CN106227224A - Flight control method, device and unmanned plane - Google Patents
Flight control method, device and unmanned plane Download PDFInfo
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- CN106227224A CN106227224A CN201610614706.6A CN201610614706A CN106227224A CN 106227224 A CN106227224 A CN 106227224A CN 201610614706 A CN201610614706 A CN 201610614706A CN 106227224 A CN106227224 A CN 106227224A
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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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Embodiments provide a kind of flight control method, device and unmanned plane, described method includes: the control instruction that receiving control apparatus sends, this control instruction includes that one or more flare maneuver instructs, wherein, the instruction of the one or more flare maneuver includes the flare maneuver instruction of the curved flight action preset for controlling described unmanned plane to perform；Control described unmanned plane according to this control instruction and perform the instruction of the one or more flare maneuver, to complete the flare maneuver corresponding with the instruction of each flare maneuver.Make unmanned plane after receiving control instruction, the flare maneuver of multiple flare maneuvers instruction correspondence that control instruction includes can be automatically performed according to control instruction.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of flight control method, device and unmanned plane.
Background technology
Unmanned plane, in flight course, often needs to do a series of flare maneuver, the most also includes particular flight action, as
Vrille or around curved flight actions such as point spiral.Existing unmanned plane, when doing some flare maneuvers, often needs user
Manual manipulation completes, or can only be automatically performed some specific action, does not also reach and is automatically performed a series of flare maneuver, special
It it not the purpose of some particular flight action.
Further, in the related, unmanned plane, when doing continuous print or parallel flare maneuver, is only to course line, boat
The design of flare maneuver of point and execution, can not perform specific flare maneuver (such as, helix, around songs such as disk rotaries
Line flare maneuver).
Summary of the invention
In view of this, embodiments provide a kind of flight control method, device and unmanned plane, with improve above-mentioned not
The problem that can perform specific flare maneuver.
To achieve these goals, the technical solution used in the present invention is as follows:
A kind of flight control method, is applied to unmanned plane, and described method includes:
The control instruction that receiving control apparatus sends, this control instruction includes that one or more flare maneuver instructs, wherein,
The instruction of the one or more flare maneuver includes flying of the curved flight action preset for controlling described unmanned plane to perform
Row action command；Control described unmanned plane according to this control instruction and perform the instruction of the one or more flare maneuver, to complete
The flare maneuver corresponding with the instruction of each flare maneuver.
A kind of flight control assemblies, described device is applied to unmanned plane, including:
Command reception module, the control instruction sent for receiving control apparatus, this control instruction includes one or more
Flare maneuver instructs, and wherein, the instruction of the one or more flare maneuver includes for controlling the execution of described unmanned plane default
Curved flight action flare maneuver instruction；Control module, performs institute for controlling described unmanned plane according to this control instruction
State the instruction of one or more flare maneuver, to complete the flare maneuver corresponding with the instruction of each flare maneuver.
A kind of unmanned plane, described unmanned plane includes: memorizer；And processor, it is electrically connected with described memorizer；And fly
Row controls device, and described device is installed in described memorizer and includes one or more software merit performed by described processor
Energy module, described flight control assemblies includes: command reception module, the control instruction sent for receiving control apparatus, this control
Instruction processed includes that one or more flare maneuver instructs, and wherein, the instruction of the one or more flare maneuver includes for controlling
Make the flare maneuver instruction of the curved flight action that described unmanned plane performs to preset；Control module, for according to this control instruction
Control described unmanned plane and perform the instruction of the one or more flare maneuver, to complete to instruct corresponding flying with each flare maneuver
Action is made.
Flight control method, device and the unmanned plane that the embodiment of the present invention provides, user sends one by remote control equipment
Control instruction, includes the instruction of multiple flare maneuver, including the flight of default curved flight action in this control instruction
Action command, after unmanned plane receives this control instruction, then according to this control instruction, be automatically performed in this control instruction multiple flies
What row action command was corresponding includes the flare maneuver of curved flight action.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Fig. 1 shows the block diagram of the unmanned plane that present pre-ferred embodiments provides；
Fig. 2 shows the flow chart of a kind of flight control method that first embodiment of the invention provides；
Fig. 3 shows the flow chart that a kind of flare maneuver that first embodiment of the invention provides instructs；
Fig. 4 shows the flow chart that the another kind of flare maneuver that first embodiment of the invention provides instructs；
Fig. 5 shows the flow chart that another flare maneuver that first embodiment of the invention provides instructs；
Fig. 6 shows the flow chart that a kind of flare maneuver that first embodiment of the invention provides instructs；
Fig. 7 shows the flow chart of a kind of flight control method that third embodiment of the invention provides；
Fig. 8 shows a kind of flight path figure that third embodiment of the invention provides；
Fig. 9 shows the functional block diagram of the flight control assemblies that fourth embodiment of the invention provides；
Figure 10 shows the partial functional block diagram of the unmanned plane that fourth embodiment of the invention provides.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Generally exist
Can arrange and design with various different configurations with the assembly of the embodiment of the present invention that illustrates described in accompanying drawing herein.Cause
This, be not intended to limit claimed invention to the detailed description of the embodiments of the invention provided in the accompanying drawings below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.Meanwhile, the present invention's
In description, term " first ", " second " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint relative importance.
As it is shown in figure 1, be the block diagram of the unmanned plane 100 that the embodiment of the present invention provides.Described unmanned plane 100 includes
Flight control assemblies 400, memorizer 101, processor 103, Peripheral Interface 104, input-output unit 105, function device 106,
Location equipment 107 and other.Described memorizer 101, processor 103 and each element of Peripheral Interface 104 are the most direct
Or be indirectly electrically connected with, to realize the transmission of data or mutual.Such as, these elements each other can be by one or more
Communication bus or holding wire realize being electrically connected with.Described flight control assemblies 400 includes that at least one can be with software or firmware
(firmware) form is stored in the software function module in processor 103 or described memorizer 101.Described processor 103
For performing this executable software function module being stored in processor 103 or memorizer 101, the most described flight controls
Software function module that device 400 includes or computer program.Described processor 103, after receiving execution instruction, performs institute
Stating the program that executable software function module includes, what embodiment of the present invention any embodiment disclosed flows through the unmanned of Cheng Dingyi
Method performed by machine can apply in processor 103, or is realized by processor 103.
