CN109101041A - The dynamic following and dynamic of a kind of unmanned aerial vehicle make a return voyage method - Google Patents
The dynamic following and dynamic of a kind of unmanned aerial vehicle make a return voyage method Download PDFInfo
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- CN109101041A CN109101041A CN201811229557.7A CN201811229557A CN109101041A CN 109101041 A CN109101041 A CN 109101041A CN 201811229557 A CN201811229557 A CN 201811229557A CN 109101041 A CN109101041 A CN 109101041A
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- aerial vehicle
- unmanned aerial
- dynamic
- remote controler
- return voyage
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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
- G05D1/12—Target-seeking control
Abstract
The present invention relates to a kind of dynamic followings of unmanned aerial vehicle and dynamic to make a return voyage method, the remote controler including unmanned aerial vehicle and for controlling unmanned aerial vehicle；The unmanned aerial vehicle is equipped with the first GPS module for positioning and obtaining location information；The remote controler is equipped with the second GPS module for positioning and obtaining location information；Wherein, following for unmanned aerial vehicle is maked a return voyage including dynamic following and dynamic.The present invention is equipped with the first GPS module for positioning and obtaining location information in unmanned aerial vehicle, remote controler is equipped with the second GPS module for positioning and obtaining location information, unmanned aerial vehicle carries out operation by the location information of itself and the location information of remote controler, the flight path for determining the two, so that unmanned aerial vehicle flies to the anchor point of remote controler or remote controler is followed to fly.Unmanned aerial vehicle of the present invention can pinpoint flight to remote controler position, to achieve the purpose that dynamic following and dynamic make a return voyage.
Description
Technical field
The present invention relates to unmanned aerial vehicle fields, more specifically refer to that a kind of dynamic following of unmanned aerial vehicle and dynamic make a return voyage
Method.
Background technique
Since unmanned aerial vehicle is at low cost, small, mobility strong is lost, it is easy to use, the features such as being widely used, promote nobody
Aeroplane industry rapidly develops.It has set foot in mapping, detection, aerial to monitor, sprinkling, the industries such as take photo by plane.But as people are to nobody
Aircraft requirement is more and more, and miscellaneous new function also occurs in unmanned aerial vehicle.Use can be followed for the ease of unmanned aerial vehicle
Person's flight, and can drop near user.Such as marine execution task, track shot, criminal's tracking etc. and aircraft cannot
The case where returning to takeoff point.
It is taking photo by plane, the fields such as tracking, people need unmanned aerial vehicle that us is followed to fly, and then dynamic following comes into being.
And sometimes we need moving distance too far, when unmanned aerial vehicle can not return to takeoff setting, it would be desirable to aircraft landing to I
Position, we devise dynamic and make a return voyage function at this time.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, the dynamic following and dynamic for providing a kind of unmanned aerial vehicle are returned
Boat method.
To achieve the above object, the invention adopts the following technical scheme:
The dynamic following and dynamic of a kind of unmanned aerial vehicle make a return voyage method, including unmanned aerial vehicle and for controlling unmanned aerial vehicle
Remote controler；The unmanned aerial vehicle is equipped with the first GPS module for positioning and obtaining location information；The remote controler is equipped with and is used for
Positioning and the second GPS module for obtaining location information；Wherein, following for unmanned aerial vehicle is maked a return voyage including dynamic following and dynamic.
