CN106020219B - A kind of control method and device of aircraft - Google Patents
A kind of control method and device of aircraft Download PDFInfo
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- CN106020219B CN106020219B CN201610327694.9A CN201610327694A CN106020219B CN 106020219 B CN106020219 B CN 106020219B CN 201610327694 A CN201610327694 A CN 201610327694A CN 106020219 B CN106020219 B CN 106020219B
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- 238000005096 rolling process Methods 0.000 description 2
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- 201000009482 yaws Diseases 0.000 description 2
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Classifications
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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
-
- 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 discloses a kind of control method of aircraft and devices, and for simplifying operation requirement of the user to aircraft, the accurate control to aircraft is completed according to the mobile terminal of user's control.The embodiment of the present invention provides a kind of control method of aircraft, it include: that real-time gravity sensing information collection is carried out to the terminal moved by user's control, the the first gravity sensing information and the second gravity sensing information of the terminal are obtained, the second gravity sensing information is to carry out gravity sensing information collection to the terminal before obtaining the first gravity sensing information to obtain；According to the attitude misalignment of terminal described in the first gravity sensing information of the terminal and the second gravity sensing acquisition of information；Flight control command is sent to aircraft according to the attitude misalignment got, the aircraft is controlled according to the flight control command and adjusts flight attitude.
Description
Technical field
The present invention relates to vehicle technology field more particularly to the control methods and device of a kind of aircraft.
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 the following two kinds scheme when executing flare maneuver at present: 1, aircraft in flight course,
User manually controls aircraft and does basic sporting flying by the rocking bar on manual control remote controler；2, user's operation is hand-held
Equipment simulating controls rocking bar, and the sporting flying of aircraft is controlled by rocking bar, and handheld device can refer to smart phone, plate electricity
The mobile devices such as brain.
In above-mentioned current scheme, either use remote controler or handheld device, be all controlled by rocking bar it is winged
The sporting flying of row device, but the flight rail that this method for controlling aircraft by rocking bar needs user to pay close attention to aircraft at any time
Mark is just able to achieve the accurate control to aircraft, requires the operation of user very high.
Summary of the invention
The embodiment of the invention provides a kind of control method of aircraft and devices, for simplifying user to the behaviour of aircraft
It is required, the accurate control to aircraft is completed according to the mobile terminal of user's control.
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 control method of aircraft, comprising:
Real-time gravity sensing information collection is carried out to the terminal moved by user's control, obtains the first weight of the terminal
Power induction information and the second gravity sensing information, the second gravity sensing information are to obtain the first gravity sensing information
What gravity sensing information collection obtained is carried out to the terminal before；
It is inclined according to the posture of terminal described in the first gravity sensing information of the terminal and the second gravity sensing acquisition of information
Difference；
Flight control command is sent to aircraft according to the attitude misalignment got, controls the aircraft according to institute
State flight control command adjustment flight attitude.
Second aspect, the embodiment of the present invention also provide a kind of control device of aircraft, comprising:
Gravity sensing acquisition module is adopted for carrying out real-time gravity sensing information to the terminal moved by user's control
Collection, obtains the first gravity sensing information and the second gravity sensing information of the terminal, the second gravity sensing information be
What gravity sensing information collection obtained is carried out to the terminal before obtaining the first gravity sensing information；
Terminal posture obtains module, for the first gravity sensing information and the second gravity sensing information according to the terminal
Obtain the attitude misalignment of the terminal；
Flight control modules, for sending flight control command, control to aircraft according to the attitude misalignment got
It makes the aircraft and adjusts flight attitude according to the flight control command.
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, real-time gravity sensing information is carried out to the terminal moved by user's control first to adopt
Collection, obtains the first gravity sensing information and the second gravity sensing information of terminal, the second gravity sensing information is to obtain first
What gravity sensing information collection obtained is carried out to terminal before gravity sensing information, is then believed according to the first gravity sensing of terminal
The attitude misalignment of breath and the second gravity sensing information acquisition terminal, last sent according to the attitude misalignment got to aircraft fly
Row control command, control aircraft adjust flight attitude according to flight control command.Due to only needing to use in the embodiment of the present invention
The movement of the real-time controlling terminal in family, so that it may collect gravity sensing information from terminal, pass through the first gravity sensing information
With the available attitude misalignment to terminal of the second gravity sensing information, which can be used for true directional aircraft transmission and flies
Row control command, aircraft can according to flight control command adjust flight attitude, avoid in the prior art user to rocking bar
Control, user are voluntarily detected the control of aircraft by terminal, reduce the operation requirement to user.
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 realization schematic diagram of a scenario interacted between terminal and aircraft in the embodiment of the present invention；
Fig. 2 is a kind of process blocks schematic diagram of the control method of aircraft provided in an embodiment of the present invention；
Fig. 3 is the control for doing pitching movement, roll motion, yawing rotation in the embodiment of the present invention by terminal control aircraft
Flow diagram processed；
Fig. 4 is the control flow schematic diagram moved up and down in the embodiment of the present invention by terminal control aircraft；
Fig. 5-a is a kind of composed structure schematic diagram of the control device of aircraft provided in an embodiment of the present invention；
Fig. 5-b is a kind of composed structure schematic diagram of gravity sensing acquisition module provided in an embodiment of the present invention；
Fig. 5-c is the composed structure schematic diagram of another gravity sensing acquisition module provided in an embodiment of the present invention；
Fig. 6 is that the control method of aircraft provided in an embodiment of the present invention is applied to the composed structure schematic diagram of terminal.
