CN107357304A - Paths planning method, unmanned plane terminal and computer-readable recording medium - Google Patents
Paths planning method, unmanned plane terminal and computer-readable recording medium Download PDFInfo
- Publication number
- CN107357304A CN107357304A CN201710445434.6A CN201710445434A CN107357304A CN 107357304 A CN107357304 A CN 107357304A CN 201710445434 A CN201710445434 A CN 201710445434A CN 107357304 A CN107357304 A CN 107357304A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- plane terminal
- air
- terminal
- target area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
The invention discloses a kind of paths planning method, unmanned plane terminal and computer-readable recording medium, the paths planning method includes：The real time position of unmanned plane terminal is determined based on alignment system；Weather information around real time position in preset range is obtained based on internet；Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information；Control unmanned plane terminal is run in the target area.Atmospheric environment of the invention by detecting unmanned plane terminal surrounding environment, selection is flown in the flow area of normal flight of unmanned plane terminal is advantageous to, and so as to avoid reducing the power consumption of unmanned plane terminal, improves endurance, extend the single flight time, and then improve the working condition of unmanned plane terminal.
Description
Technical field
The present invention relates to Path Planning Technique field, more particularly to a kind of paths planning method, unmanned plane terminal and calculating
Machine readable storage medium storing program for executing.
Background technology
Along with the fast development of unmanned air vehicle technique, unmanned plane has been applied to the daily life field of reality more and more
Jing Zhong, at present, the multiple-task operations such as people can be carried out scientific research, farming by unmanned plane, be taken photo by plane.
But during currently existing unmanned plane during flying, the atmospheric environment of complicated change can be limited by, moment change
Air flow caused by atmospheric environment can produce certain influence to the state of flight of unmanned plane, such as meet with flight course
Down current is met, influences the normal flight and working condition of unmanned plane, in addition it is out of hand, need to consume more for this unmanned plane
The state of flight of more energy held stationaries reduces the continuation of the journey energy of unmanned plane so as to increase the energy consumption during unmanned plane during flying
Power, shorten the unmanned plane single flight time.
The content of the invention
It is a primary object of the present invention to provide a kind of paths planning method, unmanned plane terminal and computer-readable storage medium
Matter, it is intended to solve unmanned plane terminal to keep regular flight condition to consume the technical problem of multiple-energy-source.
To achieve the above object, the embodiment of the present invention provides a kind of paths planning method, and the paths planning method includes：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information
Domain；
Control unmanned plane terminal is run in the target area.
Preferably, the step of control unmanned plane terminal is run in the target area includes：
Obtain the air-flow slack water area in the target area；
Control unmanned plane terminal is run in air-flow slack water area.
Preferably, the paths planning method also includes：
Judge to whether there is air unrest around the real time position of unmanned plane terminal in preset range based on the air flow information
Flow region；
When detecting air sinuous flow region, control unmanned plane is avoided all in pre-determined distance around air sinuous flow region
Region.
The present invention also provides a kind of unmanned plane terminal, and the unmanned plane terminal includes：Memory, processor, communication bus
And the path planning program on the memory is stored in,
The communication bus is used to realize the communication connection between processor and memory；
The processor is used to perform the path planning program, to realize following steps：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information
Domain；
Control unmanned plane terminal is run in the target area.
Preferably, the step of control unmanned plane terminal is run in the target area includes：
Obtain the air-flow slack water area in the target area；
Control unmanned plane terminal is run in air-flow slack water area.
Preferably, the paths planning method also includes：
Judge to whether there is air unrest around the real time position of unmanned plane terminal in preset range based on the air flow information
Flow region；
When detecting air sinuous flow region, control unmanned plane is avoided all in pre-determined distance around air sinuous flow region
Region.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Storage medium is stored with one or more than one program, one either more than one program can by one or one with
On computing device for：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information
Domain；
Control unmanned plane terminal is run in the target area.
Technical scheme is primarily based on the real time position that alignment system determines unmanned plane terminal；It is then based on interconnecting
Net obtains the weather information in preset range around real time position；Then weather information is parsed to obtain air flow information, and is based on
Air flow information obtains the target area with default airflow pattern；Finally control unmanned plane terminal is run in the target area.This
Invention selects the gas in the normal flight for being advantageous to unmanned plane terminal by detecting the atmospheric environment of unmanned plane terminal surrounding environment
Stream flies in region, so as to avoid reducing the power consumption of unmanned plane terminal, improves endurance, extends the single flight time, and then
Improve the working condition of unmanned plane terminal.
