CN108762311A - The flight control method and device of aircraft - Google Patents
The flight control method and device of aircraft Download PDFInfo
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- CN108762311A CN108762311A CN201810653548.4A CN201810653548A CN108762311A CN 108762311 A CN108762311 A CN 108762311A CN 201810653548 A CN201810653548 A CN 201810653548A CN 108762311 A CN108762311 A CN 108762311A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
The present invention relates to the flight control method of aircraft and devices.This method includes：It obtains during yawed flight, the corresponding heading of maximum photovoltaic system output power plans the line of flight according to heading, flown according to the line of flight planned again again.It can be based on the corresponding real-time course line of heading of maximum photovoltaic system output power to plan automatically, to promote the charge value of photovoltaic system output, and then improve the cruise duration of aircraft.
Description
Technical field
The present invention relates to vehicle technology field more particularly to the flight control methods and device of aircraft.
Background technology
UAV (Unmanned Aerial Vehicle, referred to as：UAV) referred to as " unmanned plane ", it is to utilize nothing
The not manned vehicle that line electrical remote control equipment and the presetting apparatus provided for oneself manipulate.Unmanned plane can be in unpiloted condition
The complicated airflight task of lower completion and various carry tasks.
Invention content
To overcome the problems in correlation technique, the embodiment of the present invention provides the flight control method and device of aircraft.
The technical solution is as follows：
According to a first aspect of the embodiments of the present invention, a kind of flight control method of aircraft is provided, including：
It obtains during yawed flight, the corresponding heading of maximum photovoltaic system output power；
The line of flight is planned again according to the heading；
According to the line of flight flight planned again.
The technical solution that the embodiment of the present invention provides can include the following benefits：Obtain the process in yawed flight
In, the corresponding heading of maximum photovoltaic system output power plans the line of flight again according to heading, according to advising again
The line of flight flight drawn.The corresponding real-time course line of heading of maximum photovoltaic system output power can be based on to advise automatically
It draws, to promote the charge value of photovoltaic system output, and then improves the cruise duration of aircraft.
In one embodiment, the method further includes：
It detects whether outside flight to aerial mission region；
When outside detection flight to the aerial mission region, the line of flight is planned again.
In one embodiment, described to plan the line of flight again, including：
Reversed yaw angle angle value is determined according to heading；
The line of flight is planned again according to the reversed yaw angle angle value.
In one embodiment, the method further includes：
Whether the battery capacity value in detection aircraft, which meets the charge value to fly from current location to default landing place, is wanted
It asks；
It flies to the charge value requirement in default landing place when detecting that the battery capacity in aircraft meets from current location
When, flight to the default landing place.
In one embodiment, during yawed flight, maximum photovoltaic system output power is corresponding for the acquisition
Before heading, the method further includes：
The yaw information of the yawed flight is calculated according to task carry, flying height and flying speed；The yaw letter
Breath includes：Yaw direction and yaw angle angle value；
The acquisition is during yawed flight, the corresponding heading of maximum photovoltaic system output power, including：
During according to the yaw information yawed flight, the corresponding target of maximum photovoltaic system output power is obtained
Yaw angle angle value；The target yaw angle value is less than or equal to the yaw angle angle value；
It is described that the line of flight is planned according to the heading again, including：
The line of flight is planned again according to the target yaw angle value.
According to a second aspect of the embodiments of the present invention, a kind of flight control assemblies of aircraft are provided, including：
Acquisition module, for obtaining during yawed flight, the corresponding flight side of maximum photovoltaic system output power
To；
First planning module, the heading for being obtained according to the acquisition module plan the line of flight again；
First flight module, the line of flight flight for being planned again according to first planning module.
In one embodiment, described device further includes：
First detection module, for detecting whether outside flight to aerial mission region；
Second planning module is used for when outside first detection module detection flight to the aerial mission region, weight
The new planning line of flight.
In one embodiment, second planning module includes：Determination sub-module and the first planning submodule；
The determination sub-module, for determining reversed yaw angle angle value according to heading；
The first planning submodule, the reversed yaw angle angle value for being determined according to the determination sub-module is again
Plan the line of flight.
In one embodiment, described device further includes：Second detection module and the second flight module；
Second detection module, whether the battery capacity value for detecting in aircraft, which meets from current location, is flown to pre-
If the charge value requirement in place of landing；
The second flight module, for detecting that the battery capacity in aircraft meets from working as when second detection module
Front position is flown to when the charge value requirement in default landing place, is flown to the default landing place.