Wherein, memorizer 101 may be, but not limited to, random access memory 101 (Random Access Memory,
RAM), read only memory 101 (Read Only Memory, ROM), programmable read only memory 101 (Programmable
Read-Only Memory, PROM), erasable read-only memory 101 (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) 101 (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, memorizer 101 can be used for storage program.
Processor 103 is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit is called for short CPU), network processing unit 103
(Network Processor is called for short NP) etc.；Can also is that digital signal processor (DSP), special IC (ASIC),
Ready-made programmable gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete firmly
Part assembly.Can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
The processor etc. that 103 can be microprocessor or this processor 103 can also be any routine.
Various input/output devices are coupled to processor 103 and memorizer 101 by described Peripheral Interface 104.At some
In embodiment, one or more in Peripheral Interface 104, processor 103 and memorizer 101 can be integrated in a chip
Realize.In some other example, they can also be realized by independent chip respectively.
Input-output unit 105 realizes the mutual of user and this unmanned plane 100 for being supplied to user input data.
Function device 106 includes picture pick-up device, LED, buzzer and infrared generator etc., performs for unmanned plane
Particular flight task (such as, take pictures, the flicker of lamp, infrared telemetry etc.).
Location equipment 107 includes positioner, guider and barometer etc., for carrying out the current location of unmanned plane
Location.
Unmanned plane, in flight course, often needs to do various flare maneuver, the most also includes that some specifically fly
Action is made, and spirals such as spiral or around point, and the method or apparatus that the embodiment of the present invention provides can make unmanned plane in advance
Continuously or carry out parallel under the control of the control instruction first arranged including spiral or around particular flight actions such as point spiral
Various flare maneuvers, be below the detailed description to this.
First embodiment
The schematic flow sheet of the flight control method that the embodiment of the present invention provides, this flight control method as shown in Figure 2
Being applied to unmanned plane, refer to Fig. 2, the method includes:
Step S110: the control instruction that receiving control apparatus sends, this control instruction includes one or more flare maneuver
Instruction, wherein, the instruction of the one or more flare maneuver includes that the curve preset for controlling described unmanned plane to perform flies
The flare maneuver instruction that action is made.
User, before send the control instruction controlling its flight to unmanned plane, first passes through control equipment and enters control instruction
Row is arranged.In the present embodiment, a control instruction includes that one or more flare maneuver instructs, and each flare maneuver instructs
The flare maneuver of a corresponding unmanned plane, the setting to control instruction includes the setting to the instruction of corresponding multiple flare maneuvers.
And it is possible to as required, the flare maneuver arranging the instruction of multiple flare maneuver corresponding is all carried out continuously, or therein
Certain two or more flare maneuver is carried out parallel.
Certainly, when the instruction of multiple flare maneuver is set, the flight parameter that each flare maneuver is set can be included, as risen
The attitude etc. of point coordinates, terminal point coordinate, flight speed and unmanned plane, for each flare maneuver, the flight ginseng that it is arranged
Number is determined according to practical situation by user, is not intended as in the present embodiment limiting.
After being provided with, will include that the control instruction that multiple flare maneuver instructs is sent to unmanned plane by control equipment,
Unmanned plane receives this control instruction that remote control equipment sends, it is possible to understand that, this control instruction is a control instruction.
In the present embodiment, one or more flare maneuvers instruction of this unmanned plane includes carrying out for controlling unmanned plane
The curved flight action preset instructs with the flare maneuver completing curved flight movement locus.Wherein, curved flight action is permissible
Including vrille and around at least one put in spiraling, user pre-set.Certainly, control instruction can also include
Rolling, hovering, pitching, take off and the flare maneuver of one or more instruction in other flare maneuvers such as landing.
Preferably, vrille and can being carried out continuously between the curved flight actions such as point spirals, vrille and
Spiral etc. around point and can be carried out continuously between curved flight action and other flare maneuvers.Further, rise, advance, decline, retreat,
Rolling, hovering, pitching, take off and the flare maneuver such as landing can be carried out continuously, it is also possible to carry out parallel according to practical situation,
Can carry out parallel with pitching as hovered, rise and can carry out parallel with advancing, decline and retrogressing can be carried out parallel, rising can with retrogressing
Carry out parallel.Certainly, in the present embodiment, the sequencing being carried out continuously is not intended as limiting, and the flight carried out parallel is moved
Combination between work is also not intended as limiting.
It is understood that when control instruction being configured by control equipment, the flare maneuver that can be carried out continuously
Corresponding flare maneuver instruction may be configured as continuously performing, and the flare maneuver instruction that the flare maneuver that can carry out parallel is corresponding can set
Be set to executed in parallel, if two flare maneuvers are only suitable for being carried out continuously, be not suitable for carrying out parallel (such as vrille and around
Point spirals), then it is set to continuously perform by flare maneuver instruction corresponding for the two flare maneuver, same, if two fly
Action work is only suitable for carrying out parallel, is not suitable for being carried out continuously, then flare maneuver instruction corresponding for the two flare maneuver arranged
For executed in parallel.
In the present embodiment, control equipment includes the handheld terminal such as remote controller, mobile phone, it is also possible to include that computer etc. controls
Terminal.
Step S120: control described unmanned plane according to this control instruction and perform the instruction of the one or more flare maneuver,
To complete the flare maneuver corresponding with the instruction of each flare maneuver.
The processor 103 of unmanned plane receive control equipment send include the control that one or more flare maneuver instructs
After instruction, control unmanned plane during flying according to this control instruction.
When the instruction of multiple flare maneuvers includes the flare maneuver instruction that at least two can continuously perform, in this step
In, including performing the flare maneuver instruction that this at least two can be carried out continuously successively according to control instruction.
