CN103365298B - The flight assisting system and method for unmanned vehicle - Google Patents
The flight assisting system and method for unmanned vehicle Download PDFInfo
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- CN103365298B CN103365298B CN201310283350.9A CN201310283350A CN103365298B CN 103365298 B CN103365298 B CN 103365298B CN 201310283350 A CN201310283350 A CN 201310283350A CN 103365298 B CN103365298 B CN 103365298B
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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
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- 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
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
Abstract
The invention discloses the flight assisting system and method for a kind of unmanned vehicle, belong to unmanned vehicle field, the system includes remote control, mobile terminal and state measurement sensor, wherein, state measurement sensor is used to measure the positional information and state of flight information of unmanned vehicle；Mobile terminal is used to obtain positional information of the unmanned vehicle relative to observation position according to the positional information and observation positional information of unmanned vehicle, and exports the state of flight information and the positional information relative to observation position of unmanned vehicle；Remote control is used to control the flight of unmanned vehicle.The system and method that the present invention is provided, by grasping the flight position and state of flight of unmanned vehicle, help manipulator to control the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, while improve the flight experience of manipulator.
Description
Technical field
The present invention relates to unmanned vehicle, more particularly to a kind of unmanned vehicle flight assisting system and method.
Background technology
In recent years, unpiloted aircraft (such as fixed wing aircraft, rotor craft includes helicopter), motor vehicle
, submarine or ship, and satellite, space station, or airship etc. are widely used, such as, in detecting, the field such as search and rescue.
Manipulation for these movable bodies is generally realized by user by remote control.
Remotely-piloted vehicle, submarine, or motor vehicles with carrying carrier, for example, can carry the carrier dress of camera or illuminating lamp
Put.For example, camera can be loaded with a kind of telecontrolled aircraft to be taken photo by plane.
Manipulator in operational movement body, such as during unmanned vehicle, because unmanned vehicle average physique is smaller,
Fly it is remote in the case of (such as four or five hundred meters) be with the naked eye difficult to see that in this case, manipulator is difficult to observe nobody and flies
The course heading of row device, be equivalent to it is blind fly, if the supplementary means do not flown, unmanned vehicle is just easy to fly to lose.Separately
Outward, if if flying, being too absorbed in display screen using FPV (First Person View, first person) patterns,
Finally it is likely to cause the position for not making clear that unmanned vehicle is current, causes to get lost or even fly to lose, and while see
FPV, while noting the position of unmanned vehicle, then can allow Consumer's Experience to be had a greatly reduced quality.
The content of the invention
In view of this, the technical problem to be solved in the present invention is to provide flight assisting system and the side of a kind of unmanned vehicle
Method, to help manipulator to grasp current flight position and the state of flight of unmanned vehicle, and can accordingly control unmanned vehicle
Flight.
The technical scheme that present invention solution above-mentioned technical problem is used is as follows：
According to an aspect of the present invention, there is provided a kind of unmanned vehicle accessory system include remote control, mobile terminal,
And the state measurement sensor on unmanned vehicle is arranged on, wherein：
State measurement sensor, positional information and state of flight information for measuring unmanned vehicle；
Mobile terminal, the positional information for obtaining observation position, is additionally operable to obtain unmanned vehicle by wireless network
Positional information and state of flight information, the positional information of positional information according to unmanned vehicle and observation position obtains nobody
Positional information of the aircraft relative to observation position；And by the state of flight information and unmanned vehicle of unmanned vehicle relative to
The positional information for observing position is displayed on the display screen of the mobile terminal by the form of figure, the unmanned vehicle
It with ground level is reference that the course of state of flight information including unmanned vehicle and the course of the unmanned vehicle are, with institute
The placement direction for stating display screen is unrelated；
Remote control, the state of flight information of unmanned vehicle and unmanned vehicle for being exported according to mobile terminal is relative
In the positional information of observation position, the flight of unmanned vehicle is controlled.
Preferably, the position that observation position is taken off for the position of manipulator or unmanned vehicle；
When observe position for manipulator position when, the positional information of manipulator is by being attached to manipulator or in manipulator
Sensor on entrained object is obtained；When the position that position is taken off for unmanned vehicle is observed, unmanned vehicle takes off
Position obtained by being arranged on carry-on state measurement sensor.
Preferably, mobile terminal includes：
Data obtaining module, for obtain observation position positional information, be additionally operable to by wireless network obtain nobody fly
The positional information and state of flight information of row device；
Message processing module, the positional information for the positional information according to unmanned vehicle and observation position obtains nobody
Positional information of the aircraft relative to observation position；
Message output module, for receiving and export the state of flight information and unmanned vehicle of unmanned vehicle relative to
Observe the positional information of position.
Preferably, the state of flight information also includes elevation information of the unmanned vehicle relative to ground.
Preferably, the unmanned vehicle includes unmanned vehicle relative to observation relative to the positional information of observation position
The angle of position, wherein, it with ground level is reference that the unmanned vehicle is relative to the angle of observation position, aobvious with described
The placement direction of display screen is unrelated.
