CN117651924A

CN117651924A - Hovering control method of aircraft, aircraft and storage medium

Info

Publication number: CN117651924A
Application number: CN202180100401.2A
Authority: CN
Inventors: 段武阳; 李晔
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2024-03-05
Also published as: WO2023029006A1

Abstract

Hover control for an aircraft, and a storage medium, the method comprising: when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover and vertical rapid hover; wherein the horizontal quick hover includes adjusting at least one of a brake gesture, a horizontal velocity gain, a horizontal velocity clipping, and a horizontal acceleration clipping, and the vertical quick hover includes adjusting at least one of a vertical velocity gain and a vertical acceleration clipping (S201).

Description

Hovering control method of aircraft, aircraft and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicle control, in particular to a hovering control method of an aircraft, the aircraft and a storage medium.

Background

In the flying process of the aircraft, the position and the angle of the obstacle in the environment relative to the aircraft, namely the pose of the obstacle, can be detected through binocular vision, and then whether the aircraft is controlled to perform the operation of decelerating and/or braking is determined through calculating the current flying speed and the pose of the obtained obstacle. But this approach only passively protects the aircraft under visually effective conditions. Since the flight state of the aircraft is uncertain, when the flight state is abnormal, such as the running state and/or the working state is abnormal, the aircraft cannot be effectively protected in time.

Disclosure of Invention

Based on the method, the aircraft and the storage medium, the method, the aircraft and the storage medium for controlling the hovering of the aircraft are provided, the hovering protection of the aircraft is timely and accurately realized, and the hovering of the aircraft is rapidly controlled.

In a first aspect, the present application provides a hover control method for an aircraft, the method comprising:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover and vertical rapid hover;

wherein the horizontal quick hover includes adjusting at least one of a brake attitude, a horizontal velocity gain, a horizontal velocity clipping, and a horizontal acceleration clipping, and the vertical quick hover includes adjusting at least one of a vertical velocity gain and a vertical acceleration clipping.

In a second aspect, the present application also provides an aircraft comprising a memory and a processor:

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement the following steps when the computer program is executed:

In a third aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the above-described method of hover control of an aircraft.

According to the hovering control method of the aircraft, the aircraft and the storage medium, in the flying process of the aircraft, when the aircraft is determined to meet the set rapid hovering condition, the aircraft is controlled to perform horizontal rapid hovering and vertical rapid hovering, wherein the horizontal rapid hovering comprises at least one of adjusting a braking gesture, a horizontal speed gain, horizontal speed limiting and horizontal acceleration limiting, and the vertical rapid hovering comprises at least one of adjusting the vertical speed gain and the vertical acceleration limiting. The method has the advantages that in the rapid hovering process of the aircraft, hovering of the aircraft is divided into horizontal hovering and vertical hovering, and the horizontal hovering and the vertical hovering are separately and independently performed, so that the interaction between horizontal processing and vertical processing is reduced, and further, the rapid hovering of the aircraft can be completed more rapidly and accurately.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic block diagram of a follower control system provided in one embodiment of the present application;

FIG. 2 is a schematic flow chart of steps of a hover control method for an aircraft provided in an embodiment of the present application;

FIG. 3 is a flow chart of the steps provided in one embodiment of the present application for controlling an aircraft to hover quickly;

FIG. 4 is a flow chart of steps provided in one embodiment of the present application for controlling an aircraft to hover horizontally and quickly;

FIG. 5 is a flow chart of steps provided in one embodiment of the present application for controlling an aircraft to hover horizontally and quickly;

FIG. 6 is a flow chart of the steps for performing horizontal quick hover provided by one embodiment of the present application;

FIG. 7 is a flow chart illustrating steps for rapid hover of an aircraft provided in accordance with yet another embodiment of the present application;

fig. 8 is a schematic block diagram of an aircraft provided in one embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

According to the hovering control method of the aircraft, when the aircraft is determined to meet the set rapid hovering condition, the aircraft is controlled to perform horizontal rapid hovering and vertical rapid hovering, so that hovering processing of the aircraft is completed rapidly and accurately.

The types of aircraft are not limited, and may be conventional consumer aircraft, and may be specially adapted aircraft, such as traversing aircraft, etc.

Referring to fig. 1, fig. 1 is a schematic block diagram of a following control system according to an embodiment of the present application. The following control system in the embodiment of the present application will be described below with reference to fig. 1.

As shown in fig. 1, the following control system 10 comprises an aircraft 100 and a control device 200, wherein the aircraft 100 is in communication connection with the control device 200, and the aircraft 100 can be used for sending collected data information and/or own flight data to the control device 200, and responding correspondingly according to the control information of the control device 200, and the control device 200 is used for displaying and/or processing the received data information.

The control device 200 includes a remote control, a cell phone, and flying glasses. A processor, a display, and a display controller may also be included. The display controller is electrically connected with the processor and connected with a display for controlling the display to display corresponding content, such as displaying image pictures.

The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (application specific integrated circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The processor may be in communication with the display controller, for example, to generate a timing signal for triggering the display controller to control the display to display the relevant content.

It will be appreciated that the display controller may be part of the display or separate from the display. The display includes LCD display, LED display, OLED display, etc.

It will be appreciated that the display may be part of the control device 200, such as the control device 200 being a mobile phone and the display being a display screen of the mobile phone; of course, an external display of the control device 200 is also possible. Accordingly, the display controller may also be part of the control device 200 or a separate part from the control device 200.

In the hover control system, upon determining that the aerial vehicle 100 satisfies a quick hover trigger condition, the aerial vehicle 100 is controlled to perform horizontal quick hover and vertical quick hover. And when determining whether the aircraft 100 satisfies the quick hover trigger condition, the control device 200 may issue, in addition to the second hover control instruction triggered by the aircraft 100 when a dangerous scene is detected, such as when a user wants to control the aircraft 100 to quickly hover, a first hover control instruction for performing quick hover is issued by the control device 200 connected to the aircraft 100, so that the aircraft 100 performs horizontal quick hover and vertical quick hover.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating steps of a hover control method for an aircraft according to an embodiment of the present application. The hovering control method of the aircraft can be applied to the aircraft so as to realize quick hovering of the aircraft in the running process of the aircraft.

As shown in fig. 2, the hover control method of the aircraft includes step S201.

S201, when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover and vertical rapid hover;

In the flight movement process of the aircraft, the operation of hovering quickly is required to ensure the safe flight of the aircraft because of the flight state or environment of the aircraft, so that if the aircraft is monitored to meet the set hovering trigger condition, the aircraft is controlled to hover horizontally and vertically quickly, so that the aircraft can perform flight adjustment in time, and the flight safety of the aircraft is further ensured.

