CN104890889B - Control method of aircraft and aircraft - Google Patents
Control method of aircraft and aircraft Download PDFInfo
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- CN104890889B CN104890889B CN201510242360.7A CN201510242360A CN104890889B CN 104890889 B CN104890889 B CN 104890889B CN 201510242360 A CN201510242360 A CN 201510242360A CN 104890889 B CN104890889 B CN 104890889B
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Abstract
The invention discloses a control method of an aircraft and the aircraft. The control method comprises the following steps: monitoring a test value of a compass of the aircraft; according to the monitored test value of the compass, judging whether the compass is abnormal or invalid; when the compass is abnormal or invalid, performing protection control on the aircraft by taking preset protection measures. According to the control method and the aircraft, which are disclosed by the invention, the aircraft is effectively controlled and protected, so that the flight safety of the aircraft is improved.
Description
Technical field
The present invention relates to Aero-Space, unmanned air vehicle technique field, more particularly, to a kind of flying vehicles control method and aircraft.
Background technology
Aircraft (such as depopulated helicopter) is upper generally to judge course using compass, when compass lost efficacy or abnormal
Afterwards, aircraft will be unable to judge course.But, in prior art, it is impossible to realize to aircraft after compass inefficacy or exception
Effective control and protection, lead to aircraft not normal.
Content of the invention
Present invention is primarily targeted at proposing a kind of flying vehicles control method and aircraft, lost efficacy or abnormal in compass
When, it is capable of the effective control to aircraft and protection, improve the flight safety of aircraft.
For achieving the above object, a kind of flying vehicles control method that the present invention provides, including：
The test value of compass on monitoring aircraft；
According to the test value of the compass monitoring, judge whether compass is abnormal or loses efficacy；
When described compass is abnormal or loses efficacy, described aircraft is carried out protect control with default protective measure.
Preferably, the test value of the compass that described basis monitors, judges the step that whether compass is abnormal or loses efficacy
Including：
If monitoring described compass no test value, judge that described compass lost efficacy；Or
If monitor described compass test data unchanged or in the given time produce mutation, judge described finger
Compass is abnormal.
Preferably, described when described compass is abnormal or loses efficacy, with default protective measure, described aircraft is protected
The step that shield controls includes：
When described compass is abnormal or loses efficacy, closes the data-interface of described compass, and detect whether GPS is normal；
If GPS is normal, read the positional information that GPS is gathered, keep flying according to the positional information that described GPS is gathered
The current yaw angle of row device is constant, enters self-studying mode, controls aircraft to drop to HOME point；
If GPS exception or inefficacy, according to GPS exception or the corresponding protective measure that lost efficacy, described aircraft is protected
Shield controls.
Preferably, described entrance self-studying mode, controls the step that aircraft drops to HOME point to include：
In first time period, control described aircraft towards first direction flight predeterminable range, and real-time judge is current
Point position and the distance of HOME point position, if this distance is more and more remote,：
In second time period, control aircraft towards second direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Described second direction with described
First direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Described third direction and first
Direction is vertical, and described fourth direction is relative with described third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point；
If in described first time period, judge that current point position is more and more nearer with the distance of HOME point position, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then aircraft is controlled to stop the flight of this direction；
Enter described 3rd time period, if in the 3rd time period, current point position is more next with the distance of HOME point position
Nearer, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then control aircraft to stop the flight of this direction, and entered for the 5th time period.
Preferably, described first direction be the direction towards head, the direction towards tail, the left direction towards fuselage
Or the right direction towards fuselage.
Preferably, if described GPS is abnormal or lost efficacy, according to GPS is abnormal or the corresponding protective measure that lost efficacy, fly to described
Row device carries out protecting the step controlling to include：
If GPS is abnormal or loses efficacy, controls aircraft to be hovered or original place landing, and notify the control of described aircraft
Terminal, described GPS is sent to described control terminal to the last test value of described aircraft；Shoot described aircraft
Current environment photo simultaneously transmits to control terminal, for assist control terminal judges aircraft position；And by aircraft
It is switched to mixing control model.
The embodiment of the present invention also proposes a kind of aircraft, including：
Monitoring modular, for monitoring the test value of compass on aircraft；
Judge module, for the test value according to the compass monitoring, judges whether compass is abnormal or loses efficacy；
Control module, for when described compass is abnormal or loses efficacy, being carried out to described aircraft with default protective measure
Protection controls.