When multiple flare maneuvers instruction include at least two can executed in parallel flare maneuver instruction time, in this step
In, including according to this at least two of control instruction executed in parallel can executed in parallel flare maneuver instruction.
Such as, flare maneuver corresponding to control instruction includes multiple flare maneuvers instruction for taking off, vrille, around point
Spiral, roll, hover, pitching and landing, and control instruction arrange the plurality of flight sequence carry out, then processor
103 according to this control instruction, control unmanned plane carry out successively taking off, vrille, spiral around point, roll, hover, pitching and
The flare maneuver of landing.If arranging rolling therein and the parallel corresponding flare maneuver executing instructions of hovering, then entering
Row rolling and hovering flare maneuver time, the two flare maneuver is carried out parallel.
Further, in the present embodiment, in the flare maneuver instruction of corresponding vrille, including the flight of vrille
Parameter, the flight parameter of described vrille includes spiral center coordinate and the radius of spin.
When the flare maneuver that the instruction of the plurality of flare maneuver is corresponding includes vrille, and unmanned plane performs described spiral
When the flare maneuver of flight correspondence instructs, as it is shown on figure 3, include:
Step S131: control described unmanned plane during flying to spiral original position, described spiral original position and described spiral
The position that centre coordinate is corresponding is positioned at same level, and the position that described spiral original position is corresponding with described spiral center coordinate
The distance put is equal to the described radius of spin.
In the present embodiment, spiral original position is the original position of vrille.First, according to spiral center coordinate,
Determine the spiral original position of unmanned plane vrille, and control unmanned plane during flying to this spiral original position.
In the present embodiment, the spiral original position position corresponding with spiral center coordinate is in same level, and
With position corresponding to spiral center coordinate as the center of circle, the radius of spin is on the circle of radius.Spiral original position is sat with spiral center
The distance of the position that mark is corresponding is equal to the radius of spin.
Such as, spiral center coordinate is that (x1, y1, h), the radius of spin is r1 to A, first controls unmanned plane during flying to coordinate
For B, (x2, y2, h) corresponding position, with this position for spiral original position, and the spacing putting position corresponding with some B for A is
r1.Wherein, h is the flying height of unmanned plane, can be recorded by barometer.It should be understood that the seat involved by the present embodiment
X-axis and the y-axis of mark system are to be in the orthogonal coordinate axes of horizontal plane, the z in the flying height respective coordinates system of unmanned plane
Axle, this z-axis is perpendicular to x-axis and y-axis.
Certainly, in the present embodiment, unmanned plane is right by location equipment 107 such as positioner, guider and barometers
The position of self positions, and location data are sent to control equipment.On the one hand, user can be in real time by controlling equipment
Check the current location of unmanned plane, on the other hand, can send, according to unmanned plane, the location data returned and flying of unmanned plane is set
Line parameter, such as the spiral center coordinate of vrille.
In a kind of detailed description of the invention of the present embodiment, refer to Fig. 3, also include step S132A: control described unmanned
Machine spiral, and obtain the described unmanned plane position corresponding with described spiral center coordinate horizontal range and vertically away from
From.
Step S133: when described horizontal range is more than or less than the described radius of spin, control described unmanned plane to level away from
Move from the position equal to the described radius of spin.
After arriving spiral original position, controlling unmanned plane spiral, certainly, unmanned plane arrives spiral original position and just opens
Beginning spiral or etc. spiral again after a period of time, be not intended as in the present embodiment limiting.
During controlling unmanned plane spiral, for guaranteeing that the vrille of unmanned plane, on desired trajectory, makes nothing
The horizontal range of the man-machine position corresponding with spiral center coordinate is equal to the radius of spin.Then obtain unmanned plane and described spiral center
The horizontal range of the position that coordinate is corresponding, when this horizontal range is more than or less than the described radius of spin, controls unmanned plane to level
Distance is moved equal to the position of the described radius of spin.
When obtaining the horizontal range between the position that unmanned plane is corresponding with spiral center coordinate, can first obtain unmanned plane
The coordinate figure of current location, calculates this horizontal range according to this coordinate figure and spiral center coordinate.Certainly, unmanned plane is current
The coordinate figure of position can be obtained by the data of the positioner of unmanned plane, guider and barometer etc..
Vertical distance between the position that unmanned plane is corresponding with spiral center coordinate can also be calculated by coordinate and obtain, i.e.
Obtain the coordinate figure of unmanned plane current location in real time, calculate this vertical distance according to this coordinate figure and spiral center coordinate.When
So, it is also possible to directly preserve the height of the spiral original position that barometer records, and record current location by barometer
Highly, owing to the spiral original position position corresponding with spiral center coordinate is in same level, then according to the height of current location
Degree and the height of spiral original position, it is possible to obtain this vertical distance.
With above-mentioned spiral center coordinate as A, (x1, y1, as a example by vrille h), in unmanned plane spiral process in continuation
In, record current flight height by barometer in real time, the data obtained in conjunction with positioner and guider, calculate and obtain
The coordinate figure of current location is N (xn, yn, hn).Then calculate the water between the position that current location is corresponding with spiral center coordinate
Flat distance isVertically distance is H=hn-h.
Alternatively, it is also possible to be, arranging the rotating cycle n of vehicle spin flight, i.e. vrille is around spiral center coordinate
The number of turns of the corresponding total corotating in position, flies control control unmanned plane and rises in real time in flight course, with A point as zero,
Direct north is y-axis positive direction, and direction, due east is x-axis positive direction, then can calculate according to the coordinate B and changing coordinates N of starting point
Obtain angle Q rotated around center A point of flying, by formulaCan get and rise relative to B point currently without man-machine
HeightWherein, H=hn-h, for vertical high relative to spiral center coordinate place plane of aircraft
Degree, h1 is the spiral height in the vrille parameter arranged, and this spiral height is that vrille is to be reached
Maximum height.Relation between horizontal range s1 and radius of spin r1 is s1>r1 or s1<r1, then controlled by processor 103
Unmanned plane horizontal range between the position corresponding with spiral center coordinate is that the circular arc of r1 is close.In unmanned plane, process
Device 103 usually unmanned plane fly control.