Specific embodiment
The embodiment of the invention provides a kind of control method of aircraft and devices, for simplifying user to the behaviour of aircraft
It is required, the accurate control to aircraft is completed according to the mobile terminal of user's control.
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.
Description and claims of this specification and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Similar object, without being used to describe a particular order or precedence order.It should be understood that the term used in this way is in appropriate feelings
It can be interchanged under condition, this is only to describe the used differentiation in description to the object of same alike result in the embodiment of the present invention
Mode.In addition, term " includes " and " having " and their any deformation, it is intended that cover it is non-exclusive include, so as to
A series of process, method, system, product or equipment comprising units are not necessarily limited to those units, but may include unclear
Other units that ground is listed or intrinsic for these process, methods, product or equipment.
It is described in detail separately below.
Referring initially to the realization scene shown in Fig. 1, interacted between terminal provided in an embodiment of the present invention and aircraft
Schematic diagram, user can control the movement of terminal, which is specially the equipment such as intelligent terminal, such as mobile phone, Intelligent bracelet.Eventually
End generates flight control instruction by the perception to user's control behavior, and flight control instruction is sent to aircraft by terminal, flies
Row device can adjust flight attitude according to the flight control instruction of terminal.For a user, easy to operate, user's operation terminal
, no longer need to individually control rocking bar.Next one embodiment of the control method of description aircraft of the present invention, specifically can be with
Applied in the operation control scene to aircraft, please refer to shown in Fig. 2, the control of aircraft provided by one embodiment of the present invention
Method processed, may include steps of:
101, real-time gravity sensing information collection is carried out to the terminal moved by user's control, obtains the first weight of terminal
Power induction information and the second gravity sensing information, the second gravity sensing information are before obtaining the first gravity sensing information to end
End carries out what gravity sensing information collection obtained.
In embodiments of the present invention, user's operation terminal, user can move end according to the control mode that oneself is needed
End, such as user can overturn terminal, and to right translation terminal etc., terminal itself can incude the control mode of user, to terminal
Gravity sensing information acquired in real time, the gravity sensing information of each pair of terminal carries out one acquisition in the embodiment of the present invention
It can be obtained by a gravity sensing information.Specifically, then may be used by taking the gravity sensing information collection carried out twice to terminal as an example
To obtain two gravity sensing information of terminal, it is expressed as the first gravity sensing information and the second gravity sensing information, example
Gravity sensing information such as respectively to terminal at first time point and the second time point is acquired, wherein will be in first time point
Collected gravity sensing information is defined as the first gravity sensing information, will be in the second time point collected gravity sensing information
It is defined as the second gravity sensing information, at the time of the second time point was on a timeline earlier than first time point, then the second gravity
Induction information is to be acquired before obtaining the first gravity sensing information to terminal.It does not limit, in the present invention
In embodiment, the second gravity sensing information is referred to as " history gravity sensing information ", and the first gravity sensing information can also be with
Referred to as " current gravity sensing information ".
In embodiments of the present invention, the gravity sensing information that terminal generates specifically also refers in following information at least
It is a kind of: pitch angle (English name: pitch), roll angle (English name: roll) and yaw angle (English name: yaw), specifically
Gravity sensing information type that needs acquire can be determined with connected applications scene.The posture of terminal can be by terminal in space
In three angles (yaw angle, pitch angle and roll angle) determine that these three angles are commonly referred to as the appearance of Eulerian angles or terminal
State angle.
In some embodiments of the invention, step 101 carries out real-time gravity-feed tank to the terminal moved by user's control
Information collection is answered, the first gravity sensing information and the second gravity sensing information of terminal is obtained, can specifically include following steps:
A1, control start command is received, and real-time gravity sensing information collection is carried out to terminal, obtain the second of terminal
Gravity sensing information；
A2, after collecting the second gravity sensing information, continue to carry out real-time gravity sensing information collection to terminal,
Obtain the first gravity sensing information of terminal.
Wherein, control key can be set in terminal, when user needs to manipulate aircraft, user can trigger starting control
Key, terminal can detecte the control start command that user is issued by control key, carry out at this time to the gravity sensing information of terminal
Acquisition, such as real-time gravity sensing information collection can be carried out by the sensor of terminal built-in, such as can be in terminal
Being equipped with acceleration transducer, angular-rate sensor and earth magnetism rotating vector sensor, the sensor can recorde the weight of terminal
Power induction information.Specifically, acceleration transducer (English name: acceleration transducer) is to experience acceleration
The sensor of usable output signal is spent and is converted into, angular-rate sensor is also referred to as gyroscope, and earth magnetism rotating vector sensor can
To provide the rotating vector of terminal.It should be noted that in embodiments of the present invention terminal can with built-in other sensors,
It is specifically dependent upon realization scene.In step A1, terminal is first got when terminal receives the control start command of user
Second gravity sensing information, can then proceed in preset collection period constantly to acquire gravity sensing information, such as execute
Step A2 continues to carry out real-time gravity sensing information collection to terminal, obtain after collecting the second gravity sensing information
First gravity sensing information of terminal.
In some embodiments of the invention, step A2 continues to carry out real-time gravity sensing information collection to terminal, obtains
To after the first gravity sensing information of terminal, the control method of aircraft provided in an embodiment of the present invention can also include as follows
Step:
B1, control end order is received, then stops carrying out real-time gravity sensing information collection to terminal；
B2, terminate order according to control to aircraft transmission hovering order, control aircraft is ordered according to hovering keeps outstanding
Stop state.