Preferably, described judge module, if being additionally operable to monitor described compass no test value, judges described compass
Lost efficacy；If or monitor described compass test data unchanged or produce mutation in the given time, judge described
Compass is abnormal.
Preferably, described control module, is additionally operable to, when described compass is abnormal or loses efficacy, close the number of described compass
According to interface, and detect whether GPS is normal；If GPS is normal, reads the positional information that GPS is gathered, adopted according to described GPS
The positional information of collection keeps the current yaw angle of aircraft constant, enters self-studying mode, controls aircraft to drop to HOME point；
If GPS is abnormal or loses efficacy, according to GPS is abnormal or the corresponding protective measure that lost efficacy, described aircraft is carried out protect control.
Preferably, described control module, is additionally operable under described self-studying mode, in first time period, controls described
Aircraft is towards first direction flight predeterminable range, and the distance of real-time judge current point position and HOME point position, if should be away from
Away from increasingly, then：
In second time period, control aircraft towards second direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Described second direction with described
First direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Described third direction and first
Direction is vertical, and described fourth direction is relative with described third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point；And
Described control module, if being additionally operable in described first time period, judges current point position and HOME point position
Distance is increasingly nearer, then：Control aircraft to continue the flight of this direction, until judge current point position and HOME point position away from
When away from increasingly, then aircraft is controlled to stop the flight of this direction；Enter described 3rd time period, if in the 3rd time period
In, current point position is more and more nearer with the distance of HOME point position, then：Aircraft is controlled to continue the flight of this direction, until sentencing
When the distance of disconnected current point position and HOME point position is more and more remote, then controls aircraft to stop the flight of this direction, and enter
5th time period.
Preferably, described control module, if being additionally operable to GPS extremely or losing efficacy, controls aircraft to be hovered or original place
Landing, and notify the control terminal of described aircraft, described GPS is sent to institute to the last test value of described aircraft
State control terminal；Shoot the current environment photo of described aircraft and transmit to control terminal, for assist control terminal judges
Aircraft position；And aircraft is switched to mixing control model.
A kind of flying vehicles control method proposed by the present invention and aircraft, by monitoring the test of compass on aircraft
Value；According to the test value of the compass monitoring, judge whether compass is abnormal or loses efficacy；When compass is abnormal or loses efficacy,
Aircraft is carried out protect control with default protective measure, such as whether detection GPS is normal, control aircraft to be hovered or former
Ground lands and aircraft is switched to mixing control model etc., thus realizing the effective control to aircraft and protection, improves
The flight safety of aircraft.
Brief description
Fig. 1 is the schematic flow sheet of flying vehicles control method preferred embodiment of the present invention；
Fig. 2 is the high-level schematic functional block diagram of aircraft preferred embodiment of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are：By monitoring the test value of compass on aircraft；According to monitoring
The test value of the compass arriving, judges whether compass is abnormal or loses efficacy；When compass is abnormal or loses efficacy, arranged with default protection
Apply and aircraft is carried out protect control, such as whether detection GPS is normal, control aircraft to be hovered or original place landing and will
Aircraft is switched to mixing control model etc., thus realizing the effective control to aircraft and protection, improves the flight of aircraft
Safety.
The embodiment of the present invention is considered：In prior art, when compass is abnormal or loses efficacy it is impossible to realize to aircraft
Effective control and protection, lead to aircraft not normal.
By monitoring the test value of compass on aircraft, embodiment of the present invention scheme can judge whether compass is abnormal
Or lost efficacy；When compass is abnormal or loses efficacy, aircraft is carried out protect control with default protective measure, such as detection GPS is
No normal, if GPS is normal, read the positional information that GPS is gathered, control aircraft to drop to HOME point；If GPS abnormal or
Lost efficacy, then according to GPS is abnormal or the corresponding protective measure that lost efficacy, aircraft is carried out protect control, such as control aircraft to enter
Row hovering or original place landing and aircraft is switched to mixing control model etc., thus realize the effective control to aircraft and
Protection.
Specifically, as shown in figure 1, present pre-ferred embodiments propose a kind of flying vehicles control method, including：
Step S101, the test value of compass on monitoring aircraft；
First, monitor the measurement data of compass on aircraft, to judge according to the test value of the compass monitoring
Whether compass is abnormal or loses efficacy.
Step S102, according to the test value of the compass monitoring, judges whether compass is abnormal or loses efficacy；
Wherein, as a kind of implementation, judge whether compass is abnormal or inefficacy can adopt following scheme：
In real time or periodic monitoring compass state, if monitoring compass no test data, judge compass inefficacy；
If monitor compass test data unchanged or in the given time produce mutation (changing very big in the given time),
Then judge that compass is abnormal.