In the present embodiment, the flight parameter of described vrille also includes spiral height, refers to Fig. 3, this
Embodiment also includes step S1341: when described vertical distance is equal to spiral height, controls described unmanned plane and enters next
Flare maneuver.
Step S132A includes the vertical distance obtaining the described unmanned plane position corresponding with described spiral center coordinate,
Vertical distance between the position that unmanned plane is corresponding with spiral center coordinate equal to spiral height, is then judged to that spiral flies
Row release, controls unmanned plane and enters the execution of next flare maneuver instruction.
Still with above-mentioned spiral center coordinate as A, (x1, y1, as a example by vrille h), are arranged in vrille parameter
Spiral height is h1, then unmanned plane spiral to an A (x1, y1, h) the corresponding position that positional distance is h1, nothing
Man-machine flying height is h+h1, and vrille terminates, and enters next flare maneuver.
In the another embodiment that the present embodiment provides, the flight parameter of described vrille also includes spiral terminal
Coordinate, the position that this spiral terminal point coordinate is corresponding is the position terminated as vrille.
As shown in Figure 4, in the present embodiment, step S132B is also included: control described unmanned plane spiral and to institute
State the position motion that spiral terminal point coordinate is corresponding, and obtain the water of the described unmanned plane position corresponding with described spiral center coordinate
Flat distance.
I.e. unmanned plane is during spiral, simultaneously in the position motion corresponding towards described spiral terminal point coordinate,
So that position corresponding to spiral terminal point coordinate is on spiralling path.
Step S133: when described horizontal range is more than or less than the described radius of spin, control described unmanned plane to level away from
Move from the position equal to the described radius of spin.
Step S1342: obtain the coordinate of described unmanned plane current location.
Step S1343: when the coordinate of described unmanned plane current location is equal to described spiral terminal point coordinate, control described unmanned
Machine enters next flare maneuver.
Unmanned plane obtains changing coordinates in flight course in real time, i.e. obtains the coordinate that current location is corresponding, sits current
When mark is equal to spiral terminal point coordinate, then prove unmanned plane during flying to position corresponding to spiral terminal point coordinate, now judgement spiral flies
Row terminates, and controls unmanned plane and enters next flare maneuver.
As set spiral terminal point coordinate as C (x3, y3, h+h1), then changing coordinates N (xn, yn, hn) and spiral terminal point coordinate
When C (x3, y3, h+h1) is equal, vrille terminates.
The present embodiment additionally provides a kind of embodiment, refers to Fig. 5, in the present embodiment, also includes:
Step S132C: control described unmanned plane spiral, and obtain described unmanned plane and described spiral center coordinate pair
The horizontal range of the position answered and described unmanned plane spiralling rise time.
Step S133: when described horizontal range is more than or less than the described radius of spin, control described unmanned plane to level away from
Move from the position equal to the described radius of spin.
Step S1344: when the described rise time is more than or equal to preset time threshold, controls described unmanned plane and enter next
Flare maneuver.
In the present embodiment, the judgement mark whether terminated using the spiralling rise time as vrille.In advance
First arranging preset time threshold, this preset time threshold is not intended as limiting in the present embodiment.Spiral is carried out timing,
Reach preset time threshold between when raised, control unmanned plane and enter next flare maneuver.
Certainly, in the flight parameter of vrille, can include flight speed, then unmanned plane is in vrille process
In, fly with the flight speed in flight parameter.
Furthermore it is possible to understand, spiral angle can be set in flight parameter, this spiral angle is the knot of vrille
Restraint angle in the horizontal direction between position and spiral original position, then during controlling unmanned plane during flying, from original position
To end position, unmanned plane during flying in should spiral angle angle curved path on.
Certainly, next flare maneuver after vrille terminates can be to hover, roll, advance or landing etc., it is possible to
To be to spiral around point, it is not intended as in the present embodiment limiting.Further, in the present embodiment, the mode that vrille terminates can
To include other, the most also it is not intended as limiting.
It addition, in the present embodiment, corresponding in the flare maneuver instruction that point spirals, including the flight ginseng spiraled around point
Number, the flight parameter spiraled around point can include spiral centre coordinate and turn circle radius.When described unmanned plane perform described around
Point spiral correspondence flare maneuver instruction time, as shown in Figure 6, including:
Step S141: control described unmanned plane during flying to original position of spiraling, described in original position of spiraling spiral with described
The position that centre coordinate is corresponding is positioned at same level, and described in spiral the original position position corresponding with the described centre coordinate that spirals
The distance put is equal to described turn circle radius.
In the flare maneuver that spirals of point, original position of the spiraling position corresponding with the centre coordinate that spirals is in same level
Face, and in the position corresponding with the centre coordinate that spirals as the center of circle, turn circle radius is on the circle of radius.Original position of spiraling with spiral
The distance of the position that centre coordinate is corresponding is equal to turn circle radius.
Step S142: control described unmanned plane and fly around the position corresponding with the described centre coordinate that spirals in present level face
OK.
Step S143: obtain the horizontal range of the described unmanned plane position corresponding with the described centre coordinate that spirals.
Step S144: when described horizontal range is more than or less than described turn circle radius, control described unmanned plane to level away from
Move from the position equal to described turn circle radius.
Controlling unmanned plane in the position corresponding with the centre coordinate that spirals as the center of circle, turn circle radius is to fly on the circle of radius,
And unmanned plane is around the circular arc path spiraled of point in the horizontal plane.
For making unmanned plane during spiraling around point, the distance of the position corresponding with the centre coordinate that spirals is equal to spiraling partly
Footpath, obtains the horizontal range of the unmanned plane position corresponding with the described centre coordinate that spirals in real time, when this horizontal range is more than or little
In turn circle radius, all control unmanned plane and move to the position equal to turn circle radius.