When the aircraft is controlled to perform horizontal quick hover and vertical quick hover, different parameter combinations are adjusted to achieve horizontal quick hover and vertical quick hover of the aircraft. When the control aircraft finishes horizontal quick hovering, at least one of brake gesture, horizontal speed gain, horizontal speed amplitude limit and horizontal acceleration amplitude limit is controlled and adjusted; and when the control aircraft completes the vertical quick hover, at least one of vertical velocity gain and vertical acceleration clipping is controlled and adjusted.

Different parameter combinations correspond to different flight states, and the aircraft is controlled to adjust corresponding parameter data by setting different parameter combinations so as to realize control of the aircraft.

In an embodiment, the quick hover trigger condition includes: and receiving a first hover control command sent by control equipment of the aircraft, and/or acquiring a second hover control command sent by the aircraft when a dangerous scene is detected.

In practical applications, a user usually uses related control devices to control the flight and movement of the aircraft, wherein the control devices include, but are not limited to, a remote controller, a mobile phone, flight glasses and the like, and during the control process of using the control devices by the user, the movement of the aircraft is controlled according to actual use needs, such as flying according to a certain path or flying to a certain specific position, when the user needs to control the aircraft to hover quickly, corresponding operations are performed on the control devices, and a first hover control instruction of hovering quickly is sent to the aircraft, so that the aircraft is controlled to hover quickly horizontally and hover quickly when the first hover control instruction is received.

In addition, during the flight movement of the aircraft, in addition to the relevant control instructions sent by the control device, the flight direction of the aircraft needs to be controlled to be adjusted according to the actual flight state of the aircraft, for example, when the aircraft is close to an obstacle, so as to avoid collision with the obstacle. Of course, such situations are special situations and there are many situations, but in general, the aircraft will respond to the control command issued by the control device when it is connected to the control device.

During the flight of the aircraft, the aircraft also detects its own state to determine whether the aircraft is currently in need of rapid hover. Specifically, when the aircraft is detected to be in a dangerous scene, the aircraft can send out a second hover control instruction, so that the aircraft can hover horizontally and vertically quickly.

In an embodiment, there are many dangerous scenes, and in order to ensure the flight safety and self safety of the aircraft when the aircraft is in the dangerous scene, the aircraft needs to be controlled to be away from or depart from the dangerous scene, or the aircraft is controlled not to enter the dangerous scene when the aircraft is about to enter the dangerous scene. Exemplary, hazardous scenarios are numerous, including but not limited to: map transmission loss, control signal loss of control equipment, accelerator signal loss, flying speed higher than a preset speed threshold, distance from a preset limited flying area smaller than a preset distance threshold and collision with an obstacle.

For example, dangerous scenarios include, but are not limited to: the image transmission module of the aircraft informs that the image transmission is lost and the signal of the remote controller is lost; the IMU of the aircraft detects a severe collision; the vision or radar module of the aircraft detects the ground and the obstacle; the hardware of the aircraft detects that the signal of the high-speed accelerator of the aircraft is lost; the GPS sensor of the aircraft detects a near-flight limit or excessive speed. Of course, there are many dangerous scenes of the aircraft, and when the aircraft is in any dangerous scene, the aircraft can be controlled to hover quickly based on any embodiment.

In the flight process of the aircraft, the performance of each functional module of the aircraft can be monitored in real time, and when one or more functional modules of the aircraft are abnormal, the aircraft can be controlled to hover rapidly at the moment so as to avoid the flight accident of the aircraft.

For example, when an image transmission processing module of an aircraft is abnormal, such as when the image transmission is lost or a remote controller signal is lost, because the control equipment and a user cannot check and know the current environment state of the aircraft, if any aircraft is free to fly, a potential safety hazard exists, and therefore the aircraft can send out a hover control instruction at this time, so that the aircraft can perform flight control.

Similarly, when the flight state of the aircraft is abnormal, the aircraft can also perform self-adjustment so as to ensure the flight safety of the aircraft. For example, when the flying speed of the aircraft is higher than the set speed threshold value, the aircraft can send out a quick hover condition, and then send out an instruction for controlling the aircraft to perform horizontal and vertical quick hover so as to ensure the safe flying of the aircraft.

In addition, the need to timely control the aircraft into horizontal and vertical fast hover scenarios also includes: the distance between the aircraft and the preset flight limiting area is smaller than the set distance threshold value, and when the collision between the aircraft and the obstacle is detected, the condition of quick hover triggering of the aircraft can also comprise other conditions, which are not described one by one.

In an embodiment, referring to fig. 3, fig. 3 is a flowchart illustrating a step of controlling an aircraft to hover quickly according to an embodiment of the present application.

When the aircraft is detected to meet the quick hover condition, the aircraft is controlled to perform horizontal quick hover and vertical quick hover, and the method specifically comprises the steps S301 to S302.

Step S301, when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover, and recording the real-time horizontal speed of the aircraft;

And step S302, when the aircraft is determined to meet the vertical hovering condition according to the real-time horizontal speed, controlling the aircraft to perform vertical quick hovering.

In the flight process of the aircraft, the state of the aircraft can be monitored in real time, so when the aircraft is detected to meet the set rapid hover condition, the aircraft is controlled to perform horizontal rapid hover, the real-time horizontal speed of the aircraft during horizontal rapid hover is recorded, then in the adjustment process, whether the aircraft is controlled to perform vertical rapid hover is determined according to the obtained real-time horizontal speed, that is, whether the aircraft meets the vertical hover condition is determined according to the real-time horizontal speed, and finally when the aircraft is determined to meet the vertical hover condition, the aircraft is controlled to perform vertical rapid hover, so that the aircraft is controlled to complete hover operation through horizontal rapid hover and vertical rapid hover adjustment.

In the flight process of aircrafts, as the types of aircrafts are many, so that the flight strategy suitable for the conventional aircrafts is not necessarily suitable for the special aircrafts, a more general flight strategy needs to be set for the flight control of all aircrafts.

When the aircraft is controlled to hover quickly, the aircraft is controlled to hover horizontally and quickly, the horizontal flight state of the aircraft is adjusted firstly, so that after the aircraft is in a relatively stable state, the vertical state of the aircraft is adjusted in parallel, and the aircraft hover quickly is completed through the horizontal and vertical relatively independent adjustment.