In one embodiment, described device further includes：Computing module；The acquisition module includes：Acquisition submodule；Institute
Stating the first planning module includes：Second planning submodule；
The computing module, for calculating the inclined of the yawed flight according to task carry, flying height and flying speed
Boat information；The yaw information includes：Yaw direction and yaw angle angle value；
The acquisition submodule, for the process in the yaw information yawed flight calculated according to the computing module
In, obtain the corresponding target yaw angle value of maximum photovoltaic system output power；The target yaw angle value is less than or equal to
The yaw angle angle value；
The second planning submodule, the target yaw angle value for being obtained according to the acquisition submodule is again
Plan the line of flight.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
It can the limitation present invention.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the flow chart according to the flight control method of the aircraft shown in an exemplary embodiment.
Fig. 2 be according to shown in an exemplary embodiment aircraft flight direction and aerial mission area schematic.
Fig. 3 is the flow chart according to the flight control method of the aircraft shown in an exemplary embodiment.
Fig. 4 is the schematic diagram determined according to the yaw angle angle value of the aircraft shown in an exemplary embodiment.
Fig. 5 is the flow chart according to the flight control method of the aircraft shown in an exemplary embodiment.
Fig. 6 is a kind of block diagram of the flight control assemblies of aircraft shown according to an exemplary embodiment.
Fig. 7 is a kind of block diagram of the flight control assemblies of aircraft shown according to an exemplary embodiment.
Fig. 8 be a kind of aircraft shown according to an exemplary embodiment flight control assemblies in the second planning module frame
Figure.
Fig. 9 is a kind of block diagram of the flight control assemblies of aircraft shown according to an exemplary embodiment.
Figure 10 is a kind of block diagram of the flight control assemblies of aircraft shown according to an exemplary embodiment.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
Solar energy unmanned plane (Solar-powered Unmanned Aerial Vehicles, referred to as：SUAV) be with
Solar energy is main energy sources, maintains a kind of unmanned flight of unmanned plane during flying to the maximum extent by energy-storage battery power supply
Device.The solar energy unmanned plane cruise time is long, and flying height is high, and wide coverage has the advantages that conventional aircraft is irreplaceable.
However, duration performance is its evaluation for the solar energy unmanned plane based on such application such as scouting, monitoring or communication relay
One of the most key index of task ability and solar energy unmanned aerial vehicle design person examine solar energy unmanned plane initial designs emphasis
One of index is of great significance to its assignment decisions and design evaluation.
By obtaining during yawed flight in the present invention, the corresponding flight side of maximum photovoltaic system output power
To planning the line of flight again according to heading, flown according to the line of flight planned again.It can be based on maximum photovoltaic system
The corresponding real-time course line of heading of system output power plans automatically, to promote the charge value of photovoltaic system output, in turn
Improve the cruise duration of aircraft.
Fig. 1 is according to the flow chart of the flight control method of the aircraft shown in an exemplary embodiment, as shown in Figure 1, should
Method includes the following steps S101-S103：
It in step S101, obtains during yawed flight, the corresponding flight side of maximum photovoltaic system output power
To.
In step s 102, the line of flight is planned according to heading again.
In step s 103, it is flown according to the line of flight planned again.
It is illustrated so that photovoltaic system converts the solar into electric energy as an example, exemplary, aircraft at this time can be referred to as too
Positive energy unmanned plane.Solar energy unmanned plane is using solar energy and energy-storage battery as the novel unmanned plane in energy source, with common nothing
Man-machine compare increases solar energy offer power, therefore increases cruise duration, and course line wide coverage can perform a variety of
Business.Solar energy unmanned plane is one of the developing direction of the following unmanned plane.
Solar energy unmanned plane is different from traditional aircraft, it is using solar radiant energy as main energetic, and conventional airplane is then to change
Based on stone fuel, carrying energy has known to total amount, energy service condition also relatively easily pass through by prediction, performance estimation method
The development of over half a century is highly developed, however energy total amount is because needing the real-time collecting sun entrained by solar energy unmanned plane
Radiation energy is simultaneously stored in energy-storage battery, related to many factors such as weather conditions, state of flight, flight time place, estimation
It is extremely difficult.