Wherein, terminal carries out control movement in real time by user, if user needs to stop controlling terminal, user can be to
Terminal, which sends control, terminates order, then terminal when receiving the control terminates order, just no longer believe by the gravity sensing of acquisition terminal
Breath.For example, be provided with control key in terminal, control enabled instruction can be sent to terminal when user presses control key, when with
Terminal can determine that user has issued control END instruction when the control key is unclamped at family.It, can after receiving control terminates order
To send hovering instruction to aircraft, then aircraft orders according to hovering and keeps floating state.Wherein, hovering refers to that aircraft exists
The state of flight for keeping spatial position to be basically unchanged on certain altitude.
102, according to the attitude misalignment of the first gravity sensing information of terminal and the second gravity sensing information acquisition terminal.
In embodiments of the present invention, by different moments collected gravity sensing information it is available to terminal in sky
Between in attitudes vibration, such as pass through the first gravity sensing information of terminal and the second available terminal of gravity sensing information
Attitude misalignment.Wherein, attitude misalignment refers to the situation of change of terminal terminal posture in the case where the control of user is mobile.
In some embodiments of the invention, aforementioned collected first gravity sensing information, comprising: the first pitch angle,
First roll angle and the first yaw angle；Second gravity sensing information, comprising: the second pitch angle, the second roll angle and the second yaw
Angle.In this case, step 102 is according to the first gravity sensing information of terminal and the second gravity sensing information acquisition terminal
Attitude misalignment can specifically include following steps:
C1, the difference between the first pitch angle and the second pitch angle is calculated to obtain pitch deviation, and/or, calculate the
Difference between one roll angle and second roll angle to obtain roll deviation, and/or, calculate the first yaw angle and described
Difference between second yaw angle is to obtain yaw deviation；
C2, it is combined pitch deviation and/or roll deviation, and/or yaw deviation to obtain attitude misalignment.
Specifically, calculating the difference between the first pitch angle and the second pitch angle upwards in pitch axis obtains pitch deviation,
The difference between the first roll angle and the second roll angle is calculated in roll axial direction and obtains roll deviation, is calculated upwards in yaw axis
Difference between first yaw angle and the second yaw angle obtains yaw deviation.It should be noted that it is inclined to calculate pitch deviation, roll
It only needs to calculate at least one deviation therein, tool according to specific collected gravity sensing information in difference and yaw deviation
Body can need to obtain pitch deviation and/or roll deviation with connected applications scene to determine, and/or yaw deviation.Step C1 is held
, can be by pitch deviation and/or roll deviation after row, and/or to be combined into a set inclined to obtain posture for yaw deviation group
Difference, the i.e. attitude misalignment of terminal also refer to the pitch deviation that terminal generates upwards in pitch axis, and/or in roll axial direction
The roll deviation of generation, and/or the yaw deviation generated upwards in yaw axis.
In other embodiments of the invention, aforementioned collected first gravity sensing information includes: the first pitch angle；
Second gravity sensing information includes: the second pitch angle.In this case, step 102 is believed according to the first gravity sensing of terminal
The attitude misalignment of breath and the second gravity sensing information acquisition terminal, can specifically include following steps:
Difference between C3, the first pitch angle of calculating and the second pitch angle, obtains attitude misalignment.
Specifically, calculating the difference between the first pitch angle and the second pitch angle upwards in pitch axis obtains attitude misalignment,
That is the attitude misalignment of terminal also refers to the pitch deviation that terminal generates upwards in pitch axis.
It should be noted that executing step C1 and C2 or step C3 can be in difference in previously described embodiments of the present invention
Scene under realize, specific calculative attitude misalignment can be determined according to specific application scenarios.
103, flight control command is sent to aircraft according to the attitude misalignment got, control aircraft is controlled according to flight
System order adjustment flight attitude.
In embodiments of the present invention, after the attitude misalignment that terminal is got by abovementioned steps 102, the posture of the terminal
Deviation can be adjustment aircraft flight foundation, according to the attitude misalignment to aircraft send flight control command, terminal and
It mode can be communicated by wireless communication between aircraft.(915Mhz or 433Mhz) is passed for example, by using number or uses nothing
Line local area network or bluetooth are communicated, and after aircraft receives flight control command, aircraft can be controlled according to flight
Order adjustment flight attitude.
In some embodiments of the invention, under the aforementioned realization scene for executing step C1, step 103 is according to getting
Attitude misalignment to aircraft send flight control command, control aircraft according to flight control command adjust flight attitude, tool
Body includes the following steps:
D1, when in attitude misalignment include pitch deviation when, the upward need of pitch axis are sent in aircraft according to pitch deviation
The pitch angle of adjustment, control aircraft complete pitching movement according to the pitch angle that need to be adjusted upwards in pitch axis；And/or
D2, when in attitude misalignment including roll deviation, roll axially upper need are sent in aircraft according to roll deviation
The roll angle of adjustment, control aircraft is according to the roll angle completion roll motion for needing adjustment in roll axial direction；And/or
D3, when in attitude misalignment including yaw deviation, the upward need of yaw axis to aircraft are sent according to yaw deviation
The yaw angle of adjustment, control aircraft complete yawing rotation according to the yaw angle that need to be adjusted upwards in yaw axis.
It wherein, may include: that aircraft is bowed what pitch axis need to adjust upwards to the flight control command that aircraft is sent
It is inclined that the elevation angle and/or aircraft need the roll angle of adjustment and/or aircraft that need to adjust upwards in yaw axis in roll axial direction
Boat angle, then available to arrive above- mentioned information after aircraft receives the flight control command, aircraft executes step D1, step
At least one step in rapid D2, step D3, aircraft can complete pitching according to the pitch angle that need to be adjusted upwards in pitch axis
Movement, according to needing the roll angle of adjustment to complete roll motion in roll axial direction, according to the yaw that need to be adjusted upwards in yaw axis
Complete yawing rotation in angle.