When the horizontal quick hover and the vertical quick hover are adjusted, the aircraft can be controlled to simultaneously start the flow of the horizontal quick hover and the vertical quick hover, but the aircraft is controlled to start the horizontal adjustment and the vertical adjustment, and the specific adjustment is to start the horizontal adjustment of the aircraft first, and then to perform the vertical adjustment after the current flight state of the aircraft meets the set condition. Through the horizontal adjustment and the vertical adjustment of the aircraft controlled successively, the aircraft can still be in a more stable state when hovering quickly, and the aircraft is prevented from being in a dangerous state due to unstable adjustment.

In an embodiment, when the aircraft is controlled to hover quickly, the aircraft is controlled to hover horizontally and hover vertically according to the current flight state and running state of the aircraft. Likewise, when controlling an aircraft to do both horizontal and vertical hovering, it is also desirable that the aircraft can currently do both horizontal and vertical hovering. Referring to fig. 4, fig. 4 is a flowchart illustrating steps for controlling an aircraft to hover horizontally and quickly according to one embodiment of the present application.

Specifically, when controlling the aircraft to hover horizontally and quickly, the method comprises the following steps:

step S401, acquiring a preset gesture threshold;

step S402, comparing the flight attitude of the aircraft with the attitude threshold;

and step S403, if the flying gesture is determined to be less than or equal to the gesture threshold value, controlling the aircraft to hover horizontally and quickly.

In the operation process of the aircraft, due to the diversity of the current flight attitude of the aircraft, when the aircraft is controlled to hover quickly, whether the current flight attitude of the aircraft can hover horizontally and quickly needs to be determined, for example, when the plane of the aircraft faces downwards, the aircraft cannot be fixed high because the blades only can provide downward pulling force at the moment, and if the aircraft hovers horizontally and quickly at the moment, the aircraft can be caused to descend in an accelerating way, so that the aircraft can strike the ground at a higher speed. Thus, in controlling an aircraft to hover horizontally, it is desirable to determine whether horizontal hover is currently possible.

In an embodiment, when the aircraft is controlled to hover horizontally and quickly, a preset attitude threshold value and a current flight attitude of the aircraft are firstly obtained, then the obtained attitude threshold value and the current flight attitude of the aircraft are compared, and when the current flight attitude of the aircraft is determined to be smaller than or equal to the preset attitude threshold value, the aircraft is controlled to hover horizontally and quickly.

The flight attitude of an aircraft is determined by the Roll angle and the pitch angle of the aircraft during operation, and specifically, the flight attitude is the arithmetic square root of the sum of the squares of the Roll angle and the pitch angle. When setting the attitude threshold, the aircraft can hover horizontally and quickly normally when the flying attitude of the aircraft is the attitude threshold, and the aircraft can hover horizontally and quickly only when the specific attitude threshold is set, for example, the attitude threshold can be set to 60 degrees, that is, when the current flying attitude of the aircraft is less than or equal to 60 degrees.

When the current flight attitude of the aircraft is larger than the set attitude threshold, the aircraft cannot be controlled to hover horizontally and quickly, but further adjustment of the aircraft is needed because the aircraft needs to be controlled to hover, so that the adjusted aircraft can be adjusted horizontally and quickly, and further the aircraft can hover quickly. Specifically, after step S302, the method further includes:

if the flying gesture is determined to be greater than the gesture threshold value, controlling the aircraft to adjust the flying gesture; when the flying attitude of the aircraft is detected to be smaller than or equal to the attitude threshold value, executing the steps of: and controlling the aircraft to hover horizontally and quickly.

In an embodiment, when the current flight attitude of the aircraft is determined to be greater than the set attitude threshold, the aircraft is controlled to adjust the flight attitude, and then the flight attitude of the aircraft after the adjustment is completed meets a quick hover trigger condition, so that the aircraft can hover horizontally and quickly.

When the flight attitude of the aircraft is overlarge, the vertical speed control is firstly abandoned, the vertical speed closed loop is not performed, namely, the vertical quick hovering can not be performed no matter how the horizontal speed of the aircraft is, but the adjustment of the flight attitude is directly performed, so that the flight attitude of the aircraft is leveled to a smaller range, in particular, the plane of the aircraft paddle is ensured to face upwards, and the horizontal quick hovering is performed when the flight attitude is smaller.

When the flight attitude of the aircraft is overlarge, for example, the flight attitude of the aircraft needs to be adjusted, for example, the flight attitude of the aircraft is adjusted to be 0 degrees, so that the aircraft responds to the instruction information to adjust the flight attitude, in the adjusting process, the flight attitude of the aircraft does not necessarily need to be adjusted to be a set value, for example, 0 degrees, and only the flight attitude of the aircraft needs to meet the condition of horizontal quick hover in the adjusting process, for example, the flight attitude is smaller than or equal to 60 degrees, but the instruction information for adjusting the flight attitude to be 0 degrees is directly generated, so that the aircraft has better use efficiency without considering the set flight threshold value.

And in the self-adjusting process of the flight attitude, real-time monitoring and judgment can be carried out, so that when the aircraft is determined to meet the set rapid hovering condition according to the flight attitude, the aircraft is controlled to carry out horizontal rapid hovering.

In an embodiment, when the aircraft is controlled to hover horizontally and quickly, setting parameters for realizing horizontal and quick hover is completed, however, due to different flight environments of the aircraft, the aircraft can have the situation that part of data cannot be accurately acquired, and further, the flight information of the aircraft cannot be accurately acquired. Typical scenes such as the situation that the GPS is blocked by a building can lead to the situation that the aircraft cannot receive the speed signals fed back by the GPS sensor, and the fused real-time speed is invalid, so that the aircraft cannot know the horizontal speed of the aircraft at the moment.

Thus, referring to FIG. 5, FIG. 5 is a flow chart illustrating steps for controlling an aircraft to hover horizontally and quickly, as provided by one embodiment of the present application. Specifically, when controlling an aircraft to hover horizontally and quickly, the method comprises the following steps:

step S501, determining whether the aircraft meets a horizontal quick hover condition according to the flight speed and the flight attitude of the aircraft;

And step S502, when the aircraft is determined to meet the horizontal quick hover condition, controlling the aircraft to perform horizontal quick hover.

When the aircraft is controlled to hover horizontally and quickly, the flight speed and the flight attitude of the aircraft are firstly obtained, so that whether the aircraft meets the horizontal and quick hover condition or not is determined according to the obtained flight speed and flight attitude currently corresponding to the aircraft, and when the aircraft is determined to meet the horizontal and quick hover condition, the aircraft is controlled to hover horizontally and quickly.

In an embodiment, the horizontal quick hover condition includes: the horizontal fusion speed of the aircraft is effective, wherein the horizontal fusion speed is determined according to the fusion of the flight speed and the flight attitude of the aircraft.