And traditional unmanned plane route planning method is being flown in the case of known portions or global map information
Before row task starts, course line is planned according to takeoff point and target point in the earth station of unmanned plane, is turned meeting unmanned plane minimum
Under curved radius and flying height restrictive condition, the method for finding the optimal path from known starting point to target point, this kind of course line rule
Influence of the method for drawing there is no the output power in view of unmanned plane photovoltaic system to unmanned plane cruise duration.
It is worth noting that, maximum photovoltaic system output power meaning in the present invention be photovoltaic system output power most
Big value, wherein photovoltaic system may include any equipment that can convert light energy into electric energy, such as：May include single
Solar panel can also include the power generation array being made of multiple solar panels.
In order to promote the cruise duration of aircraft in the present invention, by during aircraft yaw, according to maximum photovoltaic system
The heading of system output power plans the line of flight of aircraft again, so that after aircraft is planned again according to this
The line of flight fly, since the line of flight is that the heading based on maximum photovoltaic system output power is planned,
Therefore, when aircraft is according to the line of flight flight after planning again, the photovoltaic system in aircraft can export maximum work(
Rate, that is, the present invention is based on the corresponding real-time course lines of heading of maximum photovoltaic system output power to plan automatically, Ke Yiti
The charge value of photovoltaic system output is risen, and then improves the cruise duration of aircraft.
Such as：The target of aircraft yaw is to be yawed from current longitude (20 ° of east longitude) to 120 ° of east longitude, then aircraft is yawing
During flight, aircraft can obtain the photovoltaic system output power corresponding to each longitude of yaw in real time, work as aircraft
To that after 120 ° of east longitude, can detect during from 20 ° of yaws of east longitude to 120 ° of east longitude, which yaw longitude corresponds to for yaw
Maximum photovoltaic system output power, such as：Aircraft has corresponded to maximum photovoltaic system output power in yaw to 114 ° of east longitude, that
The line of flight of aircraft will be planned again according to 114 ° of east longitude, so that aircraft photovoltaic system during flight
Maximum Power Output.
When aircraft is during yawed flight, the flight control system in aircraft monitors MPPT maximum power point tracking in real time
(Maximum Power Point Tracking, referred to as：MPPT) the output power of the photovoltaic system of controller is obtained inclined
During boat flight, the corresponding heading of maximum photovoltaic system output power is then planned according to the heading again
The line of flight.That is, by monitoring photovoltaic system output power in real time, flight control system corrects the line of flight of aircraft in real time,
To reach maximum cruise duration.
Wherein, flight control system can be by serial ports and MPPT controller real-time communication, to monitor the output work of photovoltaic system
Rate changes.
The technical solution that the embodiment of the present invention provides can include the following benefits：Obtain the process in yawed flight
In, the corresponding heading of maximum photovoltaic system output power plans the line of flight again according to heading, according to advising again
The line of flight flight drawn.The corresponding real-time course line of heading of maximum photovoltaic system output power can be based on to advise automatically
It draws, to promote the charge value of photovoltaic system output, and then improves the cruise duration of aircraft.
In one embodiment, the above method further includes following sub-step A1-A2：
In A1, detect whether outside flight to aerial mission region.
In A2, when outside detection flight to aerial mission region, the line of flight is planned again.
Since aircraft needs to fly in the range of aerial mission region, it in the present invention, can also be in real time
Whether detection aircraft flies to outside aerial mission region, if outside aircraft flight to aerial mission region, showing flight at this time
Course line is problematic, needs to plan course line again, so that aircraft can fly to aerial mission region.
Wherein, above-mentioned steps A1 can be carried out after above-mentioned steps S103, can also be in the advance of above-mentioned steps S101
Row, can also be carried out at the same time, the present invention not execution to step A1 and above-mentioned each step during each step executes
Sequence limits.
By detecting whether aircraft flies in aerial mission region, when detecting outside aircraft flight to aerial mission region
When, the line of flight of aircraft is planned again, so that aircraft flies in aerial mission region, so as to avoid aircraft flight to flying
Aircraft safety accident caused by row mission area is outer, effectively improves the reliability of aircraft flight.
In one embodiment, above-mentioned steps A2 includes following sub-step B1-B2：
In B1, reversed yaw angle angle value is determined according to heading.
In B2, the line of flight is planned according to reversed yaw angle angle value again.