Step S103, when described compass is abnormal or loses efficacy, is protected to described aircraft with default protective measure
Control.
Specifically, when judging that compass is abnormal or loses efficacy, close the data-interface of compass, and detect GPS whether just
Often.Whether GPS normally includes whether GPS lost efficacy or abnormal.
Wherein, as a kind of implementation, judge whether GPS lost efficacy and can adopt following scheme：
In real time or periodic monitoring GPS test value, according to the test value of the GPS monitoring, judge GPS whether with predetermined frequently
Rate carries out data renewal, if it is not, then judging that GPS lost efficacy.
Such as, the data renewal frequency of GPS sets is 1 second 5 times, if GPS does not also have data to update after 1 second, that
It is judged as GPS to lose efficacy, because even aircraft is under floating state, GPS also has data and updates under normal circumstances.
As another kind of implementation, judge whether GPS lost efficacy and can also adopt following scheme：
If μ is GPS failure threshold, K, δ 1, δ 2 respectively the receipts star number of GPS, position error, range rate error, if K >=4,
AndThen judge GPS normal work, otherwise then think that GPS lost efficacy.
Wherein, as a kind of implementation, judge whether GPS can adopt following scheme extremely：
In real time or periodic monitoring GPS test value, according to the test value of the GPS monitoring, judge whether GPS produces data
Mutation, if so, then abandons accidental data；If the data of GPS continues Preset Time being dropped, judge that GPS is abnormal.
Wherein, the determination methods of gps data mutation can adopt following scheme：
Difference H4-H3 of gps data twice in front and back>Vmax* T2+ | GPS error |, then judge the data mutation of GPS.
Wherein, VmaxFor aircraft altitude direction maximal rate, T2 is the gps data update cycle.
When judging that GPS is normal, read the measurement position information that GPS is gathered, protected according to the positional information that GPS is gathered
Hold the current yaw angle of aircraft constant, enter self-studying mode, control aircraft to drop to HOME point.
If GPS is abnormal or loses efficacy, according to GPS is abnormal or the corresponding protective measure that lost efficacy, aircraft is carried out with protection control
System.
More specifically, as a kind of embodiment, under self-studying mode, aircraft is controlled to drop to the mistake of HOME point
Journey can be as follows：
Keep the current yaw angle of aircraft constant, enter self-studying mode：
In first time period, control described aircraft towards first direction flight predeterminable range, and real-time judge is current
Point position and the distance of HOME point position, if this distance is more and more remote,：
In second time period, control aircraft towards second direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, second direction and first
Direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, third direction and first
Direction is vertical, and fourth direction is relative with third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
In said process, in first time period, if controlling aircraft towards first direction flight predeterminable range, and in real time
When judging that the distance of current point position and HOME point position is increasingly nearer, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then aircraft is controlled to stop the flight of this direction；
Enter described 3rd time period, if in the 3rd time period, current point position is more next with the distance of HOME point position
Nearer, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then control aircraft to stop the flight of this direction, and entered for the 5th time period.
It should be noted that above-mentioned first direction, second direction, third direction and fourth direction can select aircraft
Head, tail and fuselage both sides are as corresponding basis reference, and are combined as needed, such as：First direction is direction
The direction of head, second direction is the direction towards tail, and third direction is to be court towards the left direction of fuselage, fourth direction
Right direction to fuselage；Or, first direction be towards the direction of tail, second direction be towards head direction, the 3rd
Direction is to be left direction towards fuselage towards the right direction of fuselage, fourth direction；Or, first direction is towards fuselage
Left direction, second direction be to be direction towards head towards the right direction of fuselage, third direction, fourth direction is court
To the direction of tail, etc., as long as meeting：Second direction is relative with first direction；Third direction and first direction or second party
To vertical, fourth direction is relative with third direction.
Therefore, first direction can select the direction towards head, the direction towards tail, the left direction towards fuselage
Or the right direction towards fuselage, other three directions then can be selected according to practical situation.