In practice, when determining whether the horizontal fusion speed of the aircraft is valid, the aircraft fuses data information according to its current flight speed and flight attitude, determines that the horizontal fusion speed of the aircraft is valid when the output fusion result is detected, and determines that the horizontal fusion speed of the aircraft is invalid when the output fusion result is not detected. For example, when the aircraft cannot obtain its own flying speed, the result data after fusion cannot be output.

When determining whether the aircraft meets the horizontal quick hover, the horizontal quick hover can be performed only when the aircraft obtains a speed result obtained by fusion of the aircraft, and when the aircraft does not obtain a corresponding fusion result, in order to ensure safe flight of the aircraft, the aircraft can be correspondingly controlled at the moment, specifically, when determining that the aircraft does not meet the set horizontal quick hover condition at the moment, the flight attitude instruction of the aircraft can be regulated to zero, so that the aircraft regulates the flight attitude of the aircraft.

When the aircraft is determined to meet the set horizontal quick hover condition, the aircraft is controlled to dynamically adjust the corresponding parameters to the set values by setting the parameters to be adjusted at the moment.

In an embodiment, when the aircraft is controlled to hover horizontally and quickly, the corresponding parameter combination is set, so that the aircraft dynamically adjusts the parameter until the aircraft completes hover horizontally, and referring to fig. 6, fig. 6 is a flow chart of the step of hover horizontally and quickly provided in one embodiment of the present application.

Specifically, when the air is an aircraft to hover horizontally and quickly, the method comprises the following steps:

Step S601, determining a current corresponding horizontal parameter combination according to the flight attitude of the aircraft;

and step 602, adjusting the brake gesture, the horizontal speed gain, the horizontal speed amplitude limit and the horizontal acceleration amplitude limit of the aircraft to the parameter values corresponding to the horizontal parameter combination.

When the aircraft is controlled to hover horizontally and quickly, the method is realized through parameter setting, and when the set parameter combination and specific values corresponding to different parameters are determined, the method is determined according to the actual flight state of the aircraft. Specifically, a corresponding horizontal parameter combination is determined according to the flight attitude of the aircraft, and then the brake attitude, the horizontal speed gain, the horizontal speed amplitude limit and the horizontal acceleration amplitude limit of the aircraft are adjusted to parameter values corresponding to the horizontal parameter combination through reading numerical values corresponding to the parameters.

In practical application, when the aircraft is controlled to hover horizontally and quickly, the control is realized by controlling at least one of brake gesture, horizontal speed gain, horizontal speed amplitude limit and horizontal acceleration amplitude limit, and when how adjustment is needed to be carried out and how adjustment is needed to be carried out are determined specifically, the control is needed to be determined according to the self flight state of the aircraft.

Due to the variety of aircrafts, even if the flying postures of aircrafts are the same, the corresponding safe and proper adjusting parameters are different. For example, when a conventional low-maneuver flying aircraft needs to hover quickly in the running process, if the given parameters are too large, the attitude of the aircraft can be overshoot and oscillation, but for some aircrafts with high-attitude flying states, such as a traversing machine, relatively high parameter combinations can be set to realize the quick hover of the aircraft when the quick hover is carried out. For example, in normal flight, default parameters are used, and only in horizontal braking, several parameters which need to be adjusted are amplified, so that the braking time and distance can be reduced to the maximum extent.

In order to ensure that the horizontal quick hover can be better completed for any aircraft in any flight attitude, therefore, the parameter adjustment modes of the aircraft in different flight states, such as different parameter combinations corresponding to different flight attitudes, can be preset, and further, when the horizontal quick hover is performed, the corresponding parameter combination at the moment is determined according to the current flight state of the aircraft, such as when the horizontal quick hover is performed, the corresponding horizontal parameter combination at the moment is determined according to the current flight attitude.

In fact, when the aircraft is controlled to hover horizontally and quickly, the dynamic change is performed by controlling a plurality of different parameters, so that the aircraft has the best horizontal braking distance when hovering horizontally. Taking a traversing machine flying in a large attitude as an example, in order to ensure that the traversing machine has a smaller braking distance, the aircraft needs to be controlled to have a larger braking attitude, and the maximum braking attitude of the aircraft depends on the actual thrust-mass ratio of the aircraft, wherein the thrust-mass ratio is the ratio of the thrust of an engine of the aircraft to the mass of the aircraft, and for traversing machines with large thrust masses such as more than 5, the maximum braking attitude can be generally set to 75 degrees.

In addition, the vehicle brakes need to be adjusted in the opposite direction, for example, when the vehicle flies in front of the low head, the vehicle needs to be braked by quickly lifting the pitch, and at this time, the vehicle can continue to drift forward at a high speed due to the time from the low head to the head lifting of the pitch during high-speed flight. The shorter the attitude adjustment time, the shorter the braking distance of the aircraft. Therefore, the maximum angular velocity and the maximum angular acceleration of the controller are amplified during braking, so that the aircraft can turn over the gesture as soon as possible during braking, and the braking distance is reduced.

Obviously, the different parameter combinations are arranged to enable the aircraft to have a shorter braking distance and braking duration in a safe situation. And determining how to adjust and set each parameter of the aircraft at present through the parameter combination corresponding to different flight attitudes recorded and stored in advance in the aircraft.

Because the number of the flight attitudes of the aircraft is infinite, a mode that one flight attitude interval corresponds to one horizontal parameter combination can be adopted, and meanwhile, one parameter label is given to the flight attitude, so that when the current flight attitude of the aircraft is obtained, the label corresponding to the flight attitude is firstly determined, and then the corresponding parameter combination is obtained by inquiring according to the determined label. Therefore, when determining the horizontal parameter combination of the aircraft, determining the parameter label corresponding to the flight attitude of the aircraft, and then acquiring the parameter combination corresponding to the parameter label from the parameter list according to the obtained parameter label.

The parameter list records the corresponding relation between different parameter labels and different parameter combinations, and simultaneously records the corresponding relation between different flight attitudes and the parameter labels, wherein the parameter combinations comprise horizontal parameter combinations and vertical parameter combinations.

After the obtained horizontal parameter combination is obtained, updating the numerical value corresponding to each parameter contained in the horizontal parameter combination into the numerical value corresponding to the obtained horizontal parameter combination through parameter setting in a control system, and further after the numerical value updating is completed, horizontal hovering of the aircraft is realized.

In one embodiment, the quick hover of the aircraft is completed, and in addition to the horizontal quick hover of the aircraft, the aircraft is controlled to complete the vertical quick hover, and the aircraft is determined to complete the hover operation only after the aircraft completes both the horizontal quick hover and the vertical quick hover.