When outside aircraft flight to aerial mission region, the heading based on aircraft can fly according to aircraft is current
The boundary in line direction and aerial mission region determines reversed yaw angle angle value, and then again according to the reversed yaw angle angle value
It plans the line of flight, so that after aircraft flies according to the line of flight after planning again, can fly to mission area
It is interior.
Wherein, after reversed yaw angle angle value can make aircraft yaw fly, aircraft can fly to mission area
Angle value.
It is illustrated by taking aircraft flight direction shown in Fig. 2 and aerial mission region as an example, according to the current flight side of aircraft
To and aerial mission zone boundary determine that the minimum value of reversed yaw angle angle value is the β in figure, and then advised again based on β
Draw the line of flight, wherein in practical applications, can plan the line of flight again based on β ± Δs, wherein Δ can be with
It is default.
The reversed yaw angle angle value determined based on heading plans the line of flight again so that the line of flight plans time delay
It is smaller, to improve the reliability of aircraft flight.
Aircraft is to need to drop to default landing place, in order to avoid aircraft because battery capacity consumes after flight
It can not reliably drop to default landing place to the greatest extent, and cause falling for aircraft, the further comprising the steps of C1-C2 of the above method：
In C1, whether the battery capacity value in detection aircraft, which meets from current location, is flown to the electricity in default landing place
Magnitude requirement.
In C2, fly to the electricity in default landing place when detecting that the battery capacity in aircraft meets from current location
When value requires, flight to default landing place.
In the overshoot of aircraft flight, it is also necessary to which whether the battery capacity value in detection aircraft meets from current location in real time
It flies to the charge value requirement in default landing place, to ensure that aircraft reliably lands.When detect in aircraft battery electricity
When the charge value that amount meets flight to default landing place requires, then plans and fly from current location to default landing place
The line of flight, and flown to default landing place according to the line of flight of planning.
It is exemplary, can be that flight control system monitors whether battery capacity value be merely able to maintain aircraft flight to place of landing,
When monitoring that battery capacity value is merely able to maintain aircraft flight to place of landing, flight control system planning is flown from current location to pre-
If the line of flight in place of landing, and aircraft flight is controlled to default landing place according to the line of flight of planning.Wherein, battery
May include：Back-up storage battery in aircraft.
In one embodiment, since aircraft will execute aerial mission during flight, aircraft yaw flies
Yaw angle in row is also to require, at this point, as shown in figure 3, the method in the present invention includes the following steps S201-
S204：
In step s 201, the yaw information of yawed flight is calculated according to task carry, flying height and flying speed；Partially
Boat information include：Yaw direction and yaw angle angle value.
It is exemplary, as shown in figure 4, yaw angle angle value can be determined by following formula：Wherein, θ is
Yaw angle angle value；D is determined by task carry and flying height；V is flying speed；T is the flight time.
In step S202, during according to yaw information yawed flight, maximum photovoltaic system output power is obtained
Corresponding target yaw angle value；Target yaw angle value is less than or equal to yaw angle angle value.
In step S203, the line of flight is planned according to target yaw angle value again.
In step S204, flown according to the line of flight planned again.
Determine that task carry, flying height and the flying speed of aircraft calculate yawed flight by map in earth station
Yaw direction and maximum yaw angle value θ (it is exemplary, 0 °<θ≤10 °, this angle is in order to ensure the coverage area of task carry),
Flight control system control in aircraft is taken off, and passes through global positioning system (Global Positioning System, letter
Referred to as：GPS) and barometertic altimeter makes aircraft reach task course line predetermined altitude, and starts initial route.
During aircraft flight, during yaw information yawed flight, maximum photovoltaic system output work is obtained
The corresponding target yaw angle value of rate；Target yaw angle value is less than or equal to yaw angle angle value, and then according to target yaw angle
Angle value plans the line of flight again, and is flown according to the line of flight planned again.
Such as：The yaw information that yawed flight is calculated according to task carry, flying height and flying speed is to left drift
5 °, then aircraft, during being yawed from current location to 5 °, each angle value institute that aircraft can obtain yaw in real time is right
The photovoltaic system output power answered, when aircraft to after 5 ° of successes of left drift, can detect yaw 5 ° during, which yaw angle
Angle value has corresponded to maximum photovoltaic system output power, such as：Aircraft has corresponded to maximum photovoltaic system output power when yawing 3 °,
So target yaw angle value is 3 °, and then plans the line of flight of aircraft again according to yawing 3 °, so that aircraft exists
Photovoltaic system Maximum Power Output during flight.
