CN111474959A - Large-scale freight unmanned aerial vehicle remote navigation implementation method - Google Patents
Large-scale freight unmanned aerial vehicle remote navigation implementation method Download PDFInfo
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- CN111474959A CN111474959A CN202010488425.7A CN202010488425A CN111474959A CN 111474959 A CN111474959 A CN 111474959A CN 202010488425 A CN202010488425 A CN 202010488425A CN 111474959 A CN111474959 A CN 111474959A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004891 communication Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
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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
- G05D1/10—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 large-scale freight unmanned aerial vehicle remote navigation implementation method, which comprises the following steps: s1, the unmanned aerial vehicle acquires route information; s2, the unmanned plane flies in the air route; s3, calculating the distance between the segment switching lead and the local target waypoint; s4, judging whether the target distance is less than the advance; s5, judging whether the current waypoint is the last waypoint; s6, taking the next waypoint as a target waypoint; s7, judging whether the current state is direct flight or not; s8, processing the waypoint characteristic words; s9, judging whether the processing time is more than 3S; s10, processing a waypoint task; s11, judging whether the task is finished or not, and the invention relates to the technical field of unmanned aerial vehicles. The invention solves the problem that the large-scale freight transport unmanned aerial vehicle remote navigation usually needs a worker to control the unmanned aerial vehicle at the ground control station in the whole process, the ground control station remotely controls the unmanned aerial vehicle according to the navigation display system of the control station, and the unmanned aerial vehicle is not completely self-navigation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a large-scale freight unmanned aerial vehicle remote navigation implementation method.
Background
In the prior art, the large-scale freight transportation unmanned aerial vehicle remote navigation usually needs a worker to control the unmanned aerial vehicle at a ground control station in the whole process, the ground control station remotely controls the unmanned aerial vehicle according to a navigation display system of the control station, and the unmanned aerial vehicle is not completely self-contained navigation.
Disclosure of Invention
The invention aims to solve the problem that the remote navigation of a large-scale freight unmanned aerial vehicle usually needs to be controlled by a worker at a ground control station in the whole process, the ground control station remotely controls an unmanned aerial vehicle according to a navigation display system of the control station, and the unmanned aerial vehicle is not completely self-contained in navigation.
In order to achieve the purpose, the invention adopts the following technical scheme: a large-scale freight unmanned aerial vehicle remote navigation implementation method comprises the following steps:
s1, the unmanned aerial vehicle acquires route information;
s2, the unmanned plane flies in the air route;
s3, calculating the distance between the segment switching lead and the local target waypoint;
s4, judging whether the target distance is less than the advance;
s5, judging whether the current waypoint is the last waypoint;
s6, taking the next waypoint as a target waypoint;
s7, judging whether the current state is direct flight or not;
s8, processing the waypoint characteristic words;
s9, judging whether the processing time is more than 3S;
s10, processing a waypoint task;
s11, determine whether the task is finished.
Preferably, in S1, the unmanned aerial vehicle acquires the flight path information from the ground control station through a wireless communication technology, generates a navigation instruction, and guides the aircraft to enter the flight path for flight.
Preferably, in S4, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, the process proceeds to S5.
Preferably, in S5, if the determination result is Y, the flight is instructed and then the flight is ended, and if the determination result is N, S6 is performed.
Preferably, in S7, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, the process proceeds to S8.
Preferably, in S9, when the determination result is N, the process returns to S8, and the processing of the waypoint feature words is continued, and when the determination result is Y, the process proceeds to S10.
Preferably, in S11, when the determination result is Y, the process returns to S2 to enter the airline flight, and when the determination result is N, the process returns to S10 to continue the waypoint task.