Its further technical solution are as follows: the dynamic following the following steps are included:
Step 1: remote configuration unmanned aerial vehicle offline mode is switched to dynamic following mode, and unmanned aerial vehicle obtains
Dynamic following pattern information；
Step 2: whether remote controler the second GPS module signal of logical detection is good；
Step 3: remote controler is according to the second GPS module if the second GPS module of remote controler is in good working state
The location information of itself is obtained, the second GPS module determines the coordinate data of longitude, latitude；
Step 4: when remote controler is mobile, if remote controler and the coordinate of the second GPS module of last time update are greater than 5m,
The coordinate of remote controler is then sent to unmanned aerial vehicle；
Step 5: unmanned aerial vehicle obtains the location information of itself according to the first GPS module, the warp of the first GPS module is determined
Degree, latitude coordinate data, and operation is compared with the longitude of remote controler, latitude coordinate data, and then unmanned aerial vehicle itself
According to longitude, the longitude of latitude coordinate data and remote controler, latitude coordinate data, straight line path is calculated, unmanned aerial vehicle is by current
Altitude is to remote controler longitude, latitude coordinate；
Step 6, when unmanned aerial vehicle is flown to above remote controler, aircraft is in floating state, waits step command under remote controler.
Its further technical solution are as follows: further include Step 5: when unmanned aerial vehicle low battery, user mentions according to remote controler
Show, manually by dynamic following pattern switching to landing mode；The location data that unmanned aerial vehicle is transmitted according to remote controler last time
Landing.
Its further technical solution are as follows: the unmanned aerial vehicle is provided with obstacle avoidance module, high with the flight for adjusting dynamic following
Degree, avoiding obstacles.
Its further technical solution are as follows: the dynamic is maked a return voyage to be carried out on the basis of dynamic following；The dynamic is maked a return voyage packet
Include following steps:
Step 1: remote configuration unmanned aerial vehicle offline mode is switched to mode of dynamically making a return voyage, and unmanned aerial vehicle obtains
Dynamic is maked a return voyage pattern information；
Step 2: remote controler obtains the longitude of itself, latitude data by the second GPS module, remote controler will last time
Location information be sent to unmanned aerial vehicle, and save last time remote controler position be target position；Unmanned aerial vehicle passes through number
According to the longitude of transmission real-time reception remote controler target position, latitude coordinate data；
Step 4: unmanned aerial vehicle obtains the longitude for deriving from body, latitude coordinate data by the first GPS module；Unmanned aerial vehicle
Enter mode of dynamically making a return voyage according to type of making a return voyage, and calculates the target position path of current longitude, latitude data and remote controler；
Step 5: unmanned aerial vehicle makes a return voyage according to the path of calculating to the target position of remote controler.
Its further technical solution are as follows: wherein, unmanned aerial vehicle enters mode of dynamically making a return voyage in step 4, if aircraft is less than
The height maked a return voyage, aircraft will first rise to cruise-in altitude.
Its further technical solution are as follows: wherein, unmanned aerial vehicle climbs to after cruise-in altitude, and unmanned aerial vehicle follows target position
Set top；Unmanned aerial vehicle is in floating state at this time, waits order of making a return voyage.
Its further technical solution are as follows: wherein, remote controler is disconnected with unmanned aerial vehicle or the signal difference of remote controler causes
Aircraft can not receive remote controler coordinate, then aircraft will hover over current location.
Its further technical solution are as follows: the remote controler is by judging whether the state of the second GPS module is greater than 3D positioning
State, HDOP accuracy value whether less than 1, horizontal accuracy whether less than 3, it is whether good to detect the second GPS module signal with this.
Compared with the prior art, the invention has the advantages that: it is fixed for positioning and obtaining that the present invention is equipped in unmanned aerial vehicle
First GPS module of position information, remote controler are equipped with the second GPS module for positioning and obtaining location information, and unmanned aerial vehicle is logical
It crosses the location information of itself and the location information of remote controler carries out operation, the flight path of the two is determined, so that unmanned aerial vehicle flies
It goes to the anchor point of remote controler or remote controler is followed to fly.Unmanned aerial vehicle of the present invention can pinpoint flight and arrive remote controler position,
To achieve the purpose that dynamic following and dynamic make a return voyage.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is a kind of dynamic following of unmanned aerial vehicle of the present invention and the general flow chart for method of dynamically making a return voyage；
Fig. 2 is a kind of dynamic following of unmanned aerial vehicle of the present invention and the specific of method of dynamically making a return voyage.