As can be seen from the foregoing description, when controlling an aircraft to hover horizontally, it is determined whether the aircraft can be controlled to hover vertically according to the real-time flight state of the aircraft, specifically, whether the condition of hover vertically is satisfied is determined by using the horizontal velocity of the aircraft, wherein when determining whether the condition of hover vertically is satisfied, it is determined by using the real-time horizontal velocity of the aircraft, whether the real-time horizontal velocity is less than or equal to the set velocity threshold is determined by acquiring the real-time horizontal velocity of the aircraft, and if the real-time horizontal velocity is less than or equal to the velocity threshold, the condition is satisfied, otherwise, the condition is not satisfied. The setting of the speed threshold can be obtained according to actual experiments, so that the aircraft can stably fly and simultaneously quickly hover.

When the aircraft is controlled to hover vertically and quickly, when the parameter combination is acquired according to the flight attitude of the aircraft, the vertical parameter combination corresponding to the vertical parameter combination when the aircraft hovers vertically and quickly is determined, so that when the aircraft is determined to meet the set vertical and quick hovering condition, the setting of each parameter is realized by reading the vertical parameter combination obtained in advance, and the aircraft is controlled to hover vertically and quickly.

For example, when the aircraft is controlled to hover vertically and quickly, the vertical speed loop command of the aircraft is set to 0, and the speed gain of the vertical speed loop is amplified, so that the acceleration command is as large as possible, and the maximum acceleration of the vertical acceleration loop is amplified, so that the vertical brake can be performed at the maximum acceleration which can be provided by the power system of the aircraft. In practice, different amplification values can be set according to different flight states and different aircrafts, and the amplification values are set, namely, different parameters are set.

The processes of controlling the aircraft to perform horizontal quick hover and vertical quick hover are controlled and processed by the aircraft after the conditions of quick hover are met, whether a user controls the aircraft to perform quick hover by using control equipment or the aircraft to perform quick hover due to dangerous environments, and in the subsequent hover process, the closed self-processing of the aircraft is completed, but in the actual application process, the safe operation of the aircraft is influenced due to the connection of the control equipment and the transmission of instructions, so that the aircraft needs to be protected by the amount of rods at the moment, and the aircraft can safely complete quick hover.

In an embodiment, due to the fact that the real-time flight speed of the aircraft cannot be obtained, when the aircraft is controlled to hover horizontally and quickly, a flight attitude instruction of the aircraft is adjusted to zero, so that the horizontal and quick hovering of the aircraft is processed. Whereas in the above description, the conditions for controlling the aircraft to hover vertically and quickly are: the flying speed of the aircraft is less than or equal to the set speed threshold, but the flying speed cannot be read at this time, so the real-time flying speed of the aircraft cannot be used as a judging condition for controlling the aircraft to hover vertically and quickly.

Based on this situation, the real-time flight attitude of the aircraft can be obtained, and then, according to the real-time flight attitude of the aircraft, it is determined when to control the aircraft to hover vertically and quickly, for example, a flight attitude threshold is set as well, and when the flight attitude threshold of the aircraft is smaller than the set attitude threshold, the aircraft is controlled to hover vertically and quickly, and also, when the flight attitude of the aircraft is zero, the aircraft can be directly controlled to hover vertically and quickly, and the method is not limited herein.

In one embodiment, referring to fig. 7, fig. 7 is a flow chart illustrating steps for rapid hover of an aircraft according to yet another embodiment of the present application.

Wherein, this step includes step S701.

Step S701, when the aircraft is controlled to perform horizontal quick hover and/or vertical quick hover, the aircraft is controlled to enter a control protection state;

and when the aircraft is in the control protection state, the control device does not respond to the rod amount control instruction sent by the control equipment of the aircraft.

In order to ensure safe regulation and flight control of the aircraft when the aircraft is controlled to hover quickly, a user can operate and control the aircraft through the control device only after the aircraft completes hovering. Thus, when it is determined that the aircraft is hovering horizontally and hovering vertically, the aircraft is controlled to control the protected state, and when the aircraft enters the controlled protected state, it does not respond to any lever control instructions issued by the control equipment of the aircraft.

Because the horizontal quick hover and the vertical quick hover are separately performed when the aircraft hovers quickly, specifically, the starting time of the vertical quick hover is determined in the horizontal quick hover process, so that the time for the aircraft to complete the horizontal quick hover and the vertical quick hover is uncertain, the aircraft can be in a control protection state when the aircraft hovers horizontally and/or vertically.

When the aircraft hovers horizontally and quickly, the horizontal speed instruction is kept to be 0 without responding to the horizontal rod quantity of the roll and the pitch sent by the user by using the control equipment, so that the aircraft is stopped as soon as possible, and if the user makes a trip at the moment and the aircraft continues to respond to the user instruction, the aircraft can be impacted.

When the aircraft has hovered horizontally, i.e., the horizontal speed is 0, it is also necessary to have the roll and pitch horizontal sticks of the aircraft centered, at which point it is determined that the horizontal quick hover of the aircraft is complete. After the aircraft exits the control protection state, the aircraft responds by toggling the roll and pitch lever amounts.

In practical application, the operation can avoid the continuous beating of roll and pitch rod amounts in the braking process, when the aircraft hovers horizontally, if the aircraft immediately exits from the braking state to respond to the user rod amounts, the aircraft may be fried due to misoperation of the user, and the operation is equivalent to the confirmation of roll and pitch rod amounts in the user, and then the rod beating takes over the aircraft control.

Likewise, control protection of the aircraft is also important when the aircraft hovers vertically and rapidly, particularly for aircraft of the type of traversing aircraft, because the throttle lever is normally not retracted while the traversing aircraft is in flight, which is inconsistent with the operating habits of consumer aircraft in which the loose lever is automatically retracted.

The reason why the throttle lever of the traversing machine does not return is mainly as follows: when the traversing machine flies, the throttle lever quantity directly corresponds to a throttle instruction of the aircraft, namely the rotating speed of the motor, the height is controlled by manually adjusting the throttle by a user, the condition of automatic height setting does not exist, and slight movement of the throttle can cause severe change of the height or the acceleration of the aircraft. Therefore, the throttle lever of the traversing machine remote controller cannot be retracted. However, when the aircraft hovers quickly, the physical meaning of the throttle lever quantity of the traversing machine is changed from a throttle command to a vertical speed command in a positioning mode due to the change of the control mode.