Preferably, data obtaining module also includes terminal attitude measurement module, wherein：Terminal attitude measurement module, is used for
The azimuth of the screen datum line of display screen is detected, the screen datum line of the display screen refers to parallel with one side of display screen
Reference line, the azimuth of the screen datum line of the display screen refers to projection and direct north of the screen datum line in ground level
Angle；Message processing module, the screen datum line for figure to be reversely rotated the display screen with respect to the positive optical axis of display screen
Azimuth, the positive optical axis of the display screen refers to the axle perpendicular to display screen.
Preferably, message processing module, judge display screen screen datum line azimuth and unmanned vehicle relative to
Whether the azimuthal difference for observing position is less than predetermined threshold value, and display screen elevation angle and unmanned vehicle relative to sight
The difference of elevation angle of position is examined less than predetermined threshold value, if it is, produced that on screen target prompting information is captured, its
In, the screen datum line of the display screen refers to the reference line parallel with one side of display screen, the screen benchmark of the display screen
The azimuth of line refers to screen datum line in the projection of ground level and the angle of direct north, and the elevation angle of the display screen refers to
The angle of the positive optical axis of display screen and ground level.
Preferably, the predetermined threshold value is 10 degree.
According to another aspect of the present invention, there is provided a kind of unmanned vehicle flight householder method, including following step
Suddenly：
The positional information and state of flight information of unmanned vehicle are measured by state measurement sensor；
The positional information of position is observed by acquisition for mobile terminal, the positional information of unmanned vehicle is obtained by wireless network
Positional information with state of flight information, and positional information according to unmanned vehicle and observation position obtains unmanned vehicle phase
For the positional information for observing position；By the state of flight information and unmanned vehicle of unmanned vehicle relative to observation position
Positional information is displayed on the display screen of the mobile terminal by the form of figure, the state of flight letter of the unmanned vehicle
It with ground level is to refer to that breath includes that the course of the course of unmanned vehicle and the unmanned vehicle is, with the display screen
Placement direction is unrelated；
The state of flight information and unmanned vehicle of the unmanned vehicle exported according to mobile terminal by remote control relative to
The positional information of position is observed, the flight of unmanned vehicle is controlled.
Preferably, the position that observation position is taken off for the position of manipulator or unmanned vehicle；
When observe position for manipulator position when, the positional information of manipulator is by being attached to manipulator or in manipulator
Sensor on entrained object is obtained；
When the position that position is taken off for unmanned vehicle is observed, the position that unmanned vehicle takes off is by being arranged on flight
State measurement sensor on device is obtained.
Preferably, the state of flight information also includes elevation information of the unmanned vehicle relative to ground.
Preferably, the unmanned vehicle includes unmanned vehicle relative to observation relative to the positional information of observation position
The angle of position, wherein, it with ground level is reference that the unmanned vehicle is relative to the angle of observation position, aobvious with described
The placement direction of display screen is unrelated.
Preferably, the method also includes：The azimuth of the screen datum line of display screen phase is obtained, and figure is shown relatively
The positive optical axis of screen reversely rotates the azimuth of the screen datum line of the display screen, wherein, the screen datum line of the display screen
Refer to the reference line parallel with one side of display screen, the azimuth of the screen datum line of the display screen refers to that screen datum line exists
The projection of ground level and the angle of direct north, the positive optical axis of the display screen refers to the axle perpendicular to display screen.
Preferably, the method also includes：Judge display screen screen datum line azimuth and unmanned vehicle relative to
Whether the azimuthal difference for observing position is less than predetermined threshold value, and display screen elevation angle and unmanned vehicle relative to sight
The difference of elevation angle of position is examined less than predetermined threshold value, if it is, produced that on screen target prompting information is captured, its
In, the screen datum line of the display screen refers to the reference line parallel with one side of display screen, the screen benchmark of the display screen
The azimuth of line refers to screen datum line in the projection of ground level and the angle of direct north, and the elevation angle of the display screen refers to
The angle of the positive optical axis of display screen and ground level.
Preferably, the predetermined threshold value is 10 degree.
Unmanned vehicle accessory system and flight householder method that the present invention is provided, by the flight for grasping unmanned vehicle
Position and state of flight, help manipulator to control the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, while improve
The flight experience of manipulator.
Brief description of the drawings
Fig. 1 is a kind of flight assisting system structural representation of unmanned vehicle provided in an embodiment of the present invention；
A kind of modular structure schematic diagram of mobile terminal that Fig. 2 is provided for the preferred embodiment of the present invention；
A kind of display screen east-west direction horizontal positioned display unmanned vehicle position that Fig. 3 is provided for the preferred embodiment of the present invention
Put the schematic diagram with course；
A kind of display screen North and South direction horizontal positioned display unmanned vehicle position that Fig. 4 is provided for the preferred embodiment of the present invention
Put the schematic diagram with course；
Fig. 5 is azimuth schematic diagram provided in an embodiment of the present invention；
A kind of azimuth of the screen datum line of display screen that Fig. 6 is provided for the preferred embodiment of the present invention and unmanned vehicle
Schematic diagram when azimuth relative to observation position is consistent；
A kind of positive optical axis of display screen that Fig. 7 preferred embodiment of the present invention is provided is just to the schematic diagram of unmanned vehicle；
Fig. 8 is the schematic diagram of the elevation angle of unmanned vehicle provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of the elevation angle of display screen provided in an embodiment of the present invention；
A kind of flow chart of the flight householder method of unmanned vehicle that Figure 10 is provided for the preferred embodiment of the present invention.