Because the position controlling unmanned plane corresponding with the centre coordinate that spirals is in same level, then control unmanned plane and dish
Vertical distance between the position that rotation centre coordinate is corresponding is equal to zero.It will of course be understood that, due to the various external worlds or internal because of
Element, the vertical distance between the position that unmanned plane is corresponding with the centre coordinate that spirals there may be certain deviation, causes it the strictest
On a horizontal plane.Certainly, unmanned plane can adjust self-position in real time to tackle deviation.
Further, in a kind of specific embodiment of the present embodiment, the described flight parameter spiraled around point also wraps
Include and preset the number of turns of spiraling, the step of the horizontal range of the position that the described unmanned plane of described acquisition is corresponding with the described centre coordinate that spirals
Also include:
Step S145: obtain the number of turns of spiraling of described unmanned plane.Step S146: when the number of turns of spiraling of described unmanned plane is more than
Or preset, equal to described, the number of turns of spiraling, control described unmanned plane and enter next flare maneuver.
Arranging the default number of turns of spiraling in the flight parameter that point spirals in advance, this is preset and spirals the number of turns for needs unmanned plane
In the number of turns spiraled in a coiling action.
Spiral during the position flight corresponding around the centre coordinate that spirals around point, indicator volution number.Work as unmanned plane
The number of turns of spiraling reach to preset when spiraling the number of turns, terminate around the flare maneuver that spirals of point, enter next flare maneuver.
Certainly, in the present embodiment, might be less that 1 around the default number of turns of spiraling spiraled of point, i.e. little around some angle of spiraling
In 360 degree.
The present embodiment additionally provides a kind of embodiment, and in this embodiment, the described flight parameter spiraled around point is also
Spiraling the time including presetting, described method also includes: obtains described unmanned plane and spirals the time around what point spiraled；When described spiraling
Between more than or equal to described preset spiral the time, control described unmanned plane and enter next flare maneuver.
In the present embodiment, arranging the time that unmanned plane spirals around point, this time is to preset and spirals the time.To unmanned
Machine spirals around point and carries out timing, can arrive original position of spiraling as time zero using unmanned plane, when unmanned plane is around spiraling
During spiraling in the position that centre coordinate is corresponding, the time of spiraling reaches to preset spirals the time, spirals ends around point, control unmanned plane
Enter next flare maneuver.
Certainly, in the flight parameter that spirals of point, it is also possible to include flight speed, then unmanned plane is spiraling process around point
In, fly with the flight speed in its flight parameter.Further, the end mode spiraled around point can also include other, in this reality
Execute and example is not intended as limit.
In the present embodiment, unmanned plane receives one that user sent by control equipment and includes one or more flare maneuver
The control instruction of instruction, and, the instruction of the plurality of flare maneuver also includes corresponding vrille or the curve such as spirals around point
The flare maneuver instruction of flare maneuver.Unmanned plane carries out the flight that the instruction of each flare maneuver is corresponding successively further according to this control instruction
Action, in this process, the extra control being not required to user can complete the flare maneuver that the instruction of each flare maneuver is corresponding.When
So, the flight ginseng when carrying out the flare maneuver of each flare maneuver instruction correspondence, in simultaneously instructing according to this flare maneuver
Number adjusts the attitude of unmanned plane.
Second embodiment
Compared with first embodiment, the flight control method that the present embodiment provides also includes the function being arranged at unmanned plane
The control of equipment 106, described function device 106 include The Cloud Terrace, picture pick-up device, LED and other, the most not
As restriction.
Concrete, in the present embodiment, at least one in the instruction of the one or more flare maneuver also carries control
Making the equipment control instruction of described function device, step S120 also includes: move performing the flight corresponding with flare maneuver instruction
While work, the described function device controlling described unmanned plane performs the action corresponding with described equipment control instruction.
Any one flare maneuver instruct in, equipment control instruction can be included, make unmanned plane carry out this flight move
When making the flare maneuver of instruction correspondence, the equipment control instruction in instructing according to this flare maneuver, function device 106 is entered simultaneously
Row controls.
Further, picture pick-up device includes camera lens or The Cloud Terrace, and the control to function device 106 can include that control is described
Camera lens towards or control turning to of described The Cloud Terrace.I.e. unmanned plane is in flare maneuver, simultaneously control camera lens towards, make mirror
Head, towards predetermined direction, so that unmanned plane is possible not only to take pictures or image in flight course, and can pass through
To camera lens towards setting, obtain corresponding shooting angle.And, it is also possible to by the combination with flare maneuver, accurately arrive
With taking pictures, shoot in predetermined geographical position.Certainly, if camera lens is arranged at The Cloud Terrace, it is also possible to by controlling turning of The Cloud Terrace
To realize camera lens towards control.
When arrange on The Cloud Terrace for other function devices, control turning to of The Cloud Terrace, to control to be arranged at The Cloud Terrace accordingly
Turning to of function device.
Further, to camera lens towards control include: control described camera lens during corresponding flare maneuver always
Towards the position that same coordinate points is corresponding.
Corresponding to the flare maneuver of vrille, described camera lens can be controlled during described unmanned plane vrille
Towards the direction of preset coordinate point, i.e. towards the position that preset coordinate point is corresponding, this preset coordinate point can be according to actual needs
Arrange, be not intended as in the present embodiment limiting, such as spiral center coordinate, make camera lens towards the direction of spiral center coordinate.Or
Person, it is also possible to control the camera lens central axial direction towards vrille.
Corresponding to the flare maneuver spiraled around point, it is also possible to control described camera lens at described unmanned plane around putting the process spiraled
In towards the direction of preset coordinate point, it is possible to understand that, this preset coordinate point the most without limitation, by user according to actual needs
Set, if this preset coordinate point can be the centre coordinate point that spirals spiraled around point.
It addition, the camera data of picture pick-up device collection can be sent to remote control equipment, so that remote control equipment can be the most pre-
The image of picture pick-up device of looking at shooting.
It addition, the control to function device 106 can also include controlling opening or closing of described LED.