During being yawed by yaw information, the corresponding target yaw angle of maximum photovoltaic system output power is obtained
Angle value then plans the line of flight again based on the target yaw angle value, since the line of flight is based on maximum photovoltaic system
It unites the target yaw angle value planning of output power, therefore, when aircraft is according to the line of flight flight after planning again,
Photovoltaic system in aircraft can export maximum power, that is, the present invention is based on maximum photovoltaic system output power is corresponding
The real-time course line of target yaw angle value is planned automatically, can promote the charge value of photovoltaic system output, and then improves aircraft
Cruise duration.
Fig. 5 is according to the flow chart of the flight control method of the aircraft shown in an exemplary embodiment, as shown in figure 5, should
Method includes the following steps S301-S309：
In step S301, the yaw information of yawed flight is calculated according to task carry, flying height and flying speed；Partially
Boat information include：Yaw direction and yaw angle angle value θ.
In step s 302, start initial route.
In step S303：Obtain photovoltaic system output power.
Flight control system obtains the output power variation of photovoltaic system by serial ports and MPPT controller real-time communication.
In step s 304：During according to yaw information yawed flight, maximum photovoltaic system output power is obtained
Corresponding target yaw angle value；Target yaw angle value is less than or equal to yaw angle angle value.
Body course is at interval of preset time T (exemplary, 5 seconds≤T≤30 second are determined by mission area and flying speed)
According to yaw information yawed flight, in the overshoot of yawed flight, flight control system monitors the variation of the output power of photovoltaic system,
Obtain the corresponding target yaw angle value of maximum photovoltaic system output power.
In step S305：The line of flight is planned again according to target yaw angle value.
Flight control system plans the line of flight again according to target yaw angle value, to control aircraft within the scope of yaw angle
According to maximum photovoltaic system output power direction fly, ensure task carry coverage area while make photovoltaic output power
Maximum, to increase cruise duration.
In step S306, flown according to the line of flight planned again.
It in step S307, detects whether outside flight to aerial mission region, when detection aircraft reaches aerial mission region
When outer, step S308 is executed；When detecting that aircraft does not reach outside aerial mission region, continue to fly according to current flight course line
Row.
In step S308, reversed yaw angle angle value is determined according to heading.
Such as：Aircraft yaws 2 θ to negative direction.
In step S309, the line of flight is planned according to reversed yaw angle angle value again.
The process for repeating step S304- steps S309, until detecting that the battery capacity in aircraft meets from current
Position is flown to when the charge value requirement in default landing place, is flown to default landing place.
Pass through above step, it may be considered that influence of the photovoltaic system output power to cruise duration in aircraft, that is,
During yawed flight, photovoltaic system output power can be monitored in real time, to which flight control system corrects flying for aircraft in real time
Row course line reaches maximum course continuation mileage to reach while aircraft completes aerial mission.
Following is apparatus of the present invention embodiment, can be used for executing the method for the present invention embodiment.
Fig. 6 is a kind of block diagram of the flight control assemblies of aircraft shown according to an exemplary embodiment, as shown in fig. 6,
The flight control assemblies of the aircraft include：
Acquisition module 11, for obtaining during yawed flight, the corresponding flight of maximum photovoltaic system output power
Direction；
First planning module 12, the heading for being obtained according to the acquisition module 11 plan flight boat again
Line；
First flight module 13, the line of flight flight for being planned again according to first planning module 12.
In one embodiment, as shown in fig. 7, described device further includes：
First detection module 14, for detecting whether outside flight to aerial mission region；
Second planning module 15, for being surveyed outside flight to the aerial mission region when first detection module inspection 14
When, the line of flight is planned again.
In one embodiment, as shown in figure 8, second planning module 15 includes：Determination sub-module 151 and first is advised
Small rowboat module 152；
The determination sub-module 151, for determining reversed yaw angle angle value according to heading；
The first planning submodule 152, the reversed yaw angle for being determined according to the determination sub-module 151
Value plans the line of flight again.
In one embodiment, as shown in figure 9, described device further includes：Second detection module 16 and the second flight module
17；
Second detection module 16, the battery capacity value for detecting in aircraft whether meet from current location fly to
The charge value requirement in default landing place；
The second flight module 17, for detecting that the battery capacity in aircraft meets when second detection module 16
It flies to when the charge value requirement in default landing place, is flown to the default landing place from current location.