Specific embodiment
In order that the technical problems to be solved by the invention, technical scheme and beneficial effect are clearer, clear, below tie
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
It is used to explain the present invention, is not intended to limit the present invention.
Such as the flight assisting system structural representation that Fig. 1 is a kind of unmanned vehicle provided in an embodiment of the present invention, this is
System includes remote control 30, mobile terminal 20 and the state measurement sensor 101 being arranged on unmanned vehicle 10, wherein：
State measurement sensor 10, positional information and state of flight information for measuring unmanned vehicle 10；
Wherein, flight position information includes longitude and latitude, and state of flight information can include pitching, roll and course,
The flying height information of unmanned vehicle 10 can also be included.
Mobile terminal 20, the positional information for obtaining observation position, is additionally operable to obtain unmanned flight by wireless network
The positional information and state of flight information of device 10, are additionally operable to the position of the positional information and observation position according to unmanned vehicle 10
Information obtains positional information of the unmanned vehicle 10 relative to observation position；And export the state of flight information of unmanned vehicle 10
Positional information with unmanned vehicle 10 relative to observation position；
Wherein, observation position can be the position, or manipulation that the position of manipulator and unmanned vehicle 10 take off
Any one in the position that the position of person and unmanned vehicle take off.When the position that position is manipulator is observed, manipulator
Positional information obtained by being attached to manipulator or sensor on the object entrained by manipulator；When observation position is nothing
During the position that people's aircraft 10 takes off, the position that unmanned vehicle 10 takes off is sensed by being arranged on carry-on state measurement
Device 101 is obtained.Specifically, manipulator position and the positional information of mobile terminal 20 are same information, it is possible to passed through
The positional information of the positional information of mobile terminal 20 comes precise assembly person, it is also possible to by being attached to manipulator or in manipulator institute
Sensor on the object of carrying is obtained.When mobile terminal 20 there are GPS functions, the gps coordinate of mobile terminal is obtained as behaviour
The positional information of control person.When mobile terminal 20 is without GPS functions, the positional information of unmanned vehicle takeoff point is obtained, wherein,
The positional information of takeoff point is that unmanned vehicle searches the position recorded during enough position location satellites after the power-up, for the first time
Confidence ceases.
Manipulator can as needed select the position that the position of manipulator or unmanned vehicle take off as observation position,
Now need a selecting module.Observation position initially can also be just set, is not selected by manipulator.
Wireless network includes Wi-Fi network, certainly, is communicated also by other networks, such as 2G 3G 4G and not
The 5G for coming, as long as unmanned vehicle 10 and mobile terminal 20 are communicated by all supporting these communication protocols.
Remote control 30, for the state of flight information of unmanned vehicle 10 and unmanned vehicle that are exported according to mobile terminal
10, relative to the positional information for observing position, control the flight of unmanned vehicle 10.
Wherein, the state of flight information of output unmanned vehicle 10 includes the course of unmanned vehicle 10, unmanned vehicle
10 include unmanned vehicle 10 and observe the distance between position and unmanned vehicle 10 relative to the positional information of observation position
Relative to observation position angle, remote control 30 accordingly information control unmanned vehicle 10 flight.
Such as a kind of modular structure schematic diagram of mobile terminal that Fig. 2 is provided for the preferred embodiment of the present invention, the mobile terminal
20 include the data obtaining module 201, message processing module 202 and the message output module 203 that are sequentially connected, wherein：
Data obtaining module 201 further includes that observation position information acquisition module 2011 and flight position and state are obtained
Module 2012, wherein, observation position information acquisition module 2011 is used to obtain the positional information of observation position, flight position and shape
State acquisition module 2012 is used to obtain the positional information and state of flight information of unmanned vehicle.
Message processing module 202, the positional information for the positional information according to unmanned vehicle and observation position is obtained
Unmanned vehicle transmits unmanned vehicle relative to the positional information of observation position relative to the positional information for observing position
To message output module；
Message output module 203, for exporting the state of flight information and unmanned vehicle of unmanned vehicle relative to sight
Examine the positional information of position.
Used as a kind of preferred scheme of the present embodiment, message output module 203 can be by unmanned vehicle and observation position
The distance between put and unmanned vehicle is shown relative to the angle of observation position, the course of unmanned vehicle by the form of figure
Show on a display screen.Wherein, unmanned vehicle includes relative to observation location fix angle and phase relative to the angle of observation position
For the elevation angle for observing position, figure can be planar graph, or solid figure.Fig. 3 and Fig. 4 is referred to, is shown
Figure in arrow represent unmanned vehicle position, the sensing of arrow represent be unmanned vehicle course, the center of circle represents
Observation position position, arrow represents the position of unmanned vehicle and observes the line of position in ground level with the line in the center of circle
On projection, the angle a in the positive north in line and ground represents azimuth of the unmanned vehicle relative to observation position, to observe position
Several circles in the center of circle are set to, represent unmanned vehicle with a distance from observation position from closely to remote (such as adjacent from the inside to surface
Semidiameter between circle is 50 meters), the safe distance of flight is wherein represented in the range of dashed circle, when unmanned vehicle is in peace
When outside full distance, except figure shows go beyond the scope, can also can be led to by voice or word prompting manipulator, manipulator
The path for crossing Controlling model flight is controlled to be flown in safe range, so as to avoid blind winged and fly to lose (as shown in Figure 3
Situation, manipulator only needs to make bar toward lower left, can just allow unmanned vehicle to fly back and come).