In some embodiments of the invention, under the aforementioned realization scene for executing step C2, step 103 is according to getting
Attitude misalignment to aircraft send flight control command, control aircraft according to flight control command adjust flight attitude, tool
Body includes the following steps:
D4, the pitch angle that pitch axis need to adjust upwards is sent in aircraft according to attitude misalignment, control aircraft according to
Elevating movement is completed in the pitch angle that pitch axis need to adjust upwards.
Wherein, when needing to control aircraft elevating movement, it is only necessary to the acquisition terminal terminal posture upward in pitch axis
Variation, calculates the pitch angle for needing to adjust, and aircraft completes elevating movement according to the pitch angle that need to be adjusted upwards in pitch axis.
In other embodiments of the invention, step 103 sends to aircraft according to the attitude misalignment got and flies
Control command can specifically include following steps:
E1, limit value processing is carried out to the attitude misalignment that gets, obtains limit value treated attitude misalignment；
E2, flight control command is sent to aircraft according to limit value treated attitude misalignment.
Wherein, after getting the attitude misalignment of terminal, limit value can also first be carried out to the attitude misalignment, to posture
Deviation carries out numerical value constraint, avoids the control of user control terminal is excessive from causing the control to aircraft exceeded, wherein limit
Value processing refers to that the attitude misalignment that will acquire carries out numerical value constraint, is illustrated below, collected value is constrained in one
In zone of reasonableness, such as value A zone of reasonableness is 0-90, if 0≤A≤90 of acquisition, A is constant, if A < 0 of acquisition,
A=0 is enabled, if A > 90, A=90.It, can be by the attitude misalignment multiplied by a limit value for another example after the attitude misalignment got
The factor, for example, by collected attitude misalignment A multiplied by the limit value factor 0.8, then when collecting attitude misalignment is 90, at limit value
Attitude misalignment after reason can be 90 × 0.8=72.
By above embodiments to the description of the embodiment of the present invention it is found that being carried out first to the terminal moved by user's control
Real-time gravity sensing information collection, obtains the first gravity sensing information and the second gravity sensing information of terminal, the second gravity
Induction information is to carry out gravity sensing information collection to terminal before obtaining the first gravity sensing information to obtain, then basis
First gravity sensing information of terminal and the attitude misalignment of the second gravity sensing information acquisition terminal, it is last according to the appearance got
State deviation sends flight control command to aircraft, and control aircraft adjusts flight attitude according to flight control command.Due to this
The movement of the real-time controlling terminal of user is only needed in inventive embodiments, so that it may gravity sensing information is collected from terminal,
By the first gravity sensing information and the available attitude misalignment to terminal of the second gravity sensing information, the attitude misalignment is available
Flight control command is sent in true directional aircraft, aircraft can adjust flight attitude according to flight control command, avoid existing
There is control of the user to rocking bar in technology, user is voluntarily detected the control of aircraft by terminal, reduces the operation to user
It is required that.
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.
In the embodiment of the present invention, it can be passed in terminal built-in acceleration transducer, angular-rate sensor, earth magnetism rotating vector
Sensor can calculate the posture of terminal itself, easier to control compared to the control in mobile phone terminal screen simulation rocking bar, reflection
Quickly, it is carried out simultaneously convenient for control elemental motion and observation data.In the control mode at present with mobile phone simulation rocking bar, mobile phone
The rocking bar of remote controler is simulated on screen controlling the sporting flying of aircraft, needing there are player while paying close attention to mobile phone and flight
Device, the problem of blind operation can not be carried out, because blind operating handset screen itself can not effective Feedback rocking bar position.
In the embodiment of the present invention, the foundation motion of aircraft can be divided into pitching (English name: pitch), roll (English name
Claim: roll), it yaws (full name in English: yaw), goes up and down four kinds of (full name in English: up/down), terminal is utilized in the embodiment of the present invention
Accelerometer, gyroscope, magnetometer built in (such as Intelligent mobile equipment: mobile phone/bracelet/intelligence ring etc.) can calculate
The gravity sensing information of terminal controls pitching, roll and the yaw and elevating movement of aircraft using terminal posture.
User passes through inclination, rolling, yaws Intelligent mobile equipment, Intelligent mobile equipment acquisition self-sensor device (such as:
Gyroscope, accelerometer) calculate after the gravity sensing information that exports, and this gravity sensing information is sent back by wireless transmission
Limit value processing is carried out after aircraft, will treated gravity sensing information as reference quantity, compared with current flight posture,
Control amount is exported, it is final to realize through the posture of Intelligent mobile equipment come same for controlling the electric machine operation state in aircraft
The flight attitude of step manipulation aircraft.Further, angle change of the user on Intelligent mobile equipment, need first divided by 2 again
Bring limit value, the preset value of limit value processing into are as follows: course angle variation range (- 30 °, 30 °), pitch angle variation range (- 30 °,
30 °), roll angle variation range (- 30 °, 30 °).For example, user manipulates the roll angle that rolling obtains on Intelligent mobile equipment
It is 70 °, then becomes 35 ° after first removing 2, then bring limit value into, become 30 °, be in order to avoid flying vehicles control amount excessive variation in this way
Caused by it is unexpected.
Next it is illustrated, is please referred to shown in Fig. 3 respectively with different application scenarios, be in the embodiment of the present invention
The control flow schematic diagram of pitching movement, roll motion, yawing rotation is done by terminal control aircraft, below with control
The intelligent finger ring of key illustrates the control mode of aircraft in the embodiment of the present invention.
