method of aircraft characterized by comprising
Flight control terminal obtains the flare maneuver information that mobile terminal is sent by the programming interface of the calling mobile terminal, institute
State the setting of flight control terminal on board the aircraft；
The flight control terminal is parsed from the flare maneuver information to be moved at least one flight of the aircraft configuration
Make the corresponding action parameter of different type of action with the flare maneuver；
The flight control terminal carries out posture fusion to the corresponding action parameter of the different type of action of the flare maneuver,
Obtain the posture fusion parameters of the aircraft；
The flight control terminal carries out flight control to the aircraft according to the posture fusion parameters.
7. according to the method described in claim 6, it is characterized in that, the type of action when the flare maneuver includes landing type
When, the action parameter includes: moving distance and movement speed in the up-down direction；
When the type of action of the flare maneuver includes direction type, the action parameter includes: in front-rear direction, right and left
To with the movement speed in the moving distance and corresponding direction in up and down direction；
When the type of action of the flare maneuver includes revolution type, the action parameter includes: revolution-radius and revolution angle
Speed；
When the type of action of the flare maneuver includes rotation type, the action parameter includes: spin velocity；
When the type of action of the flare maneuver includes rocker type, the action parameter includes: to wave direction and wave strong
Degree.
8. the method according to the description of claim 7 is characterized in that the flight control terminal is dynamic to the difference of the flare maneuver
Make the corresponding action parameter of type and carry out posture fusion, obtains the posture fusion parameters of the aircraft, comprising:
The flight control terminal carries out destination position according to the corresponding action parameter of different type of action of the flare maneuver
The adjustment of at least one of the adjustment set and following three kinds of attitude angles angle: yaw angle, pitch angle and roll angle；
The flight control terminal determine the posture fusion parameters include: waypoint location adjusted and yaw angle adjusted or
Pitch angle or roll angle.
9. according to the method described in claim 8, it is characterized in that, the flight control terminal is navigated according to the action parameter
The adjustment of at least one of the adjustment of point position and following three kinds of attitude angles angle: yaw angle, pitch angle and roll angle, comprising:
The flight control terminal obtains the corresponding type of action of the action parameter；
When the type of action that the flight control terminal is got include direction type and revolution type when, to the waypoint location into
Row adjustment；
When the type of action that the flight control terminal is got includes rotation type, the yaw angle is adjusted；
When the type of action that the flight control terminal is got includes rocker type, to the pitch angle or the roll angle into
Row adjustment.
10. according to the method described in claim 6, it is characterized in that, the method also includes:
It is described to fly during the flight control terminal carries out flight control to the aircraft according to the posture fusion parameters
Row control terminal judges whether to receive new flare maneuver information from the mobile terminal；
If the flight control terminal receives new flare maneuver information from the mobile terminal, the flight control terminal is to new
The corresponding new action parameter of the different type of action of flare maneuver carries out posture fusion, obtains new posture fusion ginseng
Number；
The flight control terminal carries out flight control to the aircraft according to the new posture fusion parameters.
11. according to the method described in claim 6, it is characterized in that, the flight control terminal, which obtains mobile terminal, passes through calling
The flare maneuver information that the programming interface of the mobile terminal is sent, comprising:
The flight control terminal obtains mobile terminal by calling the mobile terminal according to the time point of calling flare maneuver
The flare maneuver information that programming interface is sent.
12. a kind of mobile terminal characterized by comprising
Action script obtains module, obtains the action script that editor completes for the user interface UI by the mobile terminal；
Parsing module, for parsing flare maneuver information from the action script, the flare maneuver information include: be winged
The corresponding action parameter of different type of action of at least one flare maneuver and the flare maneuver of the configuration of row device；
Interface calling module executes to flight control terminal for calling the programming interface of the mobile terminal and sends the flight
Action message, the flight control terminal are arranged on the aircraft, are believed by the flight control terminal according to the flare maneuver
Breath adjusts the flight attitude of the aircraft.
13. mobile terminal according to claim 12, which is characterized in that the type of action of the flare maneuver includes as follows
At least one of type: landing type, direction type, revolution type, rotation type and rocker type.
14. mobile terminal according to claim 13, which is characterized in that when the type of action includes the landing type
When, the action parameter includes: moving distance and movement speed in the up-down direction；
When the type of action includes the direction type, the action parameter include: front-rear direction, left and right directions and on
Movement speed in lower section upward moving distance and corresponding direction；
When the type of action includes the revolution type, the action parameter includes: revolution-radius and revolution angular speed；
When the type of action includes the rotation type, the action parameter includes: spin velocity；
When the type of action includes the rocker type, the action parameter includes: to wave direction and wave intensity.