It is to be as court towards the direction of tail, third direction towards the direction of head, second direction with first direction below
It is towards as a example the right direction of fuselage to the left direction of fuselage, fourth direction, to the control under aircraft self-studying mode
Process description is as follows：
In first time period, control the flight predeterminable range in direction towards head for the aircraft, and real-time judge current point
Position and the distance of HOME point position, if this distance is more and more remote,：
In second time period, control the flight predeterminable range in direction towards tail for the aircraft, in real-time judge current point
When the distance of position and HOME point position is increasingly nearer, aircraft is controlled to continue the flight of this direction, until judging current point position
When putting more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Subsequently into the 3rd time
Section；
In the 3rd time period, control the left direction flight predeterminable range towards fuselage for the aircraft, and real-time judge is worked as
Front position and the distance of HOME point position, if this distance is more and more remote, entered for the 4th time period；
In the 4th time period, control the right direction flight predeterminable range towards fuselage for the aircraft, work as in real-time judge
When the distance of front position and HOME point position is increasingly nearer, aircraft is controlled to continue the flight of this direction, current until judging
When the distance of point position and HOME point position is more and more remote, then controls aircraft to stop the flight of this direction, entered for the 5th time
Section；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
In said process, in first time period, if controlling the flight predeterminable range in direction towards head for the aircraft and real
When judge that current point position is more and more nearer with the distance of HOME point position, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then aircraft is controlled to stop the flight of this direction；Enter described 3rd time period, if in the 3rd time period, current point
Position is more and more nearer with the distance of HOME point position, then：Aircraft is controlled to continue the flight of this direction, until judging current point position
When putting more and more remote with the distance of HOME point position, then control aircraft to stop the flight of this direction, and entered for the 5th time period,
In the 5th time period, control aircraft vertical landing.
As a kind of embodiment, if GPS exception or inefficacy, according to GPS exception or the corresponding protective measure that lost efficacy, right
The process that described aircraft carries out protection control can be as follows：
If GPS is abnormal or loses efficacy, controls aircraft to be hovered or original place landing, and notify the control of aircraft eventually
End, GPS is sent to control terminal to the last test value of aircraft.
Wherein, when controlling aircraft to be hovered or land in original place, specifically adopt following scheme：
If GPS is abnormal or loses efficacy, judge whether the electricity of aircraft reaches the limiting electricity quantity landed in original place (now permissible
By carry-on barometer detection height for judging), if so, the operation of then execution original place landing, is otherwise hovered.
Further, in GPS exception or inefficacy, aircraft is carried out can also include as lower section in protection control program
Case：
Shoot the current environment photo of aircraft and transmit to control terminal, for assist control terminal judges aircraft institute
In position.
In addition, abnormal or when losing efficacy in GPS, no matter whether aircraft in the visual range of manipulation handss, aircraft all incite somebody to action
It is switched to mixing control model, wherein, mixing control model refers to both manually controllable, also can automatically fly, but Non-follow control
Command prioritization can be higher than the instruction of automatic flight.
Therefore, if aircraft is in the visual range of manipulation handss, by manipulation handss, aircraft can be controlled.Certainly
Can be flown with the second predeterminable range less than the first predeterminable range with infinite approach HOME before entering for the 5th time period
Point, finely tunes principle after being similar to microscopical first coarse adjustment.
The present embodiment passes through such scheme, by monitoring the test value of compass on aircraft；According to the guide monitoring
The test value of pin, judges whether compass is abnormal or loses efficacy；When compass is abnormal or loses efficacy, with default protective measure to flight
Device carries out protecting control, and such as whether detection GPS is normal, control aircraft to be hovered or land and cut aircraft in original place
Changing to mixing control model etc., thus realizing the effective control to aircraft and protection, improving the flight safety of aircraft.
Accordingly, aircraft embodiment of the present invention is proposed.
As shown in Fig. 2 present pre-ferred embodiments propose a kind of aircraft, including：Monitoring modular 201, judge module 202
And control module 203, wherein：
Monitoring modular 201, for monitoring the test value of compass on aircraft；
Judge module 202, for the test value according to the compass monitoring, judges whether compass is abnormal or loses efficacy；
Control module 203, for when described compass is abnormal or loses efficacy, being entered to described aircraft with default protective measure
Row protection controls.
Further, described judge module 202, if being additionally operable to monitor described compass no test value, judges described
Compass lost efficacy；If or monitor described compass test data unchanged or in the given time produce mutation, sentence
Disconnected described compass is abnormal.
Further, described control module 203, is additionally operable to, when described compass is abnormal or loses efficacy, close described guide
The data-interface of pin, and detect whether GPS is normal；If GPS is normal, read the positional information that GPS is gathered, according to described
The positional information that GPS is gathered keeps the current yaw angle of aircraft constant, enters self-studying mode, controls aircraft to drop to
HOME point；If GPS exception or inefficacy, according to GPS exception or the corresponding protective measure that lost efficacy, described aircraft is protected
Control.