For this, the flight control of the aircraft is provided with a specific protection mechanism in addition to a control protection state. Because if the corresponding protection is not carried out, when the aircraft meets the quick hover condition and performs the vertical quick hover, the aircraft can suddenly and vertically descend after the vertical hover, and if the user does not concentrate on timely adjusting the throttle lever at the moment, the risk of frying the aircraft is brought. Therefore, when the control aircraft is in the control protection state, the control aircraft is in a state of vertical quick hovering, so that the control aircraft is controlled to hover continuously when the door pole quantity is not set to 0.

The protection strategy is specifically as follows: after the vertical brake is triggered, the throttle lever is measured to be 0 even if the throttle lever is not in the middle position, so that the aircraft can hover vertically after the vertical brake. Then if the user has not moved the throttle lever, the aircraft will continue to hover. When the user moves the throttle lever, the actual throttle lever quantity is restored at the moment, so that the user can immediately take over control.

In an embodiment, after the controlling aircraft enters the controlling protection state, determining when the controlling aircraft exits the controlling protection state according to the actual hovering result includes: acquiring the real-time speed of the aircraft; and when the real-time speed is determined to be zero, determining that the hovering of the aircraft is completed, and controlling the aircraft to exit the control protection state.

In the actual flight process of the aircraft, when the aircraft is in a hovering state, the corresponding flight speed is zero, so when whether the aircraft is controlled to exit the control protection state is determined, the aircraft is determined to be in the hovering state at the moment by acquiring the real-time flight speed of the flight, and then the aircraft is determined to complete the hovering operation when the flight speed of the aircraft is determined to be zero, namely, the aircraft can be controlled to exit the control protection state at the moment.

In addition, as can be seen from the above description, after the aircraft has completed hovering, it is generally not necessary to make a determination of other operations, such as a conventional consumer aircraft, but for a particular aircraft, such as a traversing aircraft, it is also necessary to make a determination of other operational feasibility due to several differences in operation from a conventional aircraft. Illustratively, traversing machines differ in the use of throttle lever amounts compared to conventional consumer aircraft, specifically: the throttle lever quantity of the conventional consumer aircraft is automatically recovered when the lever is released, but a traversing machine and the like cannot be recovered automatically. Meanwhile, for a traversing machine, the throttle lever quantity represents different meanings during normal flight and hovering, so that operation risks exist.

Such as: the user is cruising in manual mode with the throttle in a lower position (e.g., -0.3) representing an average speed of the four motors of the aircraft of 30% of maximum speed, and the vertical hover throttle of the traversing machine is typically near the throttle. At this point the user triggers a quick hover and then enters a detent mode where a-0.3 stick quantity means that the aircraft should be at a-0.3 x vertical maximum speed (e.g., 10m/s vertical maximum speed, then means that the aircraft should descend at-3 m/s).

Thus, after the control aircraft exits the control protection state, it further comprises: if the throttle lever moving instruction sent by the control equipment is not detected to be received, the throttle lever value of the aircraft is kept to be zero; and if the throttle lever movement instruction sent by the control equipment is detected to be received, updating the throttle lever quantity of the aircraft to a current corresponding real-time value.

That is, when the control aircraft exits the control protection state, there is also protection for the amount of throttle lever of the aircraft, which is for the aircraft that is not going back when the throttle lever is released. And when the throttle lever is not required to be subjected to the memory control movement, the throttle lever value of the aircraft is kept to be zero, so that the aircraft is ensured to be in a vertical hovering state when the throttle lever control instruction is not received.

In the above-described hovering control method of an aircraft, and a storage medium, during flight of the aircraft, when it is determined that the aircraft satisfies a set quick hover condition, the aircraft is controlled to perform horizontal quick hover and vertical quick hover, wherein the horizontal quick hover includes at least one of adjusting a braking attitude, a horizontal velocity gain, a horizontal velocity clipping, and a horizontal acceleration clipping, and the vertical quick hover includes at least one of adjusting a vertical velocity gain and a vertical acceleration clipping. The method has the advantages that in the rapid hovering process of the aircraft, hovering of the aircraft is divided into horizontal hovering and vertical hovering, and the horizontal hovering and the vertical hovering are separately and independently performed, so that the interaction between horizontal processing and vertical processing is reduced, and further, the rapid hovering of the aircraft can be completed more rapidly and accurately.

Referring to fig. 8, fig. 8 is a schematic block diagram of an aircraft provided in one embodiment of the present application. The aircraft 21 comprises a processor 211 and a memory 212, the processor 211 and the memory 212 being connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 211 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 212 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the aircraft is communicatively connectable to a control terminal, the processor 211 is configured to run a computer program stored in a memory and to implement the following steps when the computer program is executed:

In some embodiments, the quick hover trigger condition includes: and receiving a first hover control instruction sent by control equipment of the aircraft, or acquiring a second hover control instruction triggered by the aircraft when a dangerous scene is detected.

In some embodiments, the control device comprises at least one of: remote controller, cell-phone and flight glasses.

In some embodiments, the hazard scenario comprises at least one of: map transmission loss, control signal loss of control equipment, accelerator signal loss, flying speed higher than a preset speed threshold, distance from a preset limited flying area smaller than a preset distance threshold and collision with an obstacle.

In some embodiments, when the processor 211 realizes that the aircraft is detected to meet the quick hover trigger condition, the control of the aircraft to perform horizontal quick hover and vertical quick hover is specifically realized:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover, and recording the real-time horizontal speed of the aircraft;

and when the aircraft meets the vertical hovering condition according to the real-time horizontal speed, controlling the aircraft to perform vertical quick hovering.

In some embodiments, the processor 211, when implementing the control of the aircraft to perform horizontal hovering, specifically implements:

acquiring a preset gesture threshold;

comparing the flight attitude of the aircraft with the attitude threshold;

and if the flying gesture is determined to be less than or equal to the gesture threshold value, controlling the aircraft to hover horizontally and quickly.

In some embodiments, after implementing the comparing the flying attitude of the aircraft with the attitude threshold, the processor 211 specifically implements:

if the flying gesture is determined to be greater than the gesture threshold value, controlling the aircraft to adjust the flying gesture;

when the flying attitude of the aircraft is detected to be smaller than or equal to the attitude threshold value, executing the steps of: and controlling the aircraft to hover horizontally and quickly.

determining whether the aircraft meets a horizontal quick hover condition according to the flight speed and the flight attitude of the aircraft;

and controlling the aircraft to perform horizontal quick hover when the aircraft is determined to meet the horizontal quick hover condition.

In some embodiments, the horizontal quick hover condition includes: the horizontal fusion speed of the aircraft is effective, wherein the horizontal fusion speed is determined according to the fusion of the flight speed and the flight attitude of the aircraft.