Compared with the prior art, the invention has the following beneficial effects: and the air route flight module starts to acquire air route information, generates a navigation instruction and guides the airplane to enter an air route for flight. If the distance between the airplane and the target waypoint is less than the advance of the flight section switching, judging whether the waypoint is the last waypoint or not, and if so, entering a command flight stage; and if the current waypoint is not the last waypoint, taking the next waypoint as the target waypoint and taking the current waypoint as the previous waypoint. In the direct flight state, the feature words of the waypoints need to be processed, and then the tasks of the waypoints need to be processed. After the task is finished, the flight of the air route is continued, and the invention realizes the complete autonomous navigation.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic diagram of the process of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a technical scheme that: a large-scale freight unmanned aerial vehicle remote navigation implementation method comprises the following steps:
s1, the unmanned aerial vehicle acquires route information;
s2, the unmanned plane flies in the air route;
s3, calculating the distance between the segment switching lead and the local target waypoint;
s4, judging whether the target distance is less than the advance;
s5, judging whether the current waypoint is the last waypoint;
s6, taking the next waypoint as a target waypoint;
s7, judging whether the current state is direct flight or not;
s8, processing the waypoint characteristic words;
s9, judging whether the processing time is more than 3S;
s10, processing a waypoint task;
s11, determine whether the task is finished.
In the step S1, the unmanned aerial vehicle acquires the air route information from the ground control station through the wireless communication technology, generates a navigation instruction and guides the aircraft to enter the air route for flying.
In S4, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, S5 is performed.
In S5, when the determination result is Y, the flight is instructed and then the flight is ended, and when the determination result is N, S6 is performed.
In S7, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, S8 is performed.
In S9, if the determination result is N, the process returns to S8 to continue processing the waypoint feature words, and if the determination result is Y, the process proceeds to S10.
And in the S11, when the judgment result is Y, returning to S2 to enter the airline flight, and when the judgment result is N, returning to S10 to continue processing the waypoint task.
When the airplane navigation system is used, the air route flight module starts to acquire air route information, generates a navigation instruction and guides the airplane to enter the air route for flight. If the distance between the airplane and the target waypoint is less than the advance of the flight section switching, judging whether the waypoint is the last waypoint or not, and if so, entering a command flight stage; and if the current waypoint is not the last waypoint, taking the next waypoint as the target waypoint and taking the current waypoint as the previous waypoint. In the direct flight state, the feature words of the waypoints need to be processed, and then the tasks of the waypoints need to be processed. And after the mission is finished, continuing the flight of the air route.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. A large-scale freight transportation unmanned aerial vehicle remote navigation implementation method is characterized by comprising the following steps:
s1, the unmanned aerial vehicle acquires route information;
s2, the unmanned plane flies in the air route;
s3, calculating the distance between the segment switching lead and the local target waypoint;
s4, judging whether the target distance is less than the advance;
s5, judging whether the current waypoint is the last waypoint;
s6, taking the next waypoint as a target waypoint;
s7, judging whether the current state is direct flight or not;
s8, processing the waypoint characteristic words;
s9, judging whether the processing time is more than 3S;
s10, processing a waypoint task;
s11, determine whether the task is finished.
2. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: in the step S1, the unmanned aerial vehicle acquires the air route information from the ground control station through the wireless communication technology, generates a navigation instruction and guides the aircraft to enter the air route for flying.
3. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: in S4, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, S5 is performed.
4. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: in S5, when the determination result is Y, the flight is instructed and then the flight is ended, and when the determination result is N, S6 is performed.
5. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: in S7, if the determination result is N, the process returns to S2, i.e., the flight is continued, and if the determination result is Y, S8 is performed.
6. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: in S9, if the determination result is N, the process returns to S8 to continue processing the waypoint feature words, and if the determination result is Y, the process proceeds to S10.
7. The large freight unmanned aerial vehicle remote navigation implementation method according to claim 1, characterized in that: and in the S11, when the judgment result is Y, returning to S2 to enter the airline flight, and when the judgment result is N, returning to S10 to continue processing the waypoint task.
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| CN202010488425.7A CN111474959A (en) | 2020-06-02 | 2020-06-02 | Large-scale freight unmanned aerial vehicle remote navigation implementation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346482A (en) * | 2020-11-25 | 2021-02-09 | 中国工程物理研究院总体工程研究所 | Flight route management method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112346482A (en) * | 2020-11-25 | 2021-02-09 | 中国工程物理研究院总体工程研究所 | Flight route management method |
| CN112346482B (en) * | 2020-11-25 | 2023-03-03 | 中国工程物理研究院总体工程研究所 | Flight route management method |
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Application publication date: 20200731 |