Further, described control module 203, is additionally operable under described self-studying mode, in first time period, controls
Described aircraft is towards first direction flight predeterminable range, and the distance of real-time judge current point position and HOME point position, if
This distance is more and more remote, then：
In second time period, control aircraft towards second direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, second direction and first
Direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, third direction and first
Direction is vertical, and fourth direction is relative with described third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
Further, if described control module 203 is additionally operable in described first time period, judge current point position with
The distance of HOME point position is more and more nearer, then：Control aircraft to continue the flight of this direction, until judge current point position and
When the distance of HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction；Enter described 3rd time period, if
In the 3rd time period, current point position is more and more nearer with the distance of HOME point position, then：Aircraft is controlled to continue this direction
Flight, when judging that the distance of current point position and HOME point position is more and more remote, then control aircraft stops this direction
Flight, and entered for the 5th time period.
Further, if described control module 203 to be additionally operable to GPS abnormal or lost efficacy, control aircraft to be hovered or
Landing in original place, and notifies the control terminal of described aircraft, and described GPS is sent to the last test value of described aircraft
To described control terminal；Shoot the current environment photo of described aircraft and transmit to control terminal, for assist control terminal
Judge aircraft position；And aircraft is switched to mixing control model.
Specifically, first, monitor the measurement data of compass on aircraft, so that the test according to the compass monitoring
Value judges whether compass is abnormal or loses efficacy.
Wherein, as a kind of implementation, judge whether compass is abnormal or inefficacy can adopt following scheme：
In real time or periodic monitoring compass state, if monitoring compass no test data, judge compass inefficacy；
If monitor compass test data unchanged or in the given time produce mutation (changing very big in the given time),
Then judge that compass is abnormal.
When judging that compass is abnormal or loses efficacy, close the data-interface of compass, and detect whether GPS is normal.GPS is
Whether no normal inclusion GPS lost efficacy or abnormal.
Wherein, as a kind of implementation, judge whether GPS lost efficacy and can adopt following scheme：
In real time or periodic monitoring GPS test value, according to the test value of the GPS monitoring, judge GPS whether with predetermined frequently
Rate carries out data renewal, if it is not, then judging that GPS lost efficacy.
Such as, the data renewal frequency of GPS sets is 1 second 5 times, if GPS does not also have data to update after 1 second, that
It is judged as GPS to lose efficacy, because even aircraft is under floating state, GPS also has data and updates under normal circumstances.
As another kind of implementation, judge whether GPS lost efficacy and can also adopt following scheme：
If μ is GPS failure threshold, K, δ 1, δ 2 respectively the receipts star number of GPS, position error, range rate error, if K >=4,
AndThen judge GPS normal work, otherwise then think that GPS lost efficacy.
Wherein, as a kind of implementation, judge whether GPS can adopt following scheme extremely：
In real time or periodic monitoring GPS test value, according to the test value of the GPS monitoring, judge whether GPS produces data
Mutation, if so, then abandons accidental data；If the data of GPS continues Preset Time being dropped, judge that GPS is abnormal.
Wherein, the determination methods of gps data mutation can adopt following scheme：
Difference H4-H3 of gps data twice in front and back>Vmax* T2+ | GPS error |, then judge the data mutation of GPS.
Wherein, VmaxFor aircraft altitude direction maximal rate, T2 is the gps data update cycle.
When judging that GPS is normal, read the measurement position information that GPS is gathered, protected according to the positional information that GPS is gathered
Hold the current yaw angle of aircraft constant, enter self-studying mode, control aircraft to drop to HOME point.
If GPS is abnormal or loses efficacy, according to GPS is abnormal or the corresponding protective measure that lost efficacy, aircraft is carried out with protection control
System.