Certainly, the control to LED can also include that controlling described LED flashes according to default switching rules.
This switching rules preset is that user sets according to actual needs, needs LED to dodge at the corresponding flare maneuver of correspondence
Mode that is bright or that switch.As during vrille, unmanned plane rises to predetermined altitude, controls LED according to opening of presetting
Close rule to flash.
Certainly, in the present embodiment, corresponding each flare maneuver instruction, it is also possible to include other function devices 106
Control, be not intended as in the present embodiment limiting.
3rd embodiment
Present embodiments provide a kind of concrete unmanned plane and perform the control instruction that user is sent by remote control equipment
Flow process, as it is shown in fig. 7, in the present embodiment, including:
Step S310: control described unmanned plane and carry out parallel advancing the first preset distance and rising to the first predetermined altitude
Flare maneuver.Such as, this first preset distance can be 10 meters, and the first predetermined altitude can be 4 meters, in this step, i.e. controls
Unmanned plane processed flies forward 10 meters, the most gradually rises to 4 meters simultaneously.Refer to the unmanned plane during flying route schematic diagram that Fig. 8 provides,
In fig. 8, filled arrows represents the heading of unmanned plane, hollow arrow represent the head of unmanned plane towards.
Step S320: control described unmanned plane and advance the second preset distance at present level.Keep the height of unmanned plane not
Become, continue to fly forward.Such as, in the case of keeping unmanned plane present level 4 meters, 5 meters are flown further along.
Step S330: control described unmanned plane vrille, and keep the machine of described unmanned plane during vrille
Head is towards same direction.During this control vrille, control the attitude of unmanned plane simultaneously, make the head court of unmanned plane
To same direction, as head keeps the spiral center axis of alignment vrille, the radius of spin is 2.5 meters, spiral height
Being 1 meter, spiral angle is 270 degree, i.e. making unmanned plane draw a radius is that 270 degree of arc spirals of 2.5 meters are to height 5
Rice, and head holding centring point.
Step S340: control described unmanned plane and carry out parallel advancing the 3rd preset distance and rising to the second predetermined altitude
Flare maneuver.As, while controlling unmanned plane straight forward 38 meters, the most gradually rise to 10 meters.Owing to unmanned plane is at spiral
In flight course, head is 270 degree towards spiral center axis and spiral angle, the most in this step, unmanned plane craspedodrome direction with
Direction of advance in step S320 is vertical.As shown in Figure 8.
Step S350: control described unmanned plane carry out parallel advancing the 4th preset distance, drop to the 3rd predetermined altitude with
And fuselage rotates the flare maneuver of the first predetermined angular.As, control unmanned plane rectilinear flight 20 meters, highly gradually decrease down simultaneously
2 meters, and in the process fuselage to right rotation 30 degree.
Step S360: keep the head of described unmanned plane towards and flying height constant, control described unmanned plane to
One predetermined direction flight the 5th preset distance.As, make unmanned plane to vertical with the heading in step S350, with step S320
The direction flight that heading is parallel and contrary, flies 30 meters, and height keeps 2 meters, as shown in Figure 8.
Step S370: control described unmanned plane and carry out fuselage parallel and rotate the second predetermined angular, rise to the 4th predetermined height
Degree and the flare maneuver to the second predetermined direction flight the 6th preset distance.As, control the fuselage of unmanned plane to right rotation 60
Degree, highly rises to 25 meters simultaneously, and simultaneously to being perpendicular to step S360 and the heading contrary with step S350 flight
55 meters.
4th embodiment
Present embodiments providing a kind of flight control assemblies 400, this device is applied to unmanned plane, as it is shown in figure 9, described dress
Put and include:
Command reception module 410, the control instruction sent for receiving control apparatus, this control instruction includes one or many
Individual flare maneuver instructs, and wherein, the instruction of the one or more flare maneuver includes for controlling the execution of described unmanned plane pre-
If curved flight action flare maneuver instruction.Control module 420, holds for controlling described unmanned plane according to this control instruction
Row the one or more flare maneuver instruction, to complete the flare maneuver corresponding with the instruction of each flare maneuver.
Further, referring to Figure 10, described control module 420 also includes vrille control unit 421 and around point
Spiraling control unit 422, described vrille control unit 421 is for performing the flare maneuver instruction that vrille is corresponding, institute
State and spiral control unit 422 for performing the flare maneuver instruction spiraling corresponding around point around point.
Further, in the present embodiment, in control instruction, the flight parameter of vrille includes spiral center coordinate, spiral shell
Rotation radius and spiral height, described vrille control unit 421 includes:
Original position controls subelement, is used for controlling described unmanned plane during flying and initiates to spiral original position, described spiral
The position corresponding with described spiral center coordinate, position is positioned at same level, and described spiral original position with in described spiral
The distance of the position that heart coordinate is corresponding is equal to the described radius of spin.Spiral controls subelement, is used for controlling described unmanned plane
Spiral.Distance obtains subelement, for obtaining the level of the described unmanned plane position corresponding with described spiral center coordinate
Distance and vertically distance.Position control subelement, for when described horizontal range is more than or less than the described radius of spin, controlling
Described unmanned plane moves equal to the position of the described radius of spin to horizontal range.
In a kind of specific embodiment, action switching subelement, for when described vertical distance is equal to spiral
Highly, control described unmanned plane and enter next flare maneuver.
In another kind of specific embodiment, described spiral control subelement be additionally operable to control described unmanned plane to
The position motion that described spiral terminal point coordinate is corresponding；Further, the coordinate of described unmanned plane current location is obtained.When described unmanned plane
The coordinate of current location is equal to described spiral terminal point coordinate, and action switching subelement is used for controlling described unmanned plane and enters next and fly
Action is made.
The present embodiment also includes a kind of embodiment, and in this embodiment, control module includes timing unit, is used for taking
The described unmanned plane spiralling rise time；When the described rise time is more than or equal to preset time threshold, action switching
Unit is used for controlling described unmanned plane and enters next flare maneuver.