In one embodiment, as shown in Figure 10, described device further includes：Computing module 18；The acquisition module 11 wraps
It includes：Acquisition submodule 111；First planning module 12 includes：Second planning submodule 121；
The computing module 18, for calculating the yawed flight according to task carry, flying height and flying speed
Yaw information；The yaw information includes：Yaw direction and yaw angle angle value；
The acquisition submodule 111, in the yaw information yawed flight calculated according to the computing module 18
During, obtain the corresponding target yaw angle value of maximum photovoltaic system output power；The target yaw angle value is less than
Or it is equal to the yaw angle angle value；
The second planning submodule 121, the target yaw angle for being obtained according to the acquisition submodule 111
Value plans the line of flight again.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice the invention invented here
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes the common knowledge in the art that the present invention does not invent
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of flight control method of aircraft, which is characterized in that including：
It obtains during yawed flight, the corresponding heading of maximum photovoltaic system output power；
The line of flight is planned again according to the heading；
According to the line of flight flight planned again.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
It detects whether outside flight to aerial mission region；
When outside detection flight to the aerial mission region, the line of flight is planned again.
3. according to the method described in claim 2, it is characterized in that, described plan the line of flight again, including：
Reversed yaw angle angle value is determined according to heading；
The line of flight is planned again according to the reversed yaw angle angle value.
4. according to the method described in claim 1, it is characterized in that, the method further includes：
Whether the battery capacity value in detection aircraft, which meets from current location, is flown to the charge value requirement in default landing place；
It flies to when the charge value requirement in default landing place, flies when detecting that the battery capacity in aircraft meets from current location
It goes to the default landing place.
5. according to the method described in claim 1, it is characterized in that, it is described acquisition during yawed flight, maximum photovoltaic
Before the corresponding heading of system output power, the method further includes：
The yaw information of the yawed flight is calculated according to task carry, flying height and flying speed；The yaw information packet
It includes：Yaw direction and yaw angle angle value；
The acquisition is during yawed flight, the corresponding heading of maximum photovoltaic system output power, including：
During according to the yaw information yawed flight, the corresponding target yaw of maximum photovoltaic system output power is obtained
Angle value；The target yaw angle value is less than or equal to the yaw angle angle value；
It is described that the line of flight is planned according to the heading again, including：
The line of flight is planned again according to the target yaw angle value.
6. a kind of flight control assemblies of aircraft, which is characterized in that including：
Acquisition module, for obtaining during yawed flight, the corresponding heading of maximum photovoltaic system output power；
First planning module, the heading for being obtained according to the acquisition module plan the line of flight again；
First flight module, the line of flight flight for being planned again according to first planning module.
7. device according to claim 6, which is characterized in that described device further includes：
First detection module, for detecting whether outside flight to aerial mission region；
Second planning module, for when outside first detection module detection flight to the aerial mission region, advising again
Draw the line of flight.
8. device according to claim 7, which is characterized in that second planning module includes：Determination sub-module and
One planning submodule；
The determination sub-module, for determining reversed yaw angle angle value according to heading；
The first planning submodule, the reversed yaw angle angle value for being determined according to the determination sub-module are planned again
The line of flight.
9. device according to claim 6, which is characterized in that described device further includes：Second detection module and second flies
Row module；
Second detection module, whether the battery capacity value for detecting in aircraft, which meets from current location, is flown to default drop
The charge value requirement of pick-up point；
The second flight module, for detecting that the battery capacity in aircraft meets from present bit when second detection module
When setting charge value requirement of the flight to default landing place, flight to the default landing place.
10. device according to claim 6, which is characterized in that described device further includes：Computing module；The acquisition mould
Block includes：Acquisition submodule；First planning module includes：Second planning submodule；
The computing module, the yaw for calculating the yawed flight according to task carry, flying height and flying speed are believed
Breath；The yaw information includes：Yaw direction and yaw angle angle value；
The acquisition submodule is used for during the yaw information yawed flight calculated according to the computing module,
Obtain the corresponding target yaw angle value of maximum photovoltaic system output power；The target yaw angle value is less than or equal to described
Yaw angle angle value；
The second planning submodule, the target yaw angle value for being obtained according to the acquisition submodule are planned again
The line of flight.
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