1, control key A and control key B is set on intelligent finger ring, wherein control key A controls pitching movement, the roll of aircraft
Movement, yawing rotation, control key B control the elevating movement of aircraft.User first presses the control key A on intelligent finger ring, opens
Dynamic gravity sensing control model.User not unclamp control key A, not unclamp similar to mouse is pressed, with class Key Down message
Trigger point is done, records the current pose of intelligent finger ring at this time, such as in the Europe that pitching is axial, overturning is axial and yaw is axial
Draw the gravity sensing information of angle description as initial attitude, such as initial attitude value includes: pitch angle p, roll angle r, yaw angle
y。
2, control key A down state is kept, user rotates the terminal posture in intelligent finger ring change hand, at this time can be real
When obtain the attitude misalignment between the initial attitude recorded in the current pose and step 1 of current time intelligence finger ring.Posture
Deviation includes: pitch deviation Δ p, roll deviation delta r, and yaw deviation delta y.The attitude misalignment is control aircraft flight posture
Data source, one should be kept accordingly in the posture of three axial directions, and by gravity-feed tank by being converted to aerocraft real according to deviation
Information is answered to be sent to aircraft.For example, being ∠ A=30 ° in pitch orientation deviation, then according to a specific function F=F (∠ A)
Aircraft is obtained in the forward-reverse speed in pitching (i.e. front and back) direction, control aircraft flies in pitch orientation.In roll side
It is ∠ B=20 ° to deviation, then aircraft is obtained on the left side in roll (i.e. left and right) direction according to a specific function F=G (∠ B)
Right flying speed, control aircraft fly in roll direction.It is ∠ C=20 ° in yaw direction deviation, then according to a specific letter
Number F=H (∠ B) obtains aircraft in the rotation speed of yaw direction, controls aircraft rotation and changes head direction.Specifically,
If it is A=30 ° that the pitching of terminal, which deviates initial value, then the aircraft that can simply convert needs to keep pitch angle α=1/2*A, at this time
Due to the presence of pitch attitude, the lift of aircraft and the resultant force of gravity will make aircraft forward flight.If the roll of terminal is inclined
It is A=30 ° from initial value, then the aircraft that can simply convert needs to keep roll angle α=1/2*A, at this time due to roll posture
In the presence of the lift of aircraft and the resultant force of gravity will make aircraft fly to the left.If it is A=that the yaw of terminal, which deviates initial value,
30 °, then the aircraft that can simply convert needs to keep yawing velocity α=1/2*A, and aircraft will continue according to the yawing velocity at this time
Rotation.
Actual aircraft movement can regard the movement synthesis of aircraft in three directions as.For example, the 3D of standard is several
Vector modulation in what, such as posture are described as (p, r, y), then it is believed that the posture is revolved by initial attitude around pitch axis
Turn p, rotate r around roll axis, rotates y around yaw axis and constitute.
3, when aircraft receives gravity sensing information data, the flight of oneself is adjusted according to the gravity sensing information data
Posture achievees the purpose that control aircraft flight posture.
4, cancel gravity sensing mode, such as user unclamps control key A, triggers at this time using class Key UP message
Point stops the gravity sensing information for acquiring intelligent finger ring, and aircraft returns to floating state, waits act the next time of user defeated
Enter.
It please refers to shown in Fig. 4, for the control flow moved up and down in the embodiment of the present invention by terminal control aircraft
Schematic diagram.
Illustrate the control mode of aircraft in the embodiment of the present invention with the intelligent finger ring with control key below.
1, user first presses the control key B on intelligent finger ring, starts gravity sensing control model.User not unclamp
Control key B does not unclamp similar to mouse is pressed, does trigger point with class Key Down message, records the current appearance of intelligent finger ring at this time
State, for example, pitching axial direction Eulerian angles describe gravity sensing information as initial attitude.Such as initial attitude value includes: to bow
Elevation angle p, roll angle r, yaw angle y.
2, control key B down state is kept, user rotates the terminal posture in intelligent finger ring change hand, at this time can be real
When obtain the attitude misalignment between the initial attitude recorded in the current pose and step 1 of current time intelligence finger ring.Posture
Deviation includes: pitch deviation Δ p, roll deviation delta r, and yaw deviation delta y.The attitude misalignment is control aircraft flight posture
Data source, one should be kept accordingly in the posture of pitching axial direction, and by gravity-feed tank by being converted to aerocraft real according to deviation
Information is answered to be sent to aircraft.For example, being ∠ A=30 ° in pitch orientation deviation, then according to a specific function F=F (∠ A)
Aircraft is obtained in the forward-reverse speed in pitching (i.e. front and back) direction, control aircraft flies in pitch orientation.Specifically, such as
It is ∠ D=30 ° in pitch orientation deviation, then aircraft is obtained according to a specific function F=F (∠ D) and rise or fall speed
To control the height of aircraft.
Wherein, can be set two control keys on intelligent finger ring, the lifting of aircraft can choose with other than control key A
Other control keys, such as control key B are controlled according to the deviation of intelligent finger ring and the pitch angle of aircraft.
3, when aircraft receives gravity sensing information data, the appearance of oneself is adjusted according to the gravity sensing information data
State achievees the purpose that control aircraft flight posture.
4, cancel gravity sensing mode, such as user unclamps control key B, triggers at this time using class Key UP message
Point, stops the gravity sensing information for acquiring intelligent finger ring, and aircraft returns to floating state, waits action input user's next time.