More specifically, as a kind of embodiment, under self-studying mode, aircraft is controlled to drop to the mistake of HOME point
Journey can be as follows：
Keep the current yaw angle of aircraft constant, enter self-studying mode：
In first time period, control described aircraft towards first direction flight predeterminable range, and real-time judge is current
Point position and the distance of HOME point position, if this distance is more and more remote,：
In second time period, control aircraft towards second direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, second direction and first
Direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, in real-time judge current point position
When putting increasingly nearer with the distance of HOME point position, aircraft is controlled to continue the flight of this direction, until judging current point position
When more and more remote with the distance of HOME point position, then aircraft is controlled to stop the flight of this direction；Wherein, third direction and first
Direction is vertical, and fourth direction is relative with third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
In said process, in first time period, if controlling aircraft towards first direction flight predeterminable range, and in real time
When judging that the distance of current point position and HOME point position is increasingly nearer, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then aircraft is controlled to stop the flight of this direction；
Enter described 3rd time period, if in the 3rd time period, current point position is more next with the distance of HOME point position
Nearer, then：
Control aircraft to continue the flight of this direction, until judge current point position and HOME point position distance increasingly
When remote, then control aircraft to stop the flight of this direction, and entered for the 5th time period.
It should be noted that above-mentioned first direction, second direction, third direction and fourth direction can select aircraft
Head, tail and fuselage both sides are as corresponding basis reference, and are combined as needed, such as：First direction is direction
The direction of head, second direction is the direction towards tail, and third direction is to be court towards the left direction of fuselage, fourth direction
Right direction to fuselage；Or, first direction be towards the direction of tail, second direction be towards head direction, the 3rd
Direction is to be left direction towards fuselage towards the right direction of fuselage, fourth direction；Or, first direction is towards fuselage
Left direction, second direction be to be direction towards head towards the right direction of fuselage, third direction, fourth direction is court
To the direction of tail, etc., as long as meeting：Second direction is relative with first direction；Third direction and first direction or second party
To vertical, fourth direction is relative with third direction.
Therefore, first direction can select the direction towards head, the direction towards tail, the left direction towards fuselage
Or the right direction towards fuselage, other three directions then can be selected according to practical situation.
It is to be as court towards the direction of tail, third direction towards the direction of head, second direction with first direction below
It is towards as a example the right direction of fuselage to the left direction of fuselage, fourth direction, to the control under aircraft self-studying mode
Process description is as follows：
In first time period, control the flight predeterminable range in direction towards head for the aircraft, and real-time judge current point
Position and the distance of HOME point position, if this distance is more and more remote,：
In second time period, control the flight predeterminable range in direction towards tail for the aircraft, in real-time judge current point
When the distance of position and HOME point position is increasingly nearer, continue the flight of this direction, until judging current point position and HOME point
When the distance of position is more and more remote, then stop the flight of this direction；Subsequently into the 3rd time period；
In the 3rd time period, towards the left direction flight predeterminable range of fuselage, and real-time judge current point position with
The distance of HOME point position, if this distance is more and more remote, entered for the 4th time period；
In the 4th time period, towards the right direction flight predeterminable range of fuselage, real-time judge current point position with
When the distance of HOME point position is increasingly nearer, continue the flight of this direction, until judging current point position and HOME point position
When distance is more and more remote, then stops the flight of this direction, entered for the 5th time period；
In the 5th time period, vertical landing is to HOME point.
In said process, in first time period, if controlling the flight predeterminable range in direction towards head for the aircraft and real
When judge that current point position is more and more nearer with the distance of HOME point position, then：
Continue the flight of this direction, when judging that the distance of current point position and HOME point position is more and more remote, then stop
Stop the flight of this direction；Enter described 3rd time period, if in the 3rd time period, current point position and HOME point position away from
Close to increasingly, then：Continue the flight of this direction, more and more remote with the distance of HOME point position until judging current point position
When, then stop the flight of this direction, and entered for the 5th time period, in the 5th time period, vertical landing is to HOME point.
As a kind of embodiment, if GPS exception or inefficacy, according to GPS exception or the corresponding protective measure that lost efficacy, right
The process that described aircraft carries out protection control can be as follows：
If GPS is abnormal or loses efficacy, controls aircraft to be hovered or original place landing, and notify the control of aircraft eventually
End, GPS is sent to control terminal to the last test value of aircraft.
Wherein, when controlling aircraft to be hovered or land in original place, specifically adopt following scheme：
If GPS is abnormal or loses efficacy, judge whether the electricity of aircraft reaches the limiting electricity quantity landed in original place (now permissible
By carry-on barometer detection height for judging), if so, the operation of then execution original place landing, is otherwise hovered.
Further, in GPS exception or inefficacy, aircraft is carried out can also include as lower section in protection control program
Case：
Shoot the current environment photo of aircraft and transmit to control terminal, for assist control terminal judges aircraft institute
In position.