Specific embodiment
In order to more fully understand technology contents of the invention, combined with specific embodiments below to technical solution of the present invention into
One step introduction and explanation, but not limited to this.
Such as the drawing that Fig. 1 to Fig. 2 is the embodiment of the present invention.
The dynamic following and dynamic of a kind of unmanned aerial vehicle make a return voyage method, including unmanned aerial vehicle and for controlling unmanned aerial vehicle
Remote controler.Unmanned aerial vehicle is equipped with the first GPS module for positioning and obtaining location information.Remote controler is equipped with for positioning and obtaining
Take the second GPS module of location information.Following for unmanned aerial vehicle is maked a return voyage including dynamic following and dynamic.Unmanned aerial vehicle passes through first
GPS module positioning, remote controler are positioned by the second GPS module, compare the first GPS module and the second GPS module location information, nothing
People's aircraft follows the positioning flight of remote controler.
The dynamic following the following steps are included:
Step 1: remote configuration unmanned aerial vehicle offline mode is switched to dynamic following mode, and unmanned aerial vehicle obtains
Dynamic following pattern information.
Step 2: remote controler is by judging whether the state of the second GPS module is greater than 3D positioning states, HDOP (horizontal essence
Spend the factor) accuracy value whether less than 1, horizontal accuracy whether less than 3, it is whether good to detect the second GPS module signal with this.
Step 3: remote controler is according to the second GPS module if the second GPS module of remote controler is in good working state
The location information of itself is obtained, the second GPS module determines the coordinate data of longitude, latitude；
Step 4: when remote controler is mobile, if remote controler and the coordinate of the second GPS module of last time update are greater than 5m,
The coordinate of remote controler is then sent to unmanned aerial vehicle.
Step 5: unmanned aerial vehicle obtains the location information of itself according to the first GPS module, the warp of the first GPS module is determined
Degree, latitude coordinate data, and operation is compared with the longitude of remote controler, latitude coordinate data, and then unmanned aerial vehicle itself
According to longitude, the longitude of latitude coordinate data and remote controler, latitude coordinate data, straight line path is calculated, unmanned aerial vehicle is by current
Altitude is to remote controler longitude, latitude coordinate.
Step 6, when unmanned aerial vehicle is flown to above remote controler, aircraft is in floating state, waits step command under remote controler.
It wherein, further include Step 5: user, manually will dynamic according to the prompt of remote controler when unmanned aerial vehicle low battery
Follow the mode switches to landing mode；Unmanned aerial vehicle lands according to the location data of remote controler last time transmission.
The unmanned aerial vehicle is provided with obstacle avoidance module, to adjust the flying height of dynamic following, avoiding obstacles.
As depicted in figs. 1 and 2, it dynamically makes a return voyage and is carried out on the basis of dynamic following.Dynamic make a return voyage the following steps are included:
Step 1: remote configuration unmanned aerial vehicle offline mode is switched to mode of dynamically making a return voyage, and unmanned aerial vehicle obtains
Dynamic is maked a return voyage pattern information；
Step 2: remote controler obtains the longitude of itself, latitude data by the second GPS module, remote controler will last time
Location information be sent to unmanned aerial vehicle, and save last time remote controler position be target position；Unmanned aerial vehicle passes through number
According to the longitude of transmission real-time reception remote controler target position, latitude coordinate data；
Step 4: unmanned aerial vehicle obtains the longitude for deriving from body, latitude coordinate data by the first GPS module；Unmanned aerial vehicle
Enter mode of dynamically making a return voyage according to type of making a return voyage, and calculates the target position path of current longitude, latitude data and remote controler；
Step 5: unmanned aerial vehicle makes a return voyage according to the path of calculating to the target position of remote controler
Wherein, unmanned aerial vehicle enters mode of dynamically making a return voyage in step 4, if aircraft is less than the height maked a return voyage, aircraft will be first
Rise to cruise-in altitude
Wherein, unmanned aerial vehicle climbs to after cruise-in altitude, and unmanned aerial vehicle follows above target position；Unmanned aerial vehicle at this time
In floating state, order of making a return voyage is waited
Wherein, remote controler and unmanned aerial vehicle disconnect or the signal difference of remote controler causes aircraft that can not receive remote controler seat
Mark, then aircraft will hover over current location.