Brief description of the drawings
Fig. 1 is the schematic diagram of a scenario of paths planning method one of the present invention；
Fig. 2 is the schematic flow sheet of paths planning method first embodiment of the present invention；
Fig. 3 is that control unmanned plane terminal described in paths planning method second embodiment of the present invention is run in the target area
The step of refinement schematic flow sheet；
Fig. 4 is the schematic flow sheet of paths planning method 3rd embodiment of the present invention；
Fig. 5 is the device structure schematic diagram for the hardware running environment that present invention method is related to.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of paths planning method, in paths planning method first embodiment, reference picture 2, and the road
Footpath planing method includes：
Step S10, the real time position of unmanned plane terminal is determined based on alignment system；
Unmanned plane terminal is during flight, it is necessary to the atmospheric environment of terminal surrounding first be got, to be used as adjustment sheet
The reference frame of body state of flight.Therefore unmanned plane terminal needs the position where first determining terminal in itself.Because unmanned plane is whole
Hold and be still in when positioning the position of itself in state of flight, therefore, acquired position should belong to unmanned plane terminal
Real time position.Real time position can passage time interval circulation positioning, to correct position constantly.
Determining the real time position of unmanned plane terminal can be realized by way of various alignment systems, be included but is not limited to complete
Ball alignment system (i.e. GPS), Beidou satellite navigation system (i.e. BDS), galileo satellite navigation system (i.e. Galileo), Ge Luo
Receive this satellite navigation system (i.e. GLONASS).The positioning function of unmanned plane terminal can by its built-in locating module realize, when
Locating module searches corresponding positioning system signal, you can corresponding alignment system is connected to, so that it is determined that unmanned plane terminal
Real time position.
Step S20, the weather information around real time position in preset range is obtained based on internet；
When getting the real time position of unmanned plane terminal, the meteorology of unmanned plane position can be got according to internet
Information.The weather information is directly obtained by internet, because meteorological satellite, weather radar or weather station being capable of estimation ranges
Property following meteorological condition of atmospheric environment, therefore, unmanned plane terminal can get the meteorology around real time position by internet
Information, as the reference data that state of flight and optimization flight path are adjusted during follow-up unmanned plane terminal flight course.Together
When, weather information is different and different also according to the service quality of data presented, therefore, the predeterminable fixation of unmanned plane terminal
Meteorological data service interface, to obtain most accurate weather information.
To improve the referential of weather information, the interference of invalid weather information is avoided, the present embodiment is provided with based on real-time
Preset range around position.In the flight course of unmanned plane terminal, it is only necessary to obtain in real time position peripheral part scope
Interior weather information.For example, preset range is the region of 100 meters of radius, then unmanned plane terminal is only received from internet
In, the weather information around real time position within 100 meters of scopes of radius, and beyond the weather information of the preset range, unmanned plane
Terminal is not then received or received but is not intended as reference data, so as to reach accurately receive effective weather information and avoid it is invalid
The interference in region.
Step S30, parsing weather information have default airflow pattern to obtain air flow information, and be obtained based on air flow information
Target area；
Weather information includes the change of atmospheric temperature, the height of atmospheric pressure, the size of air humidity, the air-flow fortune of air
The information such as scope of meteorological activity such as drought, flood, wind, hail caused by steam in dynamic, air.Data applied in the present embodiment
Information is mainly the air flow information that air motion is formed.Therefore unmanned plane terminal needs to carry out data to the weather information got
Parsing, resolving can be counted by various comprehensive data analysis and obtained or by gas built-in in weather information
Flow data acquires.Air flow information be because each several part gas temperature is different and caused by relative flow phenomenon information.Parsing
After getting air flow information, unmanned plane terminal can get the flowing shape of air-flow according to the air flow information in preset range
Condition, so as to according to the airflow states of different zones, be determined for compliance with the target area of default airflow pattern, the default airflow pattern
Usually steady air flow and non-air sinuous flow, its region are the target area in the present embodiment.Air in target area
Flow tendency is stable, in the absence of the trend of irregular air-flow, such as ascending air, down current, horizontal gas flow region etc..