Used as another preferred scheme of the present embodiment, data obtaining module 201 also includes terminal attitude measurement module
2013, the azimuth of the screen datum line for measuring display screen, and the azimuth of the screen datum line of the display screen is sent out
Give message processing module 202；The figure that message processing module 202 will show reversely rotates described with respect to the positive optical axis of display screen
Azimuth.To cause that relative position and course angle that unmanned vehicle is shown on display screen are kept with ground as reference, with movement
The horizontal positioned direction of the display screen of terminal and to be disposed vertically direction unrelated.
Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be on display screen
The line at following midpoint, bottom and upper segment refers to that, when the figure of display is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to screen datum line ground level projection with just
The north to angle (B angles as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, it is also possible to be considered
People soon display screen when, be to be observed perpendicular to the angle of display screen (as shown in Figure 7) of display screen.
When the display screen horizontal positioned of mobile terminal, terminal attitude measurement module 2013 can be by magnetometer 20131
To realize, using the sensing of magnetometer 20131 as benchmark, the screen datum line of display screen is obtained in the horizontal direction relative to due north
The azimuth that direction rotates.The figure that message processing module 202 will show reversely rotates the side with respect to the positive optical axis of display screen
Parallactic angle.Here, screen datum line azimuth actually refer to just screen datum line and direct north angle, refer to Fig. 3 with
Fig. 4, magnetometer can realize that the such as sensing according to compass determines unmanned vehicle and exists as benchmark by compass
The position shown in real time on display screen, it is ensured that as long as the position and course of unmanned vehicle do not change, no matter manipulator holds
How mobile terminal rotates change angle on horizontal positioned direction, as long as the azimuth reality of the screen datum line according to display screen
When relative to display screen the positive optical axis reversely rotate display figure, it is ensured that the line in display screen upward arrow and the center of circle is relative
Keep constant in the angle of ground level, i.e., the unmanned vehicle in Fig. 3 and Fig. 4 keeps not relative to the azimuth a of observation position
Become, and the sensing of arrow also keeps constant relative to the angle of ground level.If without compass functional, this cannot be accomplished
Angle a keeps constant, but can ensure when display screen east-west direction horizontal positioned (as shown in Figure 3), and arrow can with the center of circle
The actual relative position of reflection unmanned vehicle and mobile terminal.
When the non-aqueous placing flat of the display screen of mobile terminal, terminal attitude measurement module 2013 can be by magnetometer
20131 obtain the azimuths of the screen datum line of display screen with accelerometer 20132, here the screen datum line of display screen
Azimuth refers to screen datum line in the projection of ground level and the angle of direct north.Magnetometer and acceleration can such as be used
Calculate display screen attitude Rbg relative to the earth, by position and the currently displaying screen position of unmanned vehicle ask it is poor to
Pg is measured, the vector direction for showing on a display screen is：The x of vectorial (Pb=Rbg*Pg), y-coordinate, so as to obtain the screen of display screen
Curtain datum line ground level projection relative to the azimuth that direct north rotates.Then the figure that will be shown is relative to display screen
The positive optical axis reversely rotate the azimuth, to cause show on display screen relative position and the course angle holding of unmanned vehicle
With ground level as reference, with the horizontal positioned direction of the display screen of mobile terminal or to be disposed vertically direction unrelated.
It should be noted that the inapplicable special circumstances when display screen is disposed vertically of this programme.
Used as another preferred scheme of the present embodiment, message processing module 202 is additionally operable to judge the screen of display screen
Whether the azimuth of datum line is less than predetermined threshold value with unmanned vehicle relative to azimuthal difference of observation position, and aobvious
The difference of the elevation angle of the elevation angle of display screen with unmanned vehicle relative to observation position again smaller than predetermined threshold value, if it is,
Then produced on screen and capture target prompting information.Wherein, the screen datum line of display screen refers to be put down with one side of display screen
Capable reference line, can be the line at following midpoint on display screen, and bottom and upper segment refers to and the screen when the figure of display is forward direction
Curtain datum line is (as shown in Figures 3 and 4) for the positive to be up.The azimuth of the screen datum line of display screen refers to screen
Datum line is in the projection of ground level and the angle (B angles as shown in Figure 5) of direct north.The elevation angle of display screen refers to display screen
The angle (rb angles as shown in Figure 9) of the positive optical axis and ground level, unmanned vehicle refers to nothing relative to the azimuth of observation position
The line of people's aircraft and observation position is in the projection of ground level and the angle of ground level direct north (such as Fig. 3, Fig. 4 and Fig. 5
A angles), the elevation angle of unmanned vehicle refers to unmanned vehicle (as shown in Figure 8 with the line of observation position and the angle of ground level
Ra angles), predetermined threshold value is 10 degree.