In addition, abnormal or when losing efficacy in GPS, no matter whether aircraft in the visual range of manipulation handss, aircraft all incite somebody to action
It is switched to mixing control model, wherein, mixing control model refers to both manually controllable, also can automatically fly, but Non-follow control
Command prioritization can be higher than the instruction of automatic flight.
Therefore, if aircraft is in the visual range of manipulation handss, by manipulation handss, aircraft can be controlled.Certainly
Can be flown with the second predeterminable range less than the first predeterminable range with infinite approach HOME before entering for the 5th time period
Point, finely tunes principle after being similar to microscopical first coarse adjustment.
The present embodiment passes through such scheme, by monitoring the test value of compass on aircraft；According to the guide monitoring
The test value of pin, judges whether compass is abnormal or loses efficacy；When compass is abnormal or loses efficacy, with default protective measure to flight
Device carries out protecting control, and such as whether detection GPS is normal, control aircraft to be hovered or land and cut aircraft in original place
Changing to mixing control model etc., thus realizing the effective control to aircraft and protection, improving the flight safety of aircraft.
It should be noted that herein, term " inclusion ", "comprising" or its any other variant are intended to non-row
The comprising of his property, so that including a series of process of key elements, method, article or device not only include those key elements, and
And also include other key elements of being not expressly set out, or also include intrinsic for this process, method, article or device institute
Key element.In the absence of more restrictions, the key element being limited by sentence "including a ..." is it is not excluded that including being somebody's turn to do
Also there is other identical element in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by the mode of software plus necessary general hardware platform naturally it is also possible to pass through hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Go out partly can embodying in the form of software product of contribution, this computer software product is stored in a storage medium
In (as ROM/RAM, magnetic disc, CD), including some instructions with so that a station terminal equipment (can be mobile phone, computer, clothes
Business device, air-conditioner, or network equipment etc.) method described in execution each embodiment of the present invention.
These are only the preferred embodiments of the present invention, not thereby limit the present invention the scope of the claims, every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of flying vehicles control method is it is characterised in that include：
The test value of compass on monitoring aircraft；
According to the test value of the compass monitoring, judge whether compass is abnormal or loses efficacy；
When described compass is abnormal or loses efficacy, described aircraft is carried out protect control with default protective measure, specifically include：
When described compass is abnormal or loses efficacy, closes the data-interface of described compass, and detect whether GPS is normal；
If GPS is normal, read the positional information that GPS is gathered, aircraft is kept according to the positional information that described GPS is gathered
Current yaw angle is constant, enters self-studying mode, controls aircraft to drop to HOME point；
If GPS is abnormal or loses efficacy, according to GPS is abnormal or the corresponding protective measure that lost efficacy, described aircraft is carried out with protection control
System；
Wherein, described entrance self-studying mode, controls the step that aircraft drops to HOME point to include：
In first time period, control described aircraft towards first direction flight predeterminable range, and real-time judge current point position
Put the distance with HOME point position, if this distance is more and more remote,：
In second time period, control aircraft towards second direction flight predeterminable range, real-time judge current point position with
When the distance of HOME point position is increasingly nearer, control aircraft to continue the flight of this direction, until judge current point position and
When the distance of HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction；Described second direction and described the
One direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position with
The distance of HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, real-time judge current point position with
When the distance of HOME point position is increasingly nearer, control aircraft to continue the flight of this direction, until judge current point position and
When the distance of HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction；Described third direction and first party
To vertical, described fourth direction is relative with described third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
2. method according to claim 1, it is characterised in that the test value of compass that monitors of described basis, judges
Step that is abnormal or losing efficacy includes compass：
If monitoring described compass no test value, judge that described compass lost efficacy；Or
If monitor described compass test data unchanged or in the given time produce mutation, judge described compass
Abnormal.
3. method according to claim 1, it is characterised in that described entrance self-studying mode, controls aircraft to drop to
The step of HOME point also includes：
If in described first time period, judge that current point position is more and more nearer with the distance of HOME point position, then：
Aircraft is controlled to continue the flight of this direction, more and more remote with the distance of HOME point position until judging current point position
When, then control aircraft to stop the flight of this direction；
Enter described 3rd time period, if in the 3rd time period, current point position is more and more nearer with the distance of HOME point position,
Then：
Aircraft is controlled to continue the flight of this direction, more and more remote with the distance of HOME point position until judging current point position
When, then control aircraft to stop the flight of this direction, and entered for the 5th time period.
4. method according to claim 3 is it is characterised in that described first direction is towards the direction of head, towards machine
The direction of tail, the left direction towards fuselage or the right direction towards fuselage.