Step S40, control unmanned plane terminal are run in the target area.
After determining target area, the target area can be as the favored area of unmanned plane normal operation of terminal.Due to nothing
For man-machine terminal, it is necessary to provide energy for flight engine in flight course, unmanned plane terminal keeps its state of flight, it is necessary to consume
Fall substantial amounts of energy, flight energy is provided to keep or changing the state of flight of terminal.And the present embodiment passed through unmanned plane end
End, which is placed in target area, is flown, and the flight of unmanned plane terminal is promoted by the directed flow of air-flow, so as to reduce unmanned plane end
The flight power that the flight engine at end is provided, and then save the energy of unmanned plane terminal.
Also, by the atmospheric environment that unmanned plane terminal is faced in flight course is complex, to tackle big compression ring
The terminal that the airwaves in border is brought is rocked, and unmanned plane terminal needs to consume the fuselage that more energy overcome airwaves to bring
Rock, so as to keep the flight attitude of terminal, to realize normal aerial mission.And consumed energy maintains the steady of fuselage to make
Into energy loss, can be offset by the way that unmanned plane terminal to be placed in fly in target area.So, in unmanned plane terminal just
In normal flight course, it is not necessary to keeping fuselage to balance in this meaningless power consumption energy expenditure, so as to save unmanned plane terminal
Energy.
Specifically, reference picture 1, when unmanned plane terminal A is in state of flight, by alignment system positioning terminal in itself
Real time position, and the weather information around in certain distance is got based on internet, when parsing weather information obtains nobody
When different types of air flow condition be present in front of machine terminal, the position of target area is directly obtained, and by controlling nothing
Man-machine flight engine is close to target area, to run in the target area.
Technical scheme is primarily based on the real time position that alignment system determines unmanned plane terminal；It is then based on interconnecting
Net obtains the weather information in preset range around real time position；Then weather information is parsed to obtain air flow information, and is based on
Air flow information obtains the target area with default airflow pattern；Finally control unmanned plane terminal is run in the target area.This
Invention selects the gas in the normal flight for being advantageous to unmanned plane terminal by detecting the atmospheric environment of unmanned plane terminal surrounding environment
Stream flies in region, so as to avoid reducing the power consumption of unmanned plane terminal, improves endurance, extends the single flight time, and then
Improve the working condition of unmanned plane terminal.
Further, on the basis of paths planning method first embodiment of the present invention, paths planning method second is proposed
Embodiment, reference picture 3, the difference between the second embodiment and first embodiment are that the control unmanned plane terminal exists
The step of being run in target area includes：
Step S41, obtain the air-flow slack water area in the target area；
Step S42, control unmanned plane terminal are run in air-flow slack water area.
Rely on electrical energy drive flight engine substantially currently without man-machine terminal, unmanned plane terminal is provided by the operating of flight engine
The power to fly in the air.Either existing fuel cell, lithium battery, or solar energy equal energy source presentation mode, all it is to turn
The energy that terminal provides normal operation is continuously after turning to electric energy.Therefore, unmanned plane terminal needs to have certain energy reserve,
In case the urgent need of unmanned plane terminal-pair energy.
The energy that unmanned plane terminal is retained is more, more copes with urgent excess energy demand.Therefore nobody is reduced
The excessive consumption of machine terminal-pair energy, the energy that is consumed when can be by reducing unmanned plane terminal normal flight are realized, that is, are subtracted
The running power of few terminal-pair flight engine.Default dump energy is set in the present embodiment, as the reference frame detected in real time.
Unmanned plane terminal obtains the air-flow slack water area in the target area.The air-flow slack water area is referred in all target areas
In domain, the slack water area of air bottom horizontal flow sheet, the non-slack water area vertically flowed without obtaining those air are only obtained.When
When unmanned plane terminal is run in slack water area, because air only makees bottom horizontal flow sheet, the interference of not upper downstream, therefore nobody
Working condition of the machine terminal without time changing flight engine, to improve or reduce the flying height of terminal.That is unmanned plane terminal
In the flow for keeping stable flying height, it is not necessary to consume excessive power, it might even be possible to by level stream in slack water area
Flight thrust of the dynamic air as terminal, the running power of flight engine is further reduced, so as to maximumlly save flight
Energy, improve the flight cruising time of unmanned plane terminal.