By previous embodiment to illustration of the invention it is found that user of the embodiment of the present invention can star and stop weight
The mode of power induction is the final movement posture of aircraft by the clearing of terminal attitude misalignment, (such as intelligent by user's using terminal
The equipment that finger ring etc. has gravity sensing) gravity sensing started and stopped by key, and calculate attitude misalignment and calculate and be converted into
The posture of aircraft controls the Basic Flight Maneuver of aircraft.Hand is easy in the terminal gravity sensing control mode of aircraft,
It is more convenient, the control mode of the terminal control aircraft elemental motion an of mainstream may be known as.
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. 5-a, a kind of control device 500 of aircraft provided in an embodiment of the present invention, may include: weight
Power inductive pick-up module 501, terminal posture obtain module 502 and flight control modules 503, wherein
Gravity sensing acquisition module 501, for carrying out real-time gravity sensing information to the terminal moved by user's control
Acquisition, obtains the first gravity sensing information and the second gravity sensing information of the terminal, the second gravity sensing information is
What gravity sensing information collection obtained is carried out to the terminal before obtaining the first gravity sensing information；
Terminal posture obtains module 502, for according to the first gravity sensing information of the terminal and the second gravity sensing
The attitude misalignment of terminal described in acquisition of information；
Flight control modules 503, for sending flight control command to aircraft according to the attitude misalignment got,
It controls the aircraft and adjusts flight attitude according to the flight control command.
In some embodiments of the invention, it please refers to as shown in Fig. 5-b, the gravity sensing acquisition module 501, wraps
It includes:
First acquisition unit 5011 carries out real-time gravity sensing for receiving control start command, and to the terminal
Information collection obtains the second gravity sensing information of the terminal；
Second acquisition unit 5012, for continuing to the terminal after collecting the second gravity sensing information
Real-time gravity sensing information collection is carried out, the first gravity sensing information of the terminal is obtained.
In some embodiments of the invention, relative to as shown in Fig. 5-b, please referring to the gravity-feed tank as shown in Fig. 5-c
Answer acquisition module 501, further includes: acquisition control unit 5013, wherein
The acquisition control unit 5013 continues to carry out the terminal real-time for second acquisition unit 5012
Gravity sensing information collection, after obtaining the first gravity sensing information of the terminal, receiving control terminates order, then stops
Real-time gravity sensing information collection is carried out to the terminal；
The flight control modules 503, being also used to, which terminates order according to the control, sends hovering order, control to aircraft
It makes the aircraft and orders holding floating state according to the hovering.
In some embodiments of the invention, the first gravity sensing information, comprising: the first pitch angle, the first roll
Angle and the first yaw angle；The second gravity sensing information, comprising: the second pitch angle, the second roll angle and the second yaw angle.Institute
State terminal posture and obtain module 502, specifically for calculate the difference between first pitch angle and second pitch angle from
And pitch deviation is obtained, and/or, the difference between first roll angle and second roll angle is calculated to obtain roll
Deviation, and/or, the difference between first yaw angle and second yaw angle is calculated to obtain yaw deviation；By institute
It states pitch deviation and/or the roll deviation and/or the yaw deviation is combined to obtain the attitude misalignment.
In some embodiments of the invention, the flight control modules 503, specifically for being wrapped when in the attitude misalignment
When including the pitch deviation, the pitch angle that pitch axis need to adjust upwards is sent in the aircraft according to the pitch deviation,
It controls the aircraft and completes pitching movement according to the pitch angle that need to be adjusted upwards in pitch axis；And/or when the posture
When including the roll deviation in deviation, being sent in roll axial direction according to the roll deviation to the aircraft needs adjustment
Roll angle controls the aircraft according to the roll angle for needing adjustment in roll axial direction and completes roll motion；And/or when
When including the yaw deviation in the attitude misalignment, it is upward that yaw axis to the aircraft is sent according to the yaw deviation
The yaw angle that need to be adjusted controls the aircraft according to the yaw angle that need to be adjusted upwards in yaw axis and completes yawing rotation.
In some embodiments of the invention, the first gravity sensing information includes: the first pitch angle；Second weight
Power induction information includes: the second pitch angle；The terminal posture obtains module 502, is specifically used for calculating first pitch angle
Difference between second pitch angle, obtains the attitude misalignment.
In some embodiments of the invention, the flight control modules 503, be specifically used for according to the attitude misalignment to
The aircraft is sent in the pitch angle that pitch axis need to adjust upwards, and control the aircraft needs according to described in pitch axis upwards
The pitch angle of adjustment completes elevating movement.
In some embodiments of the invention, the flight control modules 503, specifically for the posture got
Deviation carries out limit value processing, obtains limit value treated attitude misalignment；According to the limit value treated attitude misalignment to flight
Device sends flight control command.
By above to the description of the embodiment of the present invention it is found that being carried out first to the terminal moved by user's control real-time
Gravity sensing information collection obtains the first gravity sensing information and the second gravity sensing information of terminal, the second gravity sensing letter
Breath is to carry out gravity sensing information collection to terminal before obtaining the first gravity sensing information to obtain, then according to terminal
The attitude misalignment of first gravity sensing information and the second gravity sensing information acquisition terminal, it is last according to the attitude misalignment got
Flight control command is sent to aircraft, control aircraft adjusts flight attitude according to flight control command.Due to of the invention real
Apply the movement that the real-time controlling terminal of user is only needed in example, so that it may collect gravity sensing information from terminal, pass through
One gravity sensing information and the available attitude misalignment to terminal of the second gravity sensing information, the attitude misalignment can be used for determining
Flight control command is sent to aircraft, aircraft can adjust flight attitude according to flight control command, avoid the prior art
Control of the middle user to rocking bar, user are voluntarily detected the control of aircraft by terminal, reduce the operation requirement to user.