For example, there is relational expression：Vv2=[v2x v2y v2z] ^T=Rgb* ([0 0 1] ^T)
Wherein, the first two coordinate of v2=vv2, v1=[x2-x1, y2-y1] ^T, v1 is represented and vector is holded up next, and v2 is
The z-axis of display screen takes the first two number and represents in x in the expression of world coordinate system, and y direction projections, x1, y1 are the seats of display screen
Mark, x2, y2 are the coordinates of unmanned vehicle, and T is transposition, and Rgb is display screen attitude matrix, when the differential seat angle of v2 and v1 is less than certain
Threshold value, represents display screen to the position of unmanned vehicle.
Fig. 6 is referred to, when the display screen horizontal positioned of mobile terminal, manipulator can hold display screen in the horizontal direction
Unmanned vehicle is found in the rotation of upper and then arrow, when display screen follows arrow to rotate to the azimuth of the screen datum line of display screen
When consistent relative to the azimuth of observation position with unmanned vehicle (a angles), now, arrow should be located at just going up for display screen
Side.Fig. 7 is referred to, as manipulator at the azimuth of the screen datum line of Fig. 6 display screens and unmanned vehicle relative to observation position
On the basis of the azimuth put is consistent, elevation angle and unmanned vehicle phase that display screen rotates to display screen in vertical direction are held
When elevation angle for observing position is consistent, now the positive optical axis of the display screen of non-aqueous placing flat is oriented to the position of unmanned vehicle
Put, produced on screen and capture target prompting information, can point out to catch by the color change of arrow disappearance or arrow
To target, the flight experience of manipulator is improve.
And in actual applications, display screen the positive optical axis level off to alignment unmanned vehicle in the case of (differential seat angle is small
In predetermined threshold value), it is also believed that having pointed to unmanned vehicle.Can so understand, be one with the center of circle in Fig. 7
The summit of vertical cone, the line in the center of circle to unmanned vehicle is the central axis of vertical cone, and predetermined threshold value is the top of vertical cone
Angle, so, when the position that the direction that manipulator lifts display screen and then arrow rotates to unmanned vehicle falls in the sky of vertical cone
Between in the range of, then can point out display screen just to having arrived unmanned vehicle, now, the azimuth of the screen datum line of display screen with
Unmanned vehicle reaches unanimity relative to the azimuth of observation position, and the elevation angle and unmanned vehicle of display screen are relative to observation
The elevation angle of position reaches unanimity, and the positive optical axis of display screen tends to being oriented to the position of unmanned vehicle, is also produced on screen
Target prompting information is captured, the prompt message can be the color change of arrow disappearance or arrow, improve manipulator's
Flight experience.
Refer to Fig. 7, the direction that manipulator can hold the arrow that mobile terminal is and then shown on screen rotates searching nothing
People's aircraft, when display screen follow arrow rotate to the screen datum line of display screen azimuth and unmanned vehicle relative to sight
The azimuth for examining position is consistent, and display screen elevation angle it is consistent relative to the elevation angle of observation position with unmanned vehicle when,
Now the positive optical axis of the display screen of non-aqueous placing flat is oriented to the position of unmanned vehicle, and generation captures target and carries on screen
Show information.And in actual applications, display screen the positive optical axis level off to alignment unmanned vehicle in the case of (differential seat angle is less than
Predetermined threshold value), it is also believed that having pointed to unmanned vehicle.Produced on screen and capture target prompting information, carried
The flight experience of manipulator high.
Certainly, in mobile terminal can also include voice module, for voice message unmanned vehicle positional information and
Flight attitude information, including unmanned vehicle has in how much degree in which direction of manipulator, unmanned vehicle apart from manipulator
How much rice, the elevation angle of unmanned vehicle are how many etc., for example, voice broadcast " north-east of the unmanned vehicle at you
30 degree, 50 degree please be come back i.e. it can be seen that unmanned vehicle ", so as to preferably improve the flight experience of manipulator.By this reality
Apply the flight assisting system of the unmanned vehicle of example, relative position information and course of the manipulator according to display screen display, just
Position where unmanned vehicle easily being recognized, the display screen that eyes need not leave mobile terminal just can be to nobody
Aircraft carries out the flight path of manipulation unmanned vehicle freely, it is to avoid blind to fly and fly to lose, while improve manipulator's
Flight experience.
It is as shown in Figure 10 a kind of flight aided process flow sheet figure of unmanned vehicle that the preferred embodiment of the present invention is provided,
The method includes：
S1002, positional information and state of flight information that unmanned vehicle is measured by state measurement sensor；
Wherein, flight position information includes longitude and latitude, and state of flight information includes pitching, roll and course, also wraps
Include the flying height information of unmanned vehicle 10.
S1004, the positional information that position is observed by acquisition for mobile terminal, also obtain unmanned vehicle by wireless network
Positional information and state of flight information；
Specifically, mobile terminal sets up Wi-Fi network and carries out point-to-point communication with unmanned vehicle, flies from nobody in real time
Row device obtains its current positional information and state of flight information.
