CN105955296B - The method that one key of aircraft makes a return voyage - Google Patents
The method that one key of aircraft makes a return voyage Download PDFInfo
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- CN105955296B CN105955296B CN201610366665.3A CN201610366665A CN105955296B CN 105955296 B CN105955296 B CN 105955296B CN 201610366665 A CN201610366665 A CN 201610366665A CN 105955296 B CN105955296 B CN 105955296B
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- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention is realized in this way the method that one key of aircraft makes a return voyage, comprising the following steps: (1) location information when positioning system record aircraft takeoff before using it being equipped with is taken off, and the location information is sent to controller built-in in aircraft；(2) after aircraft takeoff, flight path information is simultaneously transmitted to controller by the flight path of positioning system record aircraft；(3) after one key of starting makes a return voyage switch, controller is analyzed and processed according to the existing location information of aircraft, flight path, the location information to take off, cooks up the return route of aircraft；(4) aircraft returns to position when taking off according to return route.After the above technology, the complexity of operation is greatly simplified, reduces the risk falling machine and hurting sb.'s feelings.
Description
Technical field
The invention belongs to the methods that airmanship field more particularly to one key of aircraft are maked a return voyage.
Background technique
With the development of science and technology, miscellaneous aircraft has been produced for meeting the needs of different clients.
Existing aircraft requires artificially to control during making a return voyage, and due to user's operation skill, has out
It now collides or situation out of control, causes very big hidden danger, especially in some cases, use safely to aircraft flight
Not the problems such as family does not see direction in recovery flight device, extremely easy to fall machine problem, causes the injury of aircraft or personnel.
Summary of the invention
The purpose of the present invention is to provide the methods that one key of aircraft makes a return voyage, it is intended to when solving existing Multiwing aircraft and taking off
It controls cumbersome, it is difficult to the problem of manipulating.
The invention is realized in this way the method that one key of aircraft makes a return voyage, includes the following steps:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the position
Information is sent to controller built-in in aircraft；
(2) after aircraft takeoff, flight path information is simultaneously transmitted to control by the flight path of positioning system record aircraft
Device processed；
(3) one key of starting makes a return voyage after switch, controller according to the existing location information of aircraft, flight path, take off
Location information is analyzed and processed, and cooks up the return route of aircraft；
(4) aircraft returns to position when taking off according to return route.
After the above technical solution is adopted, since aircraft is built-in with GPS positioning system, aircraft receives instruction of taking off
Afterwards, GPS positioning system will record location information at this time and be sent to flight controller computer, and in flight course, GPS is fixed
Position system can persistently record the location information being presently in and be sent to flight controller computer, and controller computer passes through receipts
To information be analyzed and processed, to cook up the return route of aircraft, after aircraft, which receives, makes a return voyage instruction, control
Device computer guiding aircraft is returned along return route, greatly simplifies the complexity of operation, reduces the risk falling machine and hurting sb.'s feelings.
Wherein, in step (1), the positioning system is GPS positioning system, and location information when taking off is to pass through
The location parameter that the GPS positioning system obtains.
Wherein, in step (1), location information when taking off includes position longitude and latitude (lat when taking off1,lon1)
And environmental information.
Wherein, in step (3), position that the existing location information is obtained in real time by the GPS positioning system
Parameter.
Wherein, the existing location information includes the current position longitude and latitude (lat of the aircraft2,lon2) and environment
Information.
Wherein, in step (3), the return route is determined by the angle that makes a return voyage apart from and make a return voyage of aircraft.
Wherein, the distance calculation formula of making a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
Wherein, the calculation formula of the angle that makes a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
Wherein, the return route be in conjunction with make a return voyage distance and the most short distance diameter planned of the angle that makes a return voyage, it is described most
Short distance diameter refers to the most short distance diameter planned in safe range.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention provides the method that one key of aircraft makes a return voyage, and includes the following steps:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the position
Information is sent to controller built-in in aircraft；
(2) after aircraft takeoff, flight path information is simultaneously transmitted to control by the flight path of positioning system record aircraft
Device processed；
(3) one key of starting makes a return voyage after switch, controller according to the existing location information of aircraft, flight path, take off
Location information is analyzed and processed, and cooks up the return route of aircraft；
(4) aircraft returns to position when taking off according to return route.
The method is applicable not only to unmanned plane, applies also for someone and control a key of aircraft making a return voyage, in this implementation
In example, it is mainly used for the operation of unmanned plane, the remote controler including aircraft and for controlling the aircraft execution movement is described
Aircraft on be provided with controller and GPS positioning system, the GPS positioning system is integrated in controller, the remote controler
On be provided with a key and make a return voyage switch, pass through wireless network connection between the aircraft and remote controler.
After the above technical solution is adopted, user can be maked a return voyage switch by controlling the key on the remote controler, i.e., controllably
It makes the aircraft and realizes that a key makes a return voyage, easy to operate, very applicable and beginner, in addition, being provided with control on the aircraft
Device processed and GPS positioning system, to record the flight path of the aircraft and the security information of surrounding enviroment constantly, further
Improve the safety that a key makes a return voyage.