It addition, also include a kind of embodiment, in this embodiment, control module be additionally operable to control described unmanned plane to
The position motion that described spiral terminal point coordinate is corresponding；Obtain the coordinate of described unmanned plane current location；When described unmanned plane is current
The coordinate of position is equal to described spiral terminal point coordinate, controls described unmanned plane and enters next flare maneuver.
It addition, the flight parameter spiraled around point in control instruction includes spiral centre coordinate, turn circle radius and default dish
Volution number, described includes around some control unit 422 of spiraling:
Original position controls subelement, is used for controlling described unmanned plane during flying to original position of spiraling, described in spiral initial
The position corresponding with the described centre coordinate that spirals, position is positioned at same level, and described in spiral original position with in described spiraling
The distance of the position that heart coordinate is corresponding is equal to described turn circle radius.Spiral control subelement, is used for controlling described unmanned plane and is working as
Front horizontal plane is around the position flight corresponding with the described centre coordinate that spirals.Distance obtains subelement, obtains described unmanned plane and institute
State the horizontal range of position corresponding to the centre coordinate that spirals.Position control subelement, for being more than or little when described horizontal range
In described turn circle radius, control described unmanned plane and move equal to the position of described turn circle radius to horizontal range.The number of turns of spiraling obtains
Take subelement, for obtaining the number of turns of spiraling of described unmanned plane.Action switching subelement, for when the circle that spirals of described unmanned plane
Number presets, more than or equal to described, the number of turns of spiraling, and controls described unmanned plane and enters next flare maneuver.
In the another kind of detailed description of the invention of the present embodiment, timing unit is used for obtaining what described unmanned plane spiraled around point
Spiral the time；Spiraling the time more than or equal to described presetting when the described time of spiraling, action switching subelement controls described unmanned
Machine enters next flare maneuver.
The device that the present embodiment provides also includes the control to the function device 106 being arranged at unmanned plane.Further, control
Molding block 420 also includes the device control cell 423 controlling described function device, for corresponding with flare maneuver instruction in execution
Flare maneuver while, control described unmanned plane described function device 106 perform corresponding with described equipment control instruction
Action.
In sum, flying method, device and the unmanned plane that the embodiment of the present invention provides, unmanned plane receives user by distant
The control instruction including multiple unmanned plane during flying action command that control equipment sends, and perform multiple flights according to this control instruction
Action command is to complete the flare maneuver of correspondence.The plurality of flare maneuver includes vrille and spirals etc. around point specific
Curved flight action, unmanned plane can be carried out continuously multiple flare maneuvers of particular flight action, it is also possible to carry out parallel wherein certain
A little flare maneuvers.Further, the instruction of each flare maneuver can also include equipment control instruction, so that the corresponding each flight of unmanned plane
The corresponding function device of action control 106 runs.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other mode realizes.Device embodiment described above is only schematically, such as, and the flow chart in accompanying drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this, each square frame in flow chart or block diagram can represent a module, program segment or the one of code
Part, a part for described module, program segment or code comprises holding of one or more logic function for realizing regulation
Row instruction.It should also be noted that at some as in the implementation replaced, the function marked in square frame can also be to be different from
The order marked in accompanying drawing occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, and they are the most also
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can be with function or the special base of action performing regulation
System in hardware realizes, or can realize with the combination of specialized hardware with computer instruction.
It addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation
Point, it is also possible to it is modules individualism, it is also possible to two or more modules are integrated to form an independent part.
If described function is using the form realization of software function module and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.Need
Illustrate, in this article, the relational terms of such as first and second or the like be used merely to by an entity or operation with
Another entity or operating space separate, and there is any this reality between not necessarily requiring or imply these entities or operating
The relation on border or order.And, term " includes ", " comprising " or its any other variant are intended to the bag of nonexcludability
Contain, so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also include
Other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including described key element
Process, method, article or equipment in there is also other identical element.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should also be noted that similar label and letter exist
Figure below represents similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, is then not required in accompanying drawing subsequently
It is defined further and explains.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (15)
1. a flight control method, is applied to unmanned plane, it is characterised in that described method includes:
The control instruction that receiving control apparatus sends, this control instruction includes that one or more flare maneuver instructs, wherein, described
The instruction of one or more flare maneuvers includes that the flight of the curved flight action preset for controlling described unmanned plane to perform is moved
Instruct；
Control described unmanned plane according to this control instruction and perform the instruction of the one or more flare maneuver, to complete to fly with each
The flare maneuver that row action command is corresponding.
Method the most according to claim 1, it is characterised in that described default curved flight action include vrille with
And at least one in point spirals.
Method the most according to claim 2, it is characterised in that the flight parameter of described vrille includes that spiral center is sat
Mark, the radius of spin, when the flare maneuver instruction that the described vrille of execution of described unmanned plane is corresponding, including:
Controlling described unmanned plane during flying to spiral original position, described spiral original position is corresponding with described spiral center coordinate
Position is positioned at same level, and the distance of the described spiral original position position corresponding with described spiral center coordinate is equal to institute
State the radius of spin；
Control described unmanned plane spiral, and obtain the level of the described unmanned plane position corresponding with described spiral center coordinate
Distance；
When described horizontal range is more than or less than the described radius of spin, control described unmanned plane to horizontal range equal to described spiral
The position motion of radius.
Method the most according to claim 2, it is characterised in that the described flight parameter spiraled around point includes that center of spiraling is sat
It is marked with and turn circle radius, when described unmanned plane performs described in time putting the flare maneuver instruction spiraling corresponding:
Control described unmanned plane during flying to original position of spiraling, described in original position of spiraling corresponding with the described centre coordinate that spirals
Position is positioned at same level, and described in spiral the distance of the original position position corresponding with the described centre coordinate that spirals equal to institute
State turn circle radius；
Control described unmanned plane in present level face around the position flight corresponding with the described centre coordinate that spirals；
Obtain the horizontal range of the described unmanned plane position corresponding with the described centre coordinate that spirals；
When described horizontal range is more than or less than described turn circle radius, control described unmanned plane to horizontal range be equal to described in spiral
The position motion of radius.