Further, on the basis of paths planning method first embodiment of the present invention, paths planning method the 3rd is proposed
Embodiment, reference picture 4, the difference between the 3rd embodiment and first embodiment are that the paths planning method also wraps
Include：
Step S50, judge whether deposited in preset range around the real time position of unmanned plane terminal based on the air flow information
In air sinuous flow region；
Step S60, when detecting air sinuous flow region, control unmanned plane avoids pre-determined distance around air sinuous flow region
Interior all areas.
Air sinuous flow is the interference factor for influenceing unmanned plane terminal regular flight condition.When air sinuous flow is to unmanned plane terminal
Influence it is smaller when, unmanned plane terminal need to increase the running power of flight engine to maintain the normal flight attitude of terminal and fly
Row state so that the dump energy of terminal reduces；When air sinuous flow is to unmanned plane terminal when having a great influence, unmanned plane terminal is not
The running power for increasing flight engine is only needed to cause to reduce dump energy, or even to may also cause terminal out of hand, causes
Terminal is damaged.Therefore, away from sinuous flow region, the energy expenditure of unmanned plane terminal can be effectively avoided, ensures unmanned plane terminal
Safe operation.
Specifically, according to pre- around the real time position where accessed air flow information discriminatory analysis unmanned plane terminal
If it whether there is air sinuous flow region in scope.Usually, some airwaveses are more violent or air heats are extremely uneven
Even region is air sinuous flow region.When unmanned plane terminal detects air sinuous flow region, the air sinuous flow region is entered
Line flag, as prohibited flight area, and unmanned plane terminal need to only avoid the air sinuous flow region of the mark, and in air
The all areas of pre-determined distance around sinuous flow region.Although the region of pre-determined distance is not air sinuous flow around air sinuous flow region
Region, but the air in its region is highly prone to the air interference in air sinuous flow region, therefore uncertain, Ke Nengcun be present
In certain potential safety hazard, therefore unmanned plane terminal needs to avoid all areas around air sinuous flow region in certain distance.Ginseng
According to Fig. 1, when unmanned plane terminal A detects air sinuous flow region, air sinuous flow region can be avoided, and in air sinuous flow region week
All areas in pre-determined distance are enclosed all without close, therefore, if in only target area in flight path in front of unmanned plane terminal A
In the case of domain and air sinuous flow region, unmanned plane terminal A can fly target area forwards.
Reference picture 5, Fig. 5 are the device structure schematic diagrams for the hardware running environment that present invention method is related to.
Terminal of the embodiment of the present invention can be PC or smart mobile phone, tablet personal computer, E-book reader, MP3
(Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio aspect 3)
Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound
Frequency aspect 3) terminal device such as player, pocket computer.
As shown in figure 5, the unmanned plane terminal can include：Processor 1001, such as CPU, memory 1005, communication bus
1002.Wherein, communication bus 1002 is used to realize the connection communication between processor 1001 and memory 1005.Memory 1005
Can be high-speed RAM memory or stable memory (non-volatile memory), such as magnetic disk storage.
Memory 1005 optionally can also be the storage device independently of aforementioned processor 1001.
Alternatively, the unmanned plane terminal can also include user interface, network interface, camera, RF (Radio
Frequency, radio frequency) circuit, sensor, voicefrequency circuit, WiFi module etc..User interface can include display screen
(Display), input block such as keyboard (Keyboard), optional user interface can also include wireline interface, the nothing of standard
Line interface.Network interface can optionally include wireline interface, the wave point (such as WI-FI interfaces) of standard.
It will be understood by those skilled in the art that the unmanned plane terminal structure shown in Fig. 5 is not formed to unmanned plane terminal
Restriction, can include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 5, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network
Believe module and path planning program.Operating system is management and the program of control unmanned plane terminal hardware and software resource, is propped up
Hold the operation of path planning program and other softwares and/or program.Network communication module is used to realize inside memory 1005
Communication between each component, and with being communicated in unmanned plane terminal between other hardware and softwares.
In the unmanned plane terminal shown in Fig. 5, processor 1001 is used to perform the path planning stored in memory 1005
Program, realize following steps：
The paths planning method includes：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information
Domain；
Control unmanned plane terminal is run in the target area.