Wherein, observation position can be the position, or manipulator that the position of manipulator and unmanned vehicle take off
Position and the position taken off of unmanned vehicle in any one.When the position that position is manipulator is observed, the position of manipulator
Confidence breath is obtained by being attached to manipulator or the sensor on the object entrained by manipulator；Certainly, due to manipulator position
It is same information to put with the positional information of mobile terminal, it is preferable that by the GPS module precise assembly person of mobile terminal
Positional information.When the position that position is taken off for unmanned vehicle is observed, the position that unmanned vehicle takes off is by being arranged on
Carry-on state measurement sensor is obtained.
It is relative that S1006, the positional information according to unmanned vehicle obtain unmanned vehicle with the positional information of observation position
In the positional information of observation position；
Specifically, unmanned vehicle relative to observation position positional information include unmanned vehicle with observation position it
Between distance and unmanned vehicle relative to observation position angle, the course of state of flight information including unmanned vehicle.
S1008, unmanned vehicle is graphically included aobvious relative to the observation distance of position, angle and course
In display screen；
Specifically, azimuth refers to the angle that in the horizontal direction rotates of the display screen relative to ground, and elevation angle refers to
The elevation angle that in vertical direction rotates of the display screen relative to ground.
The azimuth of S1010, the screen datum line of acquisition display screen, and figure is reverse relative to the positive optical axis of display screen
Rotate the azimuth.
Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be on display screen
The line at following midpoint, bottom and upper segment refers to that, when the figure of display is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to screen datum line ground level projection with just
The north to angle (B angles as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, it is also possible to be considered
People soon display screen when, be to be observed perpendicular to the angle of display screen (as shown in Figure 7) of display screen.
Specifically, when the display screen horizontal positioned of mobile terminal, can be realized by magnetometer, with magnetometer
Point to and the azimuth that the screen datum line of display screen rotates relative to direct north in the horizontal direction is obtained as benchmark.And lead to
Cross and figure is reversely rotated into the azimuth relative to the positive optical axis of display screen so that the unmanned vehicle of display screen display
Relative position and course are kept with ground level as reference, and the horizontal positioned direction with display screen is unrelated.Here, screen datum line
Azimuth refers to just actually the angle of screen datum line and direct north, refers to Fig. 3 and Fig. 4, and magnetometer can be by guide
Pin realizes that the such as sensing according to compass determines the position that unmanned vehicle shows in real time on a display screen as benchmark,
As long as ensuring that the position and course of unmanned vehicle do not change, no matter manipulator holds mobile terminal on horizontal positioned direction
How change angle is rotated, as long as the azimuth of the screen datum line according to display screen is anti-relative to the positive optical axis of display screen in real time
To the figure of rotational display, it is ensured that the line in display screen upward arrow and the center of circle keeps constant relative to the angle of ground level,
Unmanned vehicle i.e. in Fig. 3 and Fig. 4 keeps constant relative to the azimuth a of observation position, and arrow sensing relative to
The angle of ground level also keeps constant.If without compass functional, cannot accomplish that angle a keeps constant, but can protect
When display screen east-west direction horizontal positioned (as shown in Figure 3), arrow can reflect that unmanned vehicle is whole with mobile to card with the center of circle
The actual relative position at end.
When the non-aqueous placing flat of the display screen of mobile terminal, display screen can be obtained by magnetometer and accelerometer
The azimuth of screen datum line, the azimuth of the screen datum line of display screen refers to projection of the screen datum line in ground level here
With the angle of direct north.Such as display screen attitude Rbg relative to the earth can be calculated using magnetometer and accelerometer, led to
Poor vectorial Pg is sought in the position and currently displaying screen position for crossing unmanned vehicle, and the vector direction for showing on a display screen is：To
Measure the x of (Pb=Rbg*Pg), y-coordinate, so as to obtain the projection of the screen datum line of display screen in ground level relative to the positive north
To the azimuth of rotation.Then the figure that will be shown reversely rotates the azimuth relative to the positive optical axis of display screen, to cause
Show that the relative position and course angle of screen display unmanned vehicle are kept with ground level as reference, the display screen with mobile terminal
Horizontal positioned direction or to be disposed vertically direction unrelated.
It should be noted that, the step S1010 in the present embodiment is optional step, when not considering display screen in level side
During to rotation with vertical direction, it is convenient to omit step, and the inapplicable special feelings when display screen is disposed vertically of this step
Condition.
S1012, the relative position of the unmanned vehicle exported according to mobile terminal by remote control and course, control nobody to fly
The flight of row device.