In the present embodiment, before aircraft takeoff, by operation long-pressing remote controler on a key make a return voyage switch 2 seconds when
Between, signal instruction can be transmitted to controller, the controller analyzes signal instruction and takes off by GPS positioning system record
When location information, location information when taking off is the longitude and latitude (lat of aircraft when taking off1,lon1) and environmental information,
After aircraft takeoff, the GPS positioning system records the flight path of aircraft in real time and flight path information is transmitted to control
Device processed, the aircraft at this time where longitude and latitude (lat2,lon2) and environmental information be existing location information, described
Location information and existing location information when flying form the flight path.
The return route includes make a return voyage distance and the angle that makes a return voyage, the position when distance of making a return voyage is in conjunction with described take off
Obtained by information and existing positional information calculation, i.e., the calculation formula of the described distance of making a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
It is obtained by location information and existing positional information calculation when the angle that makes a return voyage is in conjunction with described take off, i.e., described to return
The calculation formula of boat angle are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
After the above technical solution is adopted, the controller according to make a return voyage distance and the angle that makes a return voyage cook up returning for aircraft
Air route line, can be obtained the return route of a most short distance diameter in this way, and in flight course, the GPS positioning system is to peripheral ring
Border has the function of automatic identification, records the flight path of the aircraft in real time and flight path information is transmitted to control
Device, the controller can in conjunction with flight path information, thus cook up one can be realized in safe range it is most short
Return route, to improve the efficiency that aircraft makes a return voyage.
After the above technical solution is adopted, the key that user need to only click on remote controler makes a return voyage switch, can realize described fly
Row device makes a return voyage in safe range, to enormously simplify operating process, facilitates user, promotes the competitiveness of product.
In addition, the radius of curvature of meridian R1Calculation formula are as follows:
In formula, ReFor earth radius, θ is the unit radian of latitude, and e is eccentricity of the earth.
Wherein, the fourth of the twelve Earthly Branches chief of a tribe encloses radius of curvature R2Calculation formula are as follows:
In formula, ReFor earth radius, θ is the unit radian of latitude, and e is eccentricity of the earth.
Wherein, the calculation formula of the unit radian θ of the latitude are as follows:
In formula, lat1, lat2Respectively above-mentioned takeoff point A and the latitude of current location.
Wherein, the calculation formula of the eccentricity of the earth e are as follows:
In formula, a is semimajor axis of ellipsoid, and b is semiminor axis of ellipsoid.
Return route is arranged using the angle that makes a return voyage apart from and make a return voyage in the present invention, the advantage is that:
Obtained by the longitude and latitude actual measurement of location information when taking off and existing location information all in accordance with the earth, this
Outside, the radius of curvature of meridian R1Radius of curvature R is enclosed with the fourth of the twelve Earthly Branches chief of a tribe2Obtained by eccentricity and difference of latitude also with the earth, have
Certain practical application value and accuracy.
The present invention is by the GPS positioning system built in aircraft, and according to existing location information, i.e., the described aircraft is at this time
Locating longitude and latitude (lat2,lon2) and environmental information, to accurately judge the safety of return route, in conjunction with taking off
When location information and existing location information obtain a shortest return route in safe range, the return route packet
The flight path is included, one key of triggering makes a return voyage when switching, and the aircraft of the controller guidance is along the road of making a return voyage
It makes a return voyage on line.
In addition, since the GPS is also equipped with position identification function, making a return voyage to the aircraft during making a return voyage
Safety more add guarantee.
In the present embodiment, location information when taking off can be include in ground and its in flight course appoint
Meaning location information, if user needs to reset location information when taking off, or can after hope in flight course
Back to aircraft approach some location point when, can be maked a return voyage switch 2 seconds by pinning a key, can directly reset institute
State location information when taking off, after receiving and making a return voyage instruction, the directly guidance aircraft returns to the aircraft
It is convenient for user's control to increase the flexibility of aircraft in the position.
In the present embodiment, other keys that user can also be maked a return voyage on switch or remote controler by operating a key, eventually
The only automatic mode that a key makes a return voyage hovers over the aircraft in the way maked a return voyage, avoid user's operation it is improper cause it is described
Aircraft execute this and make a return voyage instruction or the problems such as the takeoff point position of user needs to reset so that the flight
Device is more flexible.