In some embodiments, the processor 211, after implementing the determining whether the aircraft satisfies a horizontal hover condition, implements:

and when the aircraft is determined not to meet the horizontal quick hover condition, adjusting a flight attitude instruction of the aircraft to zero.

determining a horizontal parameter combination corresponding to the current state according to the flight attitude of the aircraft;

and adjusting the braking gesture, the horizontal speed gain, the horizontal speed amplitude limiting and the horizontal acceleration amplitude limiting of the aircraft to the parameter values corresponding to the horizontal parameter combination.

In some embodiments, when the processor 211 determines the current corresponding level parameter set according to the flight attitude of the aircraft, the specific implementation is as follows:

determining a parameter tag corresponding to the flight attitude of the aircraft, and acquiring a corresponding parameter combination in a parameter list according to the parameter tag to form a horizontal parameter combination;

The parameter list is recorded with corresponding relations between different parameter labels and different parameter combinations, and the parameter combinations comprise horizontal parameter combinations and vertical parameter combinations.

In some embodiments, the vertical hover condition includes: the real-time horizontal velocity of the aircraft is less than or equal to a preset velocity threshold.

In some embodiments, the processor 211, when implementing the controlling the aircraft to perform vertical hovering when determining that the aircraft meets a vertical hovering condition according to the real-time horizontal velocity, is specifically implemented:

when the aircraft is determined to meet the vertical hovering condition, determining a vertical parameter combination corresponding to the current aircraft according to the parameter tag;

and limiting the vertical speed gain and the vertical angular speed of the aircraft to be adjusted to the parameter values corresponding to the vertical parameter combination.

In some embodiments, the processor 211, when implementing the method, specifically implements:

when the aircraft is controlled to perform horizontal quick hovering and/or vertical quick hovering, the aircraft is controlled to enter a control protection state;

In some embodiments, the processor 211 is configured to, after implementing the controlling the aircraft to enter a control protection state:

acquiring the real-time speed of the aircraft;

and when the real-time speed is determined to be zero, determining that the hovering of the aircraft is completed, and controlling the aircraft to exit the control protection state.

if the throttle lever moving instruction sent by the control equipment is not detected to be received, the throttle lever value of the aircraft is kept to be zero;

and if the throttle lever movement instruction sent by the control equipment is detected to be received, updating the throttle lever quantity of the aircraft to a current corresponding real-time value.

An embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the hover control method of an aircraft provided in the foregoing embodiment.

The computer readable storage medium may be an internal storage unit of the aircraft according to any of the foregoing embodiments, for example, a hard disk or a memory of the aircraft. The computer readable storage medium may also be an external storage device of the aircraft, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are equipped on the aircraft.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A method of hover control for an aircraft, the method comprising:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover and vertical rapid hover;

wherein the horizontal quick hover includes adjusting at least one of a brake attitude, a horizontal velocity gain, a horizontal velocity clipping, and a horizontal acceleration clipping, and the vertical quick hover includes adjusting at least one of a vertical velocity gain and a vertical acceleration clipping.
The method of claim 1, wherein the quick hover trigger condition comprises: and receiving a first hover control instruction sent by control equipment of the aircraft, or acquiring a second hover control instruction triggered by the aircraft when a dangerous scene is detected.
The method of claim 2, wherein the control device comprises at least one of: remote controller, cell-phone and flight glasses.
The method of claim 2, wherein the hazardous scenario comprises at least one of: map transmission loss, control signal loss of control equipment, accelerator signal loss, flying speed higher than a preset speed threshold, distance from a preset limited flying area smaller than a preset distance threshold and collision with an obstacle.
The method of claim 1, wherein the controlling the aircraft to perform horizontal and vertical hovering upon detecting that the aircraft satisfies a hover trigger condition comprises:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover, and recording the real-time horizontal speed of the aircraft;

and when the aircraft meets the vertical hovering condition according to the real-time horizontal speed, controlling the aircraft to perform vertical quick hovering.
The method of claim 5, wherein the controlling the aircraft to hover horizontally comprises:

Acquiring a preset gesture threshold;

comparing the flight attitude of the aircraft with the attitude threshold;

and if the flying gesture is determined to be less than or equal to the gesture threshold value, controlling the aircraft to hover horizontally and quickly.
The method of claim 6, wherein the comparing the attitude of the aircraft to the attitude threshold value is followed by:

if the flying gesture is determined to be greater than the gesture threshold value, controlling the aircraft to adjust the flying gesture;

when the flying attitude of the aircraft is detected to be smaller than or equal to the attitude threshold value, executing the steps of: and controlling the aircraft to hover horizontally and quickly.
The method of claim 5, wherein the controlling the aircraft to hover horizontally comprises:

determining whether the aircraft meets a horizontal quick hover condition according to the flight speed and the flight attitude of the aircraft;

and controlling the aircraft to perform horizontal quick hover when the aircraft is determined to meet the horizontal quick hover condition.
The method of claim 8, wherein the horizontal quick hover condition comprises: the horizontal fusion speed of the aircraft is effective, wherein the horizontal fusion speed is determined according to the fusion of the flight speed and the flight attitude of the aircraft.
The method of claim 8, wherein after the determining whether the aircraft satisfies a horizontal hover condition, further comprising:

and when the aircraft is determined not to meet the horizontal quick hover condition, adjusting a flight attitude instruction of the aircraft to zero.
The method of claim 8, wherein the controlling the aircraft to hover horizontally comprises:

determining a horizontal parameter combination corresponding to the current state according to the flight attitude of the aircraft;

and adjusting the braking gesture, the horizontal speed gain, the horizontal speed amplitude limiting and the horizontal acceleration amplitude limiting of the aircraft to the parameter values corresponding to the horizontal parameter combination.
The method of claim 11, wherein determining the current corresponding combination of horizontal parameters based on the attitude of the aircraft comprises:

determining a parameter tag corresponding to the flight attitude of the aircraft, and acquiring a corresponding parameter combination in a parameter list according to the parameter tag to form a horizontal parameter combination;

the parameter list is recorded with corresponding relations between different parameter labels and different parameter combinations, and the parameter combinations comprise horizontal parameter combinations and vertical parameter combinations.
The method of claim 5, wherein the vertical hover condition comprises: the real-time horizontal velocity of the aircraft is less than or equal to a preset velocity threshold.
The method of claim 11, wherein controlling the aerial vehicle to hover vertically when the aerial vehicle is determined to satisfy a hover vertical condition based on the real-time horizontal velocity comprises:

when the aircraft is determined to meet the vertical hovering condition, determining a vertical parameter combination corresponding to the current aircraft according to the parameter tag;

and limiting the vertical speed gain and the vertical angular speed of the aircraft to be adjusted to the parameter values corresponding to the vertical parameter combination.
The method according to any one of claims 1 to 14, further comprising:

when the aircraft is controlled to perform horizontal quick hovering and/or vertical quick hovering, the aircraft is controlled to enter a control protection state;

and when the aircraft is in the control protection state, the control device does not respond to the rod amount control instruction sent by the control equipment of the aircraft.
The method of claim 15, wherein after said controlling said aircraft into a control protection state, further comprising:

Acquiring the real-time speed of the aircraft;

and when the real-time speed is determined to be zero, determining that the hovering of the aircraft is completed, and controlling the aircraft to exit the control protection state.
The method of claim 16, wherein the controlling the aircraft after exiting the control protection state further comprises:

if the throttle lever moving instruction sent by the control equipment is not detected to be received, the throttle lever value of the aircraft is kept to be zero;

and if the throttle lever movement instruction sent by the control equipment is detected to be received, updating the throttle lever quantity of the aircraft to a current corresponding real-time value.
An aircraft, the aircraft comprising a memory and a processor:

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement the following steps when the computer program is executed:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover and vertical rapid hover;

wherein the horizontal quick hover includes adjusting at least one of a brake attitude, a horizontal velocity gain, a horizontal velocity clipping, and a horizontal acceleration clipping, and the vertical quick hover includes adjusting at least one of a vertical velocity gain and a vertical acceleration clipping.
The aircraft of claim 18, wherein the quick hover trigger condition comprises: and receiving a first hover control instruction sent by control equipment of the aircraft, or acquiring a second hover control instruction triggered by the aircraft when a dangerous scene is detected.
The aircraft of claim 19, wherein the control device comprises at least one of: remote controller, cell-phone and flight glasses.
The aircraft of claim 19, wherein the hazardous scenario comprises at least one of: map transmission loss, control signal loss of control equipment, accelerator signal loss, flying speed higher than a preset speed threshold, distance from a preset limited flying area smaller than a preset distance threshold and collision with an obstacle.
The aerial vehicle of claim 18, wherein the processor, when executing the controlling the aerial vehicle to perform horizontal and vertical hovering when detecting that the aerial vehicle satisfies a hover trigger condition, comprises:

when the aircraft is detected to meet the rapid hover triggering condition, controlling the aircraft to perform horizontal rapid hover, and recording the real-time horizontal speed of the aircraft;

And when the aircraft meets the vertical hovering condition according to the real-time horizontal speed, controlling the aircraft to perform vertical quick hovering.
The aircraft of claim 22, wherein the processor, when performing the controlling the aircraft to hover horizontally, comprises:

acquiring a preset gesture threshold;

comparing the flight attitude of the aircraft with the attitude threshold;

and if the flying gesture is determined to be less than or equal to the gesture threshold value, controlling the aircraft to hover horizontally and quickly.
The aircraft of claim 23, wherein the processor, after performing the comparing the attitude of the aircraft to the attitude threshold, further comprises:

if the flying gesture is determined to be greater than the gesture threshold value, controlling the aircraft to adjust the flying gesture;

when the flying attitude of the aircraft is detected to be smaller than or equal to the attitude threshold value, executing the steps of: and controlling the aircraft to hover horizontally and quickly.
The aircraft of claim 22, wherein the processor, when performing the controlling the aircraft to hover horizontally, comprises:

Determining whether the aircraft meets a horizontal quick hover condition according to the flight speed and the flight attitude of the aircraft;

and controlling the aircraft to perform horizontal quick hover when the aircraft is determined to meet the horizontal quick hover condition.
The aircraft of claim 25, wherein the horizontal quick hover condition comprises: the horizontal fusion speed of the aircraft is effective, wherein the horizontal fusion speed is determined according to the fusion of the flight speed and the flight attitude of the aircraft.
The aircraft of claim 25, wherein the processor, after performing the determining whether the aircraft satisfies a horizontal hover condition, further comprises:

and when the aircraft is determined not to meet the horizontal quick hover condition, adjusting a flight attitude instruction of the aircraft to zero.
The aircraft of claim 25, wherein the processor, when performing the controlling the aircraft to hover horizontally, comprises:

determining a horizontal parameter combination corresponding to the current state according to the flight attitude of the aircraft;

and adjusting the braking gesture, the horizontal speed gain, the horizontal speed amplitude limiting and the horizontal acceleration amplitude limiting of the aircraft to the parameter values corresponding to the horizontal parameter combination.
The aircraft of claim 28, wherein the processor, when executing the determining the currently corresponding combination of horizontal parameters from the attitude of the aircraft, comprises:

determining a parameter tag corresponding to the flight attitude of the aircraft, and acquiring a corresponding parameter combination in a parameter list according to the parameter tag to form a horizontal parameter combination;

the parameter list is recorded with corresponding relations between different parameter labels and different parameter combinations, and the parameter combinations comprise horizontal parameter combinations and vertical parameter combinations.
The aircraft of claim 22, wherein the vertical hover condition comprises: the real-time horizontal velocity of the aircraft is less than or equal to a preset velocity threshold.
The aerial vehicle of claim 28, wherein the processor, when executing the controlling the aerial vehicle to hover vertically when determining from the real-time horizontal velocity that the aerial vehicle satisfies a hover vertical condition, comprises:

when the aircraft is determined to meet the vertical hovering condition, determining a vertical parameter combination corresponding to the current aircraft according to the parameter tag;

And limiting the vertical speed gain and the vertical angular speed of the aircraft to be adjusted to the parameter values corresponding to the vertical parameter combination.
The aircraft of any one of claims 18 to 31, wherein the processor, when executing the computer program, further implements:

when the aircraft is controlled to perform horizontal quick hovering and/or vertical quick hovering, the aircraft is controlled to enter a control protection state;

and when the aircraft is in the control protection state, the control device does not respond to the rod amount control instruction sent by the control equipment of the aircraft.
The aircraft of claim 32, wherein the processor, after performing the controlling the aircraft to enter a control protection state, further comprises:

acquiring the real-time speed of the aircraft;

and when the real-time speed is determined to be zero, determining that the hovering of the aircraft is completed, and controlling the aircraft to exit the control protection state.
The aircraft of claim 33, wherein the processor, after performing the controlling the aircraft to exit the control protection state, further comprises:

if the throttle lever moving instruction sent by the control equipment is not detected to be received, the throttle lever value of the aircraft is kept to be zero;

And if the throttle lever movement instruction sent by the control equipment is detected to be received, updating the throttle lever quantity of the aircraft to a current corresponding real-time value.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the hover control method of an aircraft according to any of claims 1 to 17.