Method the most according to claim 3, it is characterised in that the described flight parameter spiraled around point also includes presetting spiraling
The number of turns, the step of the horizontal range of the position that the described unmanned plane of described acquisition is corresponding with the described centre coordinate that spirals also includes:
Obtain the number of turns of spiraling of described unmanned plane；
When the number of turns of spiraling of described unmanned plane is spiraled the number of turns more than or equal to described presetting, control described unmanned plane and enter next and fly
Action is made.
6. according to the method described in any one of claim 1 to 5, described unmanned plane also includes function device, it is characterised in that institute
At least one stated in the instruction of one or more flare maneuver also carries the equipment control instruction controlling described function device, institute
State control described unmanned plane perform the one or more flare maneuver instruction also include: perform with flare maneuver instruct corresponding
Flare maneuver while, the described function device controlling described unmanned plane performs corresponding with described equipment control instruction moving
Make.
Method the most according to claim 6, it is characterised in that described function device includes The Cloud Terrace or camera lens, described control
The described function device execution action corresponding with described equipment control instruction making described unmanned plane includes: control described The Cloud Terrace
Turn to or control described camera lens towards.
Method the most according to claim 7, it is characterised in that the described camera lens of described control towards including: control described
Camera lens towards the direction of preset coordinate point, or controls described camera lens in described nothing during described unmanned plane vrille
Man-machine during point spirals towards the direction of preset coordinate point.
Method the most according to claim 6, it is characterised in that described function device also includes LED, described in described control
The described function device of unmanned plane performs the action corresponding with described equipment control instruction and includes:
Control opening or closing of described LED；And
Control at least one step during described LED flashes according to default switching rules.
10. according to the method described in any one of claim 1 to 9, it is characterised in that control described unmanned according to this control instruction
Machine performs the instruction of the one or more flare maneuver and includes:
The flare maneuver instruction that at least two can continuously perform is performed successively according to control instruction；And
According to control instruction executed in parallel at least two can executed in parallel flare maneuver instruction at least one step.
11. 1 kinds of flight control assemblies, described device is applied to unmanned plane, it is characterised in that described device includes:
Command reception module, the control instruction sent for receiving control apparatus, this control instruction includes one or more flight
Action command, wherein, the instruction of the one or more flare maneuver includes the song preset for controlling described unmanned plane to perform
The flare maneuver instruction of line flare maneuver；
Control module, performs the instruction of the one or more flare maneuver for controlling described unmanned plane according to this control instruction,
To complete the flare maneuver corresponding with the instruction of each flare maneuver.
12. devices according to claim 11, it is characterised in that it is single that described control module also includes that vrille controls
Unit, the flight parameter of vrille includes that spiral center coordinate and the radius of spin, described vrille control unit include:
Original position controls subelement, is used for controlling described unmanned plane during flying to spiral original position, described spiral original position
The position corresponding with described spiral center coordinate is positioned at same level, and described spiral original position is sat with described spiral center
The distance of the position that mark is corresponding is equal to the described radius of spin；
Spiral controls subelement, is used for controlling described unmanned plane spiral；
Distance obtains subelement, for obtain the horizontal range of the described unmanned plane position corresponding with described spiral center coordinate with
And vertical distance；
Position control subelement, for when described horizontal range is more than or less than the described radius of spin, control described unmanned plane to
Horizontal range is equal to the position motion of the described radius of spin.
13. devices according to claim 11, it is characterised in that described control module also includes spiraling around point controlling list
Unit, includes spiraling centre coordinate, turn circle radius and presetting the number of turns of spiraling around the flight parameter that spirals of point, described spirals control around point
Unit processed includes:
Original position controls subelement, is used for controlling described unmanned plane during flying to original position of spiraling, described in spiral original position
The position corresponding with the described centre coordinate that spirals is positioned at same level, and described in original position of spiraling sit with described center of spiraling
The distance of the position that mark is corresponding is equal to described turn circle radius；
Spiral control subelement, for controlling described unmanned plane in present level face around the position corresponding with the described centre coordinate that spirals
Put flight；
Distance obtains subelement, obtains the horizontal range of the described unmanned plane position corresponding with the described centre coordinate that spirals；
Position control subelement, for when described horizontal range is more than or less than described turn circle radius, control described unmanned plane to
Horizontal range is equal to the position motion of described turn circle radius；
The number of turns of spiraling obtains subelement, for obtaining the number of turns of spiraling of described unmanned plane；
Action switching subelement, presets, more than or equal to described, the number of turns of spiraling for the number of turns of spiraling when described unmanned plane, controls
Described unmanned plane enters next flare maneuver.
14. according to the device described in any one of claim 11 to 13, it is characterised in that described unmanned plane also includes that function sets
Standby, it is characterised in that described control module also includes the device control cell controlling described function device, for performing and flying
While the flare maneuver that row action command is corresponding, the described function device controlling described unmanned plane performs to control with described equipment
The action that instruction is corresponding.
15. 1 kinds of unmanned planes, it is characterised in that described unmanned plane includes:
Memorizer；And
Processor, is electrically connected with described memorizer；And
Flight control assemblies, described device is installed in described memorizer and includes one or more being performed by described processor
Software function module, described flight control assemblies includes:
Command reception module, the control instruction sent for receiving control apparatus, this control instruction includes one or more flight
Action command, wherein, the instruction of the one or more flare maneuver includes the song preset for controlling described unmanned plane to perform
The flare maneuver instruction of line flare maneuver；
Control module, performs the instruction of the one or more flare maneuver for controlling described unmanned plane according to this control instruction,
To complete the flare maneuver corresponding with the instruction of each flare maneuver.
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| CN201610614706.6A CN106227224A (en) | 2016-07-28 | 2016-07-28 | Flight control method, device and unmanned plane |
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| CN201610614706.6A CN106227224A (en) | 2016-07-28 | 2016-07-28 | Flight control method, device and unmanned plane |
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