After the above technical solution is adopted, the operation art technique of user can be reduced, so that the aircraft is applicable in
Range is more wide, while when the aircraft is in long term distance flight, can not distinguish flight path and generate it is unfavorable
Problem, the accident that avoids falling machine and hurt sb.'s feelings occur.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. the method that one key of aircraft makes a return voyage, it is characterised in that the following steps are included:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the location information
It is sent in aircraft built-in controller, the positioning system is GPS positioning system, and location information when taking off is logical
Cross the location parameter that the GPS positioning system obtains；
(2) after aircraft takeoff, flight path information is simultaneously transmitted to controller by the flight path of positioning system record aircraft；
(3) after one key of starting makes a return voyage switch, controller is according to the existing location information of aircraft, flight path, the position taken off
Information is analyzed and processed, and cooks up the return route of aircraft,
The return route by aircraft make a return voyage distance and return, the angle that navigate determination, the return route is returned in conjunction with described
The most short distance diameter that boat distance and the angle that makes a return voyage are planned, the most short distance diameter refer to the most short distance planned in safe range
Diameter；
The distance calculation formula of making a return voyage are as follows:
In formula, DoFor latitude direction distance, DeWherein for longitudinal distance:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, lat1、lat2Respectively above-mentioned takeoff point and the latitude of current location, lon1、lon2Respectively above-mentioned takeoff point and
The longitude of current location, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe；
The calculation formula of the angle that makes a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2；
The radius of curvature of meridian R1Calculation formula are as follows:
In formula, Re is earth radius, and θ is the unit radian of latitude, and e is eccentricity of the earth；
The fourth of the twelve Earthly Branches chief of a tribe encloses radius of curvature R2Calculation formula are as follows:
The calculation formula of the unit radian θ of latitude are as follows:
The calculation formula of eccentricity of the earth e are as follows:
In formula, a is semimajor axis of ellipsoid, and b is semiminor axis of ellipsoid；
(4) aircraft returns to position when taking off according to return route.
2. the method that one key of aircraft as described in claim 1 makes a return voyage, it is characterised in that: described when taking off in step (1)
Location information include position longitude and latitude (lat when taking off1,lon1) and environmental information.
3. the method that one key of aircraft as described in claim 1 makes a return voyage, it is characterised in that: described existing in step (3)
The location parameter that location information is obtained in real time by the GPS positioning system.
4. the method that one key of aircraft as claimed in claim 3 makes a return voyage, it is characterised in that: the existing location information includes
The current position longitude and latitude (lat of the aircraft2,lon2) and environmental information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610366665.3A CN105955296B (en) | 2016-05-30 | 2016-05-30 | The method that one key of aircraft makes a return voyage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610366665.3A CN105955296B (en) | 2016-05-30 | 2016-05-30 | The method that one key of aircraft makes a return voyage |
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| CN105955296A CN105955296A (en) | 2016-09-21 |
| CN105955296B true CN105955296B (en) | 2019-10-25 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231834B (en) | 2016-11-15 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Method and device for controlling movable object and unmanned aerial vehicle |
| CN107505857A (en) * | 2017-08-07 | 2017-12-22 | 广州南洋理工职业学院 | Aircraft emergency control method and equipment |
| CN113741490A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Inspection method, inspection device, aircraft and storage medium |
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| CN103176475A (en) * | 2013-02-27 | 2013-06-26 | 广东工业大学 | Ground station for unmanned aerial vehicles |
| CN103411609A (en) * | 2013-07-18 | 2013-11-27 | 北京航天自动控制研究所 | Online composition based aircraft return route programming method |
| CN104881039A (en) * | 2015-05-12 | 2015-09-02 | 零度智控（北京）智能科技有限公司 | Method and system for returning of unmanned plane |
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| CN105607645A (en) * | 2016-01-20 | 2016-05-25 | 杭州米为科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014187027A1 (en) * | 2013-05-22 | 2014-11-27 | 上海九鹰电子科技有限公司 | Transmission device and method, and reception device and method of remote control signal |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103176475A (en) * | 2013-02-27 | 2013-06-26 | 广东工业大学 | Ground station for unmanned aerial vehicles |
| CN103411609A (en) * | 2013-07-18 | 2013-11-27 | 北京航天自动控制研究所 | Online composition based aircraft return route programming method |
| CN105556409A (en) * | 2014-12-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling aircraft, and aircraft |
| CN104881039A (en) * | 2015-05-12 | 2015-09-02 | 零度智控（北京）智能科技有限公司 | Method and system for returning of unmanned plane |
| CN105573338A (en) * | 2015-12-25 | 2016-05-11 | 广东美嘉欣创新科技股份有限公司 | Targeted staying and return voyage control system of unmanned aerial vehicle |
| CN105607645A (en) * | 2016-01-20 | 2016-05-25 | 杭州米为科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal |
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Effective date of registration: 20190412 Address after: 514400 Industrial Park Erheng Road, Shuizhai Town, Wuhua County, Meizhou City, Guangdong Province Applicant after: Guangdong Jingrong Technology Co.,Ltd. Address before: 518100 Room 201, Building A, No. 1 Qianwan Road, Qianhai Deep Lane Cooperative Zone, Shenzhen City, Guangdong Province Applicant before: SHENZHEN QIANHAI TERRITORY INTELLIGENT TECHNOLOGY CO.,LTD. |
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