As shown in Fig. 2, the specific course of work of remote controler is as follows:
Step 1, the second GPS module of remote controler read the coordinate of the position where remote controler；
Step 2 judges whether the signal of remote controler is good by the second GPS module；If signal difference, enter next
Step；If signal is good, 5 are entered step；
Step 3, the offline mode for reading user's switching；
Step 4, remote controler switch over the offline mode of unmanned aerial vehicle；If switched successfully, offline mode is sent extremely
Unmanned aerial vehicle；If switching is unsuccessful, other tasks are handled, and return in step 1；
Step 5, remote controler judge whether coordinate that this is detected than the coordinate that the last time detects is greater than 5m；If it is
No more than 5m, then 3 are entered step；If it is 5m is greater than, then enter next step；
This coordinate is sent to unmanned aerial vehicle by step 6, remote controler.
The specific course of work of unmanned aerial vehicle is as follows:
Step 1, the first GPS module of unmanned aerial vehicle read the coordinate of itself；
Step 2, unmanned aerial vehicle receive remote controler last time coordinate；
Step 3, unmanned aerial vehicle receive remote controler coordinate；If reception is unsuccessful, 3.1 are entered step；If receive at
Function then enters next step；
Step 4, using the current goal of remote controler as the coordinates of targets of unmanned aerial vehicle；
Step 5, unmanned aerial vehicle offline mode be switched to dynamic and make a return voyage mode；If offline mode switching is unsuccessful,
Other tasks are handled, and enter step 1；If offline mode switches successfully, enter next step；
Step 6, unmanned aerial vehicle judge whether flying height is less than cruise-in altitude；If flying height is less than cruise-in altitude,
It then adjusts unmanned aerial vehicle flying height and meets cruise-in altitude, enter step 7；If flying height is not less than cruise-in altitude, directly
It connects and enters step 7；
Step 7, unmanned aerial vehicle target coordinate is controlled.
It wherein, further include that step 3.1, unmanned aerial vehicle transfer remote controler history coordinate in step 3；If there is history coordinate,
Then configuring last time position in the history coordinate of remote control is coordinates of targets, and enters step 5；If there is no history coordinate,
Enter step 3.2；
The current coordinate of step 3.2, configuration unmanned aerial vehicle is coordinates of targets, and enters step 5；
In conclusion the present invention is equipped with the first GPS module for positioning and obtaining location information, remote control in unmanned aerial vehicle
Device is equipped with the second GPS module for positioning and obtaining location information, and unmanned aerial vehicle passes through the location information and remote controler of itself
Location information carry out operation, determine both flight path so that unmanned aerial vehicle flies to the anchor point of remote controler or follows
Remote controler flight.Unmanned aerial vehicle of the present invention can pinpoint flight to remote controler position, be maked a return voyage with reaching dynamic following and dynamic
Purpose.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (9)
- A kind of method 1. the dynamic following and dynamic of unmanned aerial vehicle make a return voyage, which is characterized in that including unmanned aerial vehicle and for controlling The remote controler of unmanned aerial vehicle；The unmanned aerial vehicle is equipped with the first GPS module for positioning and obtaining location information；The remote control Device is equipped with the second GPS module for positioning and obtaining location information；Wherein, unmanned aerial vehicle is followed including dynamic following and dynamic State is maked a return voyage.