Used as another preferred embodiment of the invention, the method also includes also judging the screen base of mobile terminal display screen
Whether the azimuth of directrix is less than predetermined threshold value, and display with unmanned vehicle relative to azimuthal difference of observation position
The difference of the elevation angle of the elevation angle of screen with unmanned vehicle relative to observation position again smaller than predetermined threshold value, if it is,
Produced on screen and capture target prompting information.Wherein, the azimuth of the screen datum line of display screen refer to display screen just
In the projection on ground and the angle of ground direct north, the elevation angle of display screen refers to the folder of the positive optical axis of display screen and ground to the optical axis
Angle, unmanned vehicle refers to unmanned vehicle and projection of the line on ground for observing position relative to the azimuth of observation position
With the angle of ground direct north, the elevation angle of unmanned vehicle refers to line of the unmanned vehicle with observation position and ground
Angle, predetermined threshold value is 10 degree.Also just says that the direction for holding the arrow that mobile terminal is and then shown on screen as manipulator is revolved
When turning searching unmanned vehicle, when the positive optical axis of display screen is pointed to just to the position of unmanned vehicle, seizure is produced on screen
To target prompting information.Refer to Fig. 7, the direction that manipulator can hold the arrow that mobile terminal is and then shown on screen rotates
Unmanned vehicle is found, when display screen follows arrow to rotate to azimuth and the unmanned vehicle phase of the screen datum line of display screen
Azimuth for observing position is consistent, and display screen the elevation angle one of elevation angle and unmanned vehicle relative to observation position
During cause, now the positive optical axis of display screen is oriented to the position of unmanned vehicle, is produced on screen and captures target prompting information.
And in actual applications, level off in the case of alignment unmanned vehicle that (differential seat angle is less than predetermined in the positive optical axis of display screen
Threshold value), it is also believed that having pointed to unmanned vehicle.Produced on screen and capture target prompting information, can passed through
Arrow disappears or the color change of arrow is pointed out to capture target, improves the flight experience of manipulator.
Certainly, the positional information of unmanned vehicle and flight attitude information can also be passed through voice or screen in this method
The mode of curtain word informs manipulator, such as unmanned vehicle how much degree in which direction of manipulator, unmanned vehicle away from
From the elevation angle of manipulator how many rice, unmanned vehicle be how many etc., for example, " unmanned vehicle exists voice broadcast
30 degree of your north-east, please come back 50 degree i.e. it can be seen that unmanned vehicle ", so as to preferably improve the flying body of manipulator
Test.
The flight assisting system and method for unmanned vehicle provided in an embodiment of the present invention, by grasping unmanned vehicle
Flight position and state of flight, help manipulator to control the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, while carry
The flight experience of manipulator high.
Above by reference to the preferred embodiments of the present invention have been illustrated, not thereby limit to interest field of the invention.This
Art personnel do not depart from the scope of the present invention and essence, can have various flexible programs to realize the present invention, for example as one
The feature of individual embodiment can be used for another embodiment and obtain another embodiment.It is all to use institute within technology design of the invention
Any modification, equivalent and the improvement made, all should be within interest field of the invention.
Claims (15)
1. a kind of flight assisting system of unmanned vehicle, it is characterised in that the system include remote control, mobile terminal and
The state measurement sensor on unmanned vehicle is arranged on, wherein：
The state measurement sensor, positional information and state of flight information for measuring unmanned vehicle；
The mobile terminal, for obtain observation position positional information, be additionally operable to by wireless network obtain it is described nobody fly
The positional information and state of flight information of row device, the positional information of positional information and observation position according to the unmanned vehicle
Obtain positional information of the unmanned vehicle relative to observation position；And by the state of flight information of the unmanned vehicle and nobody
Aircraft is displayed on the display screen of the mobile terminal relative to the positional information of observation position by the form of figure, described
The state of flight information of unmanned vehicle includes that the course of unmanned vehicle and the course of the unmanned vehicle are with ground level
It is reference, the placement direction with the display screen is unrelated；
The remote control, for the state of flight information of unmanned vehicle and unmanned vehicle that are exported according to the mobile terminal
Relative to the positional information of observation position, the flight of unmanned vehicle is controlled.
2. the flight assisting system of unmanned vehicle according to claim 1, it is characterised in that the observation position is behaviour
The position that the position of control person or unmanned vehicle take off；
When the position that position is manipulator is observed, the positional information of manipulator is by being attached to manipulator or being taken in manipulator
Sensor on the object of band is obtained；
When the position that position is taken off for unmanned vehicle is observed, the position that unmanned vehicle takes off is by setting on board the aircraft
State measurement sensor obtain.
3. the flight assisting system of unmanned vehicle according to claim 1, it is characterised in that the mobile terminal bag
Include：
Data obtaining module, for obtaining the positional information of observation position, being additionally operable to obtain unmanned vehicle by wireless network
Positional information and state of flight information；
Message processing module, the positional information for the positional information according to the unmanned vehicle and observation position obtains nobody
Positional information of the aircraft relative to observation position；
Message output module, for receiving and export the state of flight information and unmanned vehicle of the unmanned vehicle relative to
Observe the positional information of position.
4. the flight assisting system of the unmanned vehicle according to claim 1 or 2 or 3, it is characterised in that the flight shape
State information also includes elevation information of the unmanned vehicle relative to ground.
5. the flight assisting system of unmanned vehicle according to claim 1, it is characterised in that the unmanned vehicle phase
Positional information for observing position includes angle of the unmanned vehicle relative to observation position, wherein, the unmanned vehicle
It with ground level is reference to be relative to the angle of observation position, and the placement direction with the display screen is unrelated.