The embodiment of the invention also provides another terminals, as shown in fig. 6, for ease of description, illustrating only and this hair
The relevant part of bright embodiment, it is disclosed by specific technical details, please refer to present invention method part.The terminal can be with
Being includes mobile phone, tablet computer, PDA (Personal Digital Assistant, personal digital assistant), POS (Point of
Sales, point-of-sale terminal), any terminal device such as vehicle-mounted computer, taking the terminal as an example:
Fig. 6 shows the block diagram of the part-structure of mobile phone relevant to terminal provided in an embodiment of the present invention.With reference to figure
6, 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, processor
The components such as 1080 and power supply 1090.It will be understood by those skilled in the art that handset structure shown in Fig. 6 is not constituted pair
The restriction of mobile phone may include perhaps combining certain components or different component cloth than illustrating more or fewer components
It sets.
It is specifically introduced below with reference to each component parts of the Fig. 6 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, optionally, can use liquid crystal display (Liquid
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. 6, 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. 6 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 control method process.
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 (16)
1. a kind of control method of aircraft characterized by comprising
Real-time gravity sensing information collection is carried out to the terminal moved by user's control, obtains the first gravity-feed tank of the terminal
Information and the second gravity sensing information are answered, the second gravity sensing information is before obtaining the first gravity sensing information
What gravity sensing information collection obtained is carried out to the terminal；
According to the attitude misalignment of terminal described in the first gravity sensing information of the terminal and the second gravity sensing acquisition of information；
Flight control command is sent to aircraft according to the attitude misalignment got, the aircraft is controlled and flies according to described
Row control command adjusts flight attitude；
In the case where the elevating movement to aircraft controls, the control aircraft is controlled according to the flight is ordered
Enabling adjustment flight attitude includes: to adjust aircraft according to using the calculated rate of climb of the attitude misalignment or decrease speed
Highly.
2. the method according to claim 1, wherein described carry out in real time the terminal moved by user's control
Gravity sensing information collection obtains the first gravity sensing information and the second gravity sensing information of the terminal, comprising:
Control start command is received, and real-time gravity sensing information collection is carried out to the terminal, obtains the of the terminal
Two gravity induction informations；
After collecting the second gravity sensing information, continue to adopt the real-time gravity sensing information of terminal progress
Collection, obtains the first gravity sensing information of the terminal.
3. according to the method described in claim 2, it is characterized in that, described continue to carry out real-time gravity sensing to the terminal
Information collection, after obtaining the first gravity sensing information of the terminal, the method also includes:
Receiving control terminates order, then stops carrying out real-time gravity sensing information collection to the terminal；
Terminate to order to aircraft according to the control and send hovering order, controls the aircraft according to the hovering and order guarantor
Hold floating state.
4. the method according to claim 1, wherein in the pitching movement to aircraft, roll motion, yaw fortune
It moves in the case where being controlled, the first gravity sensing information, comprising: the first pitch angle, the first roll angle and the first yaw
Angle；
The second gravity sensing information, comprising: the second pitch angle, the second roll angle and the second yaw angle；
The posture of the terminal according to the first gravity sensing information of the terminal and the second gravity sensing acquisition of information is inclined
Difference, comprising:
The difference between first pitch angle and second pitch angle is calculated to obtain pitch deviation, and/or, calculate institute
The difference between the first roll angle and second roll angle is stated to obtain roll deviation, and/or, calculate first yaw
Difference between angle and second yaw angle is to obtain yaw deviation；
The pitch deviation and/or the roll deviation and/or the yaw deviation are combined to obtain the appearance
State deviation.
5. according to the method described in claim 4, it is characterized in that, the attitude misalignment that gets of the basis is to aircraft
Flight control command is sent, the aircraft is controlled according to the flight control command and adjusts flight attitude, comprising:
When in the attitude misalignment including the pitch deviation, pitching is sent in the aircraft according to the pitch deviation
The pitch angle that adjustment is needed in axial direction controls the aircraft according to the pitch angle that need to be adjusted upwards in pitch axis and completes pitching
Movement；And/or
When in the attitude misalignment including the roll deviation, roll is sent in the aircraft according to the roll deviation
The roll angle that adjustment is needed in axial direction controls the aircraft according to the roll angle for needing adjustment in roll axial direction and completes roll
Movement；And/or
When in the attitude misalignment including the yaw deviation, yaw is sent in the aircraft according to the yaw deviation
The yaw angle that adjustment is needed in axial direction controls the aircraft according to the yaw angle that need to be adjusted upwards in yaw axis and completes yaw
Movement.
6. the method according to claim 1, wherein the case where the elevating movement to aircraft controls
Under, the first gravity sensing information includes: the first pitch angle；The second gravity sensing information includes: the second pitch angle；
The posture of the terminal according to the first gravity sensing information of the terminal and the second gravity sensing acquisition of information is inclined
Difference, comprising:
The difference between first pitch angle and second pitch angle is calculated, the attitude misalignment is obtained.
7. according to the method described in claim 6, it is characterized in that, the attitude misalignment that gets of the basis is to aircraft
Flight control command is sent, the aircraft is controlled according to the flight control command and adjusts flight attitude, comprising:
It is sent in the pitch angle that pitch axis need to adjust upwards to the aircraft according to the attitude misalignment, controls the aircraft
Elevating movement is completed according to the pitch angle that need to be adjusted upwards in pitch axis.
8. method according to any one of claim 1 to 7, which is characterized in that the posture that the basis is got
Deviation sends flight control command to aircraft, comprising:
Limit value processing is carried out to the attitude misalignment that gets, obtains limit value treated attitude misalignment；
Flight control command is sent to aircraft according to the limit value treated attitude misalignment.