Further, the step of control unmanned plane terminal is run in the target area includes：
Obtain the air-flow slack water area in the target area；
Control unmanned plane terminal is run in air-flow slack water area.
Further, the paths planning method also includes：
Judge to whether there is air unrest around the real time position of unmanned plane terminal in preset range based on the air flow information
Flow region；
When detecting air sinuous flow region, control unmanned plane is avoided all in pre-determined distance around air sinuous flow region
Region.
The embodiment of unmanned plane terminal of the present invention and each embodiment of above-mentioned paths planning method are essentially identical, herein
Repeat no more.
Present invention also offers a kind of computer-readable recording medium, the computer-readable recording medium storage has one
Or more than one program, one either more than one program can also by one or more than one computing device with
For：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information
Domain；
Control unmanned plane terminal is run in the target area.
Computer-readable recording medium embodiment of the present invention and above-mentioned paths planning method and unmanned plane terminal are each
Embodiment is essentially identical, will not be repeated here.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone, computer, clothes
Be engaged in device, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (5)
1. a kind of paths planning method, it is characterised in that the paths planning method includes：
The real time position of unmanned plane terminal is determined based on alignment system；
Weather information around real time position in preset range is obtained based on internet；
Parsing weather information obtains the target area with default airflow pattern to obtain air flow information based on air flow information；
Control unmanned plane terminal is run in the target area.
2. paths planning method as claimed in claim 1, it is characterised in that the control unmanned plane terminal is in the target area
The step of operation, includes：
Obtain the air-flow slack water area in the target area；
Control unmanned plane terminal is run in air-flow slack water area.
3. paths planning method as claimed in claim 1, it is characterised in that the paths planning method also includes：
Judge to whether there is air sinuous flow area around the real time position of unmanned plane terminal in preset range based on the air flow information
Domain；
When detecting air sinuous flow region, control unmanned plane avoids all areas around air sinuous flow region in pre-determined distance
Domain.
4. a kind of unmanned plane terminal, it is characterised in that the unmanned plane terminal includes：Memory, processor, communication bus and
The path planning program being stored on the memory,
The communication bus is used to realize the communication connection between processor and memory；
The processor is used to perform the path planning program, to realize path as claimed any one in claims 1 to 3
The step of planing method.
5. a kind of computer-readable recording medium, it is characterised in that path rule are stored with the computer-readable recording medium
Program is drawn, the path planning program realizes path planning as claimed any one in claims 1 to 3 when being executed by processor
The step of method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445434.6A CN107357304A (en) | 2017-06-13 | 2017-06-13 | Paths planning method, unmanned plane terminal and computer-readable recording medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445434.6A CN107357304A (en) | 2017-06-13 | 2017-06-13 | Paths planning method, unmanned plane terminal and computer-readable recording medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107357304A true CN107357304A (en) | 2017-11-17 |
Family
ID=60272782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710445434.6A Pending CN107357304A (en) | 2017-06-13 | 2017-06-13 | Paths planning method, unmanned plane terminal and computer-readable recording medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107357304A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830032A (en) * | 2018-05-17 | 2018-11-16 | 南京邮电大学 | A kind of unmanned plane weather warning method neural network based |
| CN109634295A (en) * | 2018-12-17 | 2019-04-16 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and unmanned plane of making a return voyage automatically |
| CN109784526A (en) * | 2018-12-05 | 2019-05-21 | 北京百度网讯科技有限公司 | Planing method, device, equipment and the readable storage medium storing program for executing of pass |
| CN109922137A (en) * | 2019-01-28 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle assisted calculation migration method |
| WO2021081740A1 (en) * | 2019-10-29 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Return method, and return power consumption determining method and apparatus |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000062698A (en) * | 1998-08-25 | 2000-02-29 | Shigeru Nagano | Turbulence avoiding navigation device |