- The method 2. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 1 make a return voyage, which is characterized in that described Dynamic following the following steps are included:Step 1: remote configuration unmanned aerial vehicle offline mode is switched to dynamic following mode, and unmanned aerial vehicle obtains dynamic Follow the mode information；Step 2: whether remote controler the second GPS module signal of logical detection is good；Step 3: remote controler is obtained according to the second GPS module if the second GPS module of remote controler is in good working state The location information of itself, the second GPS module determine the coordinate data of longitude, latitude；Step 4: if remote controler and the coordinate of the second GPS module of last time update are greater than 5m, being sent out when remote controler is mobile Send the coordinate of remote controler to unmanned aerial vehicle；Step 5: unmanned aerial vehicle obtains the location information of itself according to the first GPS module, longitude, the latitude of the first GPS module are determined Spend coordinate data, and be compared operation with the longitude of remote controler, latitude coordinate data, so unmanned aerial vehicle itself according to warp Longitude, the latitude coordinate data of degree, latitude coordinate data and remote controler, calculate straight line path, and unmanned aerial vehicle is flown by present level It goes to remote controler longitude, latitude coordinate；Step 6, when unmanned aerial vehicle is flown to above remote controler, aircraft is in floating state, waits step command under remote controler.
- The method 3. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 2 make a return voyage, which is characterized in that also wrap It includes Step 5: user manually extremely lands dynamic following pattern switching according to the prompt of remote controler when unmanned aerial vehicle low battery Mode；Unmanned aerial vehicle lands according to the location data of remote controler last time transmission.
- The method 4. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 2 make a return voyage, which is characterized in that described Unmanned aerial vehicle is provided with obstacle avoidance module, to adjust the flying height of dynamic following, avoiding obstacles.
- The method 5. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 2 make a return voyage, which is characterized in that described Dynamic is maked a return voyage to be carried out on the basis of dynamic following；The dynamic make a return voyage the following steps are included:Step 1: remote configuration unmanned aerial vehicle offline mode is switched to mode of dynamically making a return voyage, and unmanned aerial vehicle obtains dynamic It makes a return voyage pattern information；Step 2: remote controler obtains the longitude of itself, latitude data by the second GPS module, remote controler is determined last time Position information is sent to unmanned aerial vehicle, and the position for saving last time remote controler is target position；Unmanned aerial vehicle is passed by data The longitude of defeated real-time reception remote controler target position, latitude coordinate data；Step 4: unmanned aerial vehicle obtains the longitude for deriving from body, latitude coordinate data by the first GPS module；Unmanned aerial vehicle according to Type of making a return voyage enters mode of dynamically making a return voyage, and calculates the target position path of current longitude, latitude data and remote controler；Step 5: unmanned aerial vehicle makes a return voyage according to the path of calculating to the target position of remote controler.
- The method 6. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 5 make a return voyage, which is characterized in that its In, unmanned aerial vehicle enters mode of dynamically making a return voyage in step 4, if aircraft is less than the height maked a return voyage, aircraft, which will first rise to, to make a return voyage Highly.
- The method 7. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 6 make a return voyage, which is characterized in that its In, unmanned aerial vehicle climbs to after cruise-in altitude, and unmanned aerial vehicle follows above target position；Unmanned aerial vehicle is in hovering shape at this time State waits order of making a return voyage.
- The method 8. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 5 make a return voyage, which is characterized in that its In, remote controler is disconnected with unmanned aerial vehicle or the signal difference of remote controler causes aircraft that can not receive remote controler coordinate, then aircraft Current location will be hovered over.
- The method 9. dynamic following and dynamic of a kind of unmanned aerial vehicle according to claim 1 make a return voyage, which is characterized in that described Remote controler is by judging whether the state of the second GPS module be greater than 3D positioning states, HDOP accuracy value less than 1, horizontal essence Whether whether degree good to detect the second GPS module signal with this less than 3.
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Application publication date: 20181228 |