9. a kind of control device of aircraft characterized by comprising
Gravity sensing acquisition module is obtained for carrying out real-time gravity sensing information collection to the terminal moved by user's control
To the first gravity sensing information and the second gravity sensing information of the terminal, the second gravity sensing information is obtaining
What gravity sensing information collection obtained is carried out to the terminal before stating the first gravity sensing information；
Terminal posture obtains module, for the first gravity sensing information and the second gravity sensing acquisition of information according to the terminal
The attitude misalignment of the terminal；
Flight control modules control institute for sending flight control command to aircraft according to the attitude misalignment got
It states aircraft and adjusts flight attitude according to the flight control command；
In the case where the elevating movement to aircraft controls, the flight control modules are according to the utilization attitude misalignment
The height of the calculated rate of climb or decrease speed adjustment aircraft.
10. device according to claim 9, which is characterized in that the gravity sensing acquisition module, comprising:
First acquisition unit carries out real-time gravity sensing information collection for receiving control start command, and to the terminal,
Obtain the second gravity sensing information of the terminal；
Second acquisition unit, it is real-time for after collecting the second gravity sensing information, continuing to carry out the terminal
Gravity sensing information collection, obtain the first gravity sensing information of the terminal.
11. device according to claim 10, which is characterized in that the gravity sensing acquisition module, further includes: acquisition control
Unit processed, wherein
The acquisition control unit continues to carry out real-time gravity sensing information to the terminal for second acquisition unit
Acquisition, after obtaining the first gravity sensing information of the terminal, receive control terminate order, then stop to the terminal into
The real-time gravity sensing information collection of row；
The flight control modules are also used to terminate order according to the control to send hovering to aircraft and order, described in control
Aircraft orders according to the hovering and keeps floating state.
12. device according to claim 9, which is characterized in that in pitching movement, roll motion, the yaw to aircraft
In the case that movement is controlled, the first gravity sensing information, comprising: the first pitch angle, the first roll angle and first are partially
Boat angle；
The second gravity sensing information, comprising: the second pitch angle, the second roll angle and the second yaw angle；
The terminal posture obtains module, specifically for calculating the difference between first pitch angle and second pitch angle
To obtain pitch deviation, and/or, the difference between first roll angle and second roll angle is calculated to obtain cross
Deviation is rolled, and/or, the difference between first yaw angle and second yaw angle is calculated to obtain yaw deviation；It will
The pitch deviation and/or the roll deviation and/or the yaw deviation are combined to obtain the attitude misalignment.
13. device according to claim 12, which is characterized in that the flight control modules are specifically used for working as the appearance
When including the pitch deviation in state deviation, being sent in pitch axis to the aircraft according to the pitch deviation needs to adjust upwards
Pitch angle, control the aircraft according to the pitch angle that need to adjust upwards in pitch axis and complete pitching movement；And/or
When in the attitude misalignment including the roll deviation, roll axial direction is sent in the aircraft according to the roll deviation
On the roll angle that need to adjust, control the aircraft according to the roll angle for needing adjustment in roll axial direction and complete roll fortune
It is dynamic；And/or it when in the attitude misalignment including the yaw deviation, is sent according to the yaw deviation to the aircraft
In the yaw angle that yaw axis need to adjust upwards, it is complete according to the yaw angle that need to be adjusted upwards in yaw axis to control the aircraft
At yawing rotation.
14. device according to claim 9, which is characterized in that the case where the elevating movement to aircraft controls
Under, the first gravity sensing information includes: the first pitch angle；The second gravity sensing information includes: the second pitch angle；
The terminal posture obtains module, specifically for calculating the difference between first pitch angle and second pitch angle
Value, obtains the attitude misalignment.
15. device according to claim 14, which is characterized in that the flight control modules are specifically used for according to
Attitude misalignment is sent in the pitch angle that pitch axis need to adjust upwards to the aircraft, controls the aircraft and is bowing according to described
Facing upward needs the pitch angle of adjustment to complete elevating movement in axial direction.
16. according to the described in any item devices of claim 9 to 15, which is characterized in that the flight control modules are specifically used for
Limit value processing is carried out to the attitude misalignment that gets, obtains limit value treated attitude misalignment；It is handled according to the limit value
Attitude misalignment afterwards sends flight control command to aircraft.
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| CN201610327694.9A CN106020219B (en) | 2016-05-17 | 2016-05-17 | A kind of control method and device of aircraft |
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| 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 |
| CN110568859B (en) * | 2019-09-12 | 2023-01-17 | 深圳慧源创新科技有限公司 | Unmanned aerial vehicle control method, mobile terminal and computer readable storage medium |
| WO2022134301A1 (en) * | 2020-12-25 | 2022-06-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control method and system therefor, handheld control device and head-mounted device |
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| US4642774A (en) * | 1982-07-01 | 1987-02-10 | Rockwell International Corporation | Automatic flight control with pilot fly-through |
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| CN105468013A (en) * | 2016-01-08 | 2016-04-06 | 丁云广 | Method of controlling mini unmanned aerial vehicle by embedded device |
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| US4642774A (en) * | 1982-07-01 | 1987-02-10 | Rockwell International Corporation | Automatic flight control with pilot fly-through |
| CN103581323A (en) * | 2013-11-11 | 2014-02-12 | 惠州Tcl移动通信有限公司 | Method and system for controlling aircraft through postures of mobile phone |
| CN104808675A (en) * | 2015-03-03 | 2015-07-29 | 广州亿航智能技术有限公司 | Intelligent terminal-based somatosensory flight operation and control system and terminal equipment |
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