6. the flight assisting system of unmanned vehicle according to claim 3, it is characterised in that described information acquisition module
Also include terminal attitude measurement module, wherein：
The terminal attitude measurement module, the azimuth of the screen datum line for detecting the display screen, the display screen
Screen datum line refers to the reference line parallel with one side of display screen, and the azimuth of the screen datum line of the display screen refers to screen
Curtain datum line is in the projection of ground level and the angle of direct north；
Described information processing module, for the positive optical axis of the relatively described display screen of the figure to be reversely rotated into the display screen
The azimuth of screen datum line, the positive optical axis of the display screen refers to the axle perpendicular to display screen.
7. the flight assisting system of unmanned vehicle according to claim 1, it is characterised in that the mobile terminal bag
Include：Message processing module；
Described information processing module, for judge display screen screen datum line azimuth and unmanned vehicle relative to observation
Whether azimuthal difference of position is less than predetermined threshold value, and display screen elevation angle and unmanned vehicle relative to observation position
The difference of the elevation angle put is less than predetermined threshold value, if it is, produced that on screen target prompting information is captured, wherein,
The screen datum line of the display screen refers to the reference line parallel with one side of display screen, the screen datum line of the display screen
Azimuth refers to screen datum line in the projection of ground level and the angle of direct north, and the elevation angle of the display screen refers to display
Shield the angle of the positive optical axis and ground level, the positive optical axis of display screen refers to the axle perpendicular to display screen.
8. the flight assisting system of unmanned vehicle according to claim 7, it is characterised in that the predetermined threshold value is
10 degree.
9. the flight householder method of a kind of unmanned vehicle, it is characterised in that the method comprises the following steps：
The positional information and state of flight information of unmanned vehicle are measured by state measurement sensor；
The positional information of position is observed by acquisition for mobile terminal, the positional information of the unmanned vehicle is obtained by wireless network
Positional information with state of flight information, and positional information according to the unmanned vehicle and observation position obtains unmanned flight
Positional information of the device relative to observation position；By the state of flight information and unmanned vehicle of the unmanned vehicle relative to sight
The positional information for examining position is displayed on the display screen of the mobile terminal by the form of figure, the unmanned vehicle fly
It with ground level is reference that the course of row status information including unmanned vehicle and the course of the unmanned vehicle are, and described
The placement direction of display screen is unrelated；
The state of flight information and unmanned vehicle of the unmanned vehicle exported according to the mobile terminal by remote control relative to
The positional information of position is observed, the flight of unmanned vehicle is controlled.
10. the flight householder method of unmanned vehicle according to claim 9, it is characterised in that the observation position is
The position that the position of manipulator or unmanned vehicle take off；
When the position that position is manipulator is observed, the positional information of manipulator is by being attached to manipulator or being taken in manipulator
Sensor on the object of band is obtained；
When the position that position is taken off for unmanned vehicle is observed, the position that unmanned vehicle takes off is by setting on board the aircraft
State measurement sensor obtain.
The flight householder method of 11. unmanned vehicle according to claim 9 or 10, it is characterised in that the flight shape
State information also includes elevation information of the unmanned vehicle relative to ground.
The flight householder method of 12. unmanned vehicles according to claim 9, it is characterised in that the unmanned vehicle
Include angle of the unmanned vehicle relative to observation position relative to the positional information of observation position, wherein, the unmanned flight
It with ground level is reference that device is relative to the angle of observation position, and the placement direction with the display screen is unrelated.
The flight householder method of 13. unmanned vehicles according to claim 9, it is characterised in that the method also includes：
The azimuth of the screen datum line of the display screen is obtained, and the positive optical axis of the relatively described display screen of the figure is reverse
The azimuth of the screen datum line of the display screen is rotated, wherein, the screen datum line of the display screen refers to and display screen
Parallel reference line on one side, the azimuth of the screen datum line of the display screen refer to screen datum line ground level projection with
The angle of direct north, the positive optical axis of the display screen refers to the axle perpendicular to display screen.
The flight householder method of 14. unmanned vehicles according to claim 9, it is characterised in that
The method also includes：Judge the side of azimuth and unmanned vehicle relative to observation position of the screen datum line of display screen
Whether the difference of parallactic angle is less than predetermined threshold value, and display screen the height of elevation angle and unmanned vehicle relative to observation position
The difference at angle is less than predetermined threshold value, if it is, produced that on screen target prompting information is captured, wherein, the display
The screen datum line of screen refers to the reference line parallel with one side of display screen, and the azimuth of the screen datum line of the display screen is
Refer to screen datum line in the projection of ground level and the angle of direct north, the elevation angle of the display screen refers to the positive optical axis of display screen
With the angle of ground level, the positive optical axis of display screen refers to the axle perpendicular to display screen.
The flight householder method of 15. unmanned vehicles according to claim 14, it is characterised in that the predetermined threshold value
It is 10 degree.
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| CN201310283350.9A CN103365298B (en) | 2013-07-05 | 2013-07-05 | The flight assisting system and method for unmanned vehicle |
| CN201710359029.2A CN107203219B (en) | 2013-07-05 | 2013-07-05 | Flight assistance system and method for unmanned aerial vehicle |
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| CN201310283350.9A CN103365298B (en) | 2013-07-05 | 2013-07-05 | The flight assisting system and method for unmanned vehicle |
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| CN107203219B (en) | 2020-10-23 |
| CN107203219A (en) | 2017-09-26 |
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