If 5. the method according to claim 1,3 or 4 is it is characterised in that described GPS extremely or lost efficacy, different according to GPS
Often or the corresponding protective measure that lost efficacy, described aircraft is carried out protect the step controlling to include：
If GPS is abnormal or loses efficacy, controls aircraft to be hovered or original place landing, and notify the control of described aircraft eventually
End, described GPS is sent to described control terminal to the last test value of described aircraft；Shoot working as of described aircraft
Front environment photo simultaneously transmits to control terminal, for assist control terminal judges aircraft position；And aircraft is cut
Change to mixing control model.
6. a kind of aircraft is it is characterised in that include：
Monitoring modular, for monitoring the test value of compass on aircraft；
Judge module, for the test value according to the compass monitoring, judges whether compass is abnormal or loses efficacy；
Control module, for when described compass is abnormal or loses efficacy, being protected to described aircraft with default protective measure
Control, specifically for when described compass is abnormal or loses efficacy, closing the data-interface of described compass, and whether detecting GPS
Normally；If GPS is normal, read the positional information that GPS is gathered, flight is kept according to the positional information that described GPS is gathered
The current yaw angle of device is constant, enters self-studying mode, controls aircraft to drop to HOME point；If GPS is abnormal or loses efficacy, press
According to GPS exception or the corresponding protective measure that lost efficacy, described aircraft is carried out protect control；Wherein：
Under described self-studying mode, in first time period, control described aircraft towards first direction flight predeterminable range,
And the distance of real-time judge current point position and HOME point position, if this distance is more and more remote,：
In second time period, control aircraft towards second direction flight predeterminable range, real-time judge current point position with
When the distance of HOME point position is increasingly nearer, control aircraft to continue the flight of this direction, until judge current point position and
When the distance of HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction；Described second direction and described the
One direction is relatively；
In the 3rd time period, control aircraft towards third direction flight predeterminable range, and real-time judge current point position with
The distance of HOME point position, if this distance is more and more remote,：
In the 4th time period, control aircraft towards fourth direction flight predeterminable range, real-time judge current point position with
When the distance of HOME point position is increasingly nearer, control aircraft to continue the flight of this direction, until judge current point position and
When the distance of HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction；Described third direction and first party
To vertical, described fourth direction is relative with described third direction；
In the 5th time period, aircraft vertical is controlled to drop to HOME point.
7. aircraft according to claim 6 it is characterised in that
Described judge module, if being additionally operable to monitor described compass no test value, judges that described compass lost efficacy；If or
Monitor that the test data of described compass is unchanged or produce mutation in the given time, then judge that described compass is abnormal.
8. aircraft according to claim 6 it is characterised in that
Described control module, if being additionally operable in described first time period, judges the distance of current point position and HOME point position
Increasingly nearer, then：Aircraft is controlled to continue the flight of this direction, until judging that current point position and the distance of HOME point position get over
When coming more remote, then aircraft is controlled to stop the flight of this direction；Enter described 3rd time period, if in the 3rd time period, when
Front position is more and more nearer with the distance of HOME point position, then：Aircraft is controlled to continue the flight of this direction, current until judging
When the distance of point position and HOME point position is more and more remote, then aircraft is controlled to stop the flight of this direction, and when entering the 5th
Between section.
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| CN105253301B (en) * | 2015-09-28 | 2017-12-05 | 深圳一电航空技术有限公司 | The flight control method and device of Multi-axis aircraft |
| CN105867181A (en) * | 2016-04-01 | 2016-08-17 | 腾讯科技（深圳）有限公司 | Control method and apparatus of unmanned aerial vehicle |
| CN108733068A (en) * | 2017-04-24 | 2018-11-02 | 菜鸟智能物流控股有限公司 | Aircraft with a flight control device |
| CN107942333B (en) * | 2017-10-13 | 2020-03-10 | 中国南方电网有限责任公司调峰调频发电公司 | Data processing method of range finding sonar |
| CN110780318B (en) * | 2019-10-16 | 2023-03-14 | 一飞智控(天津)科技有限公司 | Rescue method and control method for flight device after GPS (global positioning system) signal is lost |
| CN112711274A (en) * | 2021-01-19 | 2021-04-27 | 四川一电航空技术有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle and computer readable storage medium |
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| CN102628691A (en) * | 2012-04-09 | 2012-08-08 | 北京自动化控制设备研究所 | Completely independent relative inertial navigation method |
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