15. mobile terminal according to claim 12, which is characterized in that
The action script obtains module, is also used to the interface calling module and the programming interface of the mobile terminal is called to hold
After row sends the flare maneuver information to flight control terminal, new action script is obtained by the user interface；
The parsing module, is also used to parse new flare maneuver information from the new action script, and described new flies
Take action as information include: new flare maneuver and the new flare maneuver the corresponding new movement of different type of action
Parameter；
The interface calling module, be also used to call the programming interface execute sent to the flight control terminal it is described new
Flare maneuver information.
16. mobile terminal according to claim 12, which is characterized in that the flare maneuver information further include: call institute
State the time point of flare maneuver；
The interface calling module, executed specifically for calling the programming interface of the mobile terminal according to the time point to
Flight control terminal sends the flare maneuver information.
17. a kind of flight control terminal characterized by comprising
Module is obtained, is believed for obtaining mobile terminal by the flare maneuver for calling the programming interface of the mobile terminal to send
Breath, the flight control terminal setting is on board the aircraft；
Parsing module, for parsing at least one flare maneuver for the aircraft configuration from the flare maneuver information
The corresponding action parameter of different type of action with the flare maneuver；
Fusion Module carries out posture fusion for the corresponding action parameter of different type of action to the flare maneuver,
Obtain the posture fusion parameters of the aircraft；
Control module, for carrying out flight control to the aircraft according to the posture fusion parameters.
18. flight control terminal according to claim 17, which is characterized in that when the type of action of the flare maneuver includes
When landing type, the action parameter includes: moving distance and movement speed in the up-down direction；
When the type of action of the flare maneuver includes direction type, the action parameter includes: in front-rear direction, right and left
To with the movement speed in the moving distance and corresponding direction in up and down direction；
When the type of action of the flare maneuver includes revolution type, the action parameter includes: revolution-radius and revolution angle
Speed；
When the type of action of the flare maneuver includes rotation type, the action parameter includes: spin velocity；
When the type of action of the flare maneuver includes rocker type, the action parameter includes: to wave direction and wave strong
Degree.
19. flight control terminal according to claim 18, which is characterized in that the Fusion Module, comprising: adjustment module,
Wherein,
The adjustment module carries out destination for the corresponding action parameter of different type of action according to the flare maneuver
The adjustment of at least one of the adjustment of position and following three kinds of attitude angles angle: yaw angle, pitch angle and roll angle；Described in determination
Posture fusion parameters include: waypoint location adjusted and yaw angle adjusted or pitch angle or roll angle.
20. flight control terminal according to claim 19, which is characterized in that the adjustment module is specifically used for obtaining institute
State the corresponding type of action of action parameter；When the type of action got includes direction type and revolution type, to the boat
Point position is adjusted；When the type of action got includes rotation type, the yaw angle is adjusted；When getting
Type of action when including rocker type, the pitch angle or the roll angle are adjusted.
21. flight control terminal according to claim 17, which is characterized in that the flight control terminal further include: monitoring mould
Block, wherein
The monitoring module carries out flight control to the aircraft according to the posture fusion parameters for the control module
During, judge whether the acquisition module receives new flare maneuver information from the mobile terminal；
The Fusion Module, it is right if being also used to the acquisition module receives new flare maneuver information from the mobile terminal
The corresponding new action parameter of the different type of action of new flare maneuver carries out posture fusion, obtains new posture fusion
Parameter；
The control module is also used to carry out flight control to the aircraft according to the new posture fusion parameters.
22. flight control terminal according to claim 17, which is characterized in that the acquisition module is specifically used for according to tune
Mobile terminal is obtained with the time point of flare maneuver to believe by the flare maneuver for calling the programming interface of the mobile terminal to send
Breath.
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| CN106527439B (en) * | 2016-10-31 | 2020-12-04 | 纳恩博（北京）科技有限公司 | Motion control method and device |
| CN107735737B (en) * | 2016-10-31 | 2021-11-19 | 深圳市大疆创新科技有限公司 | Waypoint editing method, device, equipment and aircraft |
| CN108089695B (en) * | 2016-11-23 | 2021-05-18 | 纳恩博（北京）科技有限公司 | Method and device for controlling movable equipment |
| CN106527492A (en) * | 2016-11-24 | 2017-03-22 | 腾讯科技（深圳）有限公司 | Aircraft flight control method, mobile terminal and flight control end |
| CN106406331A (en) * | 2016-11-25 | 2017-02-15 | 广州亿航智能技术有限公司 | Flight control method, device and system for aircraft |
| CN108700889B (en) * | 2017-02-27 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Control method, remote monitoring equipment, remote controller, server and streaming media server |
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| US11475777B2 (en) | 2017-09-28 | 2022-10-18 | Lenovo (Beijing) Limited | Method and apparatus for controlling the operation of aerial UEs |
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| CN109947127A (en) * | 2019-03-12 | 2019-06-28 | 深圳市道通智能航空技术有限公司 | A kind of monitoring unmanned method, apparatus, equipment and storage medium |
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