| EP1835370A2 (en) * | 2006-03-17 | 2007-09-19 | Thales | Automatic trajectory planner |
| CN106054915A (en) * | 2016-05-24 | 2016-10-26 | 北京小米移动软件有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle control device |
| CN106297417A (en) * | 2016-09-27 | 2017-01-04 | 南京航空航天大学 | A kind of unmanned plane during flying service and supervisory systems and method |
-
2017
- 2017-06-13 CN CN201710445434.6A patent/CN107357304A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000062698A (en) * | 1998-08-25 | 2000-02-29 | Shigeru Nagano | Turbulence avoiding navigation device |
| EP1835370A2 (en) * | 2006-03-17 | 2007-09-19 | Thales | Automatic trajectory planner |
| CN106054915A (en) * | 2016-05-24 | 2016-10-26 | 北京小米移动软件有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle control device |
| CN106297417A (en) * | 2016-09-27 | 2017-01-04 | 南京航空航天大学 | A kind of unmanned plane during flying service and supervisory systems and method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830032A (en) * | 2018-05-17 | 2018-11-16 | 南京邮电大学 | A kind of unmanned plane weather warning method neural network based |
| CN109784526A (en) * | 2018-12-05 | 2019-05-21 | 北京百度网讯科技有限公司 | Planing method, device, equipment and the readable storage medium storing program for executing of pass |
| US11480967B2 (en) | 2018-12-05 | 2022-10-25 | Beijing Baidu Netcom Science Technology Co., Ltd. | Pass route planning method and apparatus, device and readable storage medium |
| CN109784526B (en) * | 2018-12-05 | 2023-02-28 | 阿波罗智能技术(北京)有限公司 | Method, device and equipment for planning traffic path and readable storage medium |
| CN109634295A (en) * | 2018-12-17 | 2019-04-16 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and unmanned plane of making a return voyage automatically |
| WO2020125636A1 (en) * | 2018-12-17 | 2020-06-25 | 深圳市道通智能航空技术有限公司 | Automatic return method and device and unmanned aerial vehicle |
| US11919637B2 (en) | 2018-12-17 | 2024-03-05 | Autel Robotics Co., Ltd. | Automatic return method, apparatus and unmanned aerial vehicle |
| CN109922137A (en) * | 2019-01-28 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle assisted calculation migration method |
| CN109922137B (en) * | 2019-01-28 | 2021-06-25 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle assisted calculation migration method |
| WO2021081740A1 (en) * | 2019-10-29 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Return method, and return power consumption determining method and apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107357304A (en) | Paths planning method, unmanned plane terminal and computer-readable recording medium | |
| US10976443B2 (en) | Method and device for determining a positioning accuracy grade, and electronic device having the same | |
| EP2534564B1 (en) | Mobile device and method for providing eco-friendly user interface | |
| EP3194891B1 (en) | Accounting for indoor-outdoor transitions during position determination | |
| US9582317B2 (en) | Method of using use log of portable terminal and apparatus using the same | |
| US20180132068A1 (en) | Portable resource management systems and methods | |
| CN104520840A (en) | Sensor and context based adjustment of the operation of a network controller | |
| CN111328020B (en) | Service processing method and device based on indoor positioning system | |
| CN105683904A (en) | Method and apparatus for keyword graphic selection | |
| US20190221154A1 (en) | Displaying content on a display in power save mode | |
| CN110794848B (en) | Unmanned vehicle control method and device | |
| CN104508594A (en) | Configuring power management functionality in a processor | |
| CN105848270A (en) | Standby method and mobile terminal | |
| CN104991562A (en) | Aircraft operating system, aircraft method control method and aircraft | |
| CN106878359B (en) | Information pushing method and device | |
| CN106204282A (en) | A kind of data processing method and device | |
| JP2020167450A (en) | Radio communication device, system, program, and control method | |
| US20200410870A1 (en) | Method and device for night flight management of unmanned aerial vehicle | |
| Mera et al. | A power and performance study of compact L-band total power radiometers for UAV remote sensing based in the processing on ZYNQ and ARM architectures | |
| Cao et al. | Investigation of wind and sound field characteristics of multi-rotor unmanned aerial vehicle | |
| CN104932528A (en) | Quadrotor aerial photographing control device based on WIFI control | |
| JP7093377B2 (en) | Communication control devices, programs, flying objects, systems and control methods | |
| JP7249890B2 (en) | ANTENNA CONTROL DEVICE, PROGRAM, SYSTEM AND CONTROL METHOD | |
| Guo et al. | Cold Chain Logistics Monitoring System with Temperature Modeling | |
| CN113824840B (en) | Method and device for dynamically adjusting screen refresh rate, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |