CN105589471B - Unmanned plane during flying track method for drafting, device and system - Google Patents
Unmanned plane during flying track method for drafting, device and system Download PDFInfo
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- CN105589471B CN105589471B CN201610043976.6A CN201610043976A CN105589471B CN 105589471 B CN105589471 B CN 105589471B CN 201610043976 A CN201610043976 A CN 201610043976A CN 105589471 B CN105589471 B CN 105589471B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention provides a kind of unmanned plane during flying track method for drafting, device and system, including：Plan the destination and flight path of unmanned plane during flying；The position signal returned during unmanned plane during flying is received per setting time interval, draws the flight path of unmanned plane on the electronic map according to position signal；If position signal can not be received in setting time, it last time is then set receives position signal and corresponds to the position of electronic map and start drafting virtual track as the starting point of virtual track, the flying speed of unmanned plane is the simulated flight speed of unmanned plane when receiving position signal for the last time, determine unmanned plane in current location heading according to the direction of destination, it determines the next position reached behind unmanned plane during flying setting time interval, draws the virtual track of unmanned plane on the electronic map further according to the next position.The present invention enables to user to remain to estimate the position of unmanned plane after unmanned plane lost contact, and user is made still to do some preparations recycling unmanned plane.
Description
Technical field
The invention belongs to unmanned plane field more particularly to unmanned plane during flying track method for drafting, device and systems.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.In the prior art, manipulator controls unmanned plane during flying by control terminal, but
It is that unmanned plane is conditional with the distance of manipulator, will lose signal with manipulator apart from unmanned plane more than this, cause
It is unable to control unmanned plane.In order to solve the limitation of this distance, we by choosing destination on the electronic map of control terminal,
Unmanned plane is allowed to fly to automatically these destinations, unmanned plane can fly far distance.But after losing signal due to unmanned plane
Will not return position signal, cause the track that can not show unmanned plane during flying on the electronic map, such manipulator is to unmanned plane
Current location just can not control, it is even more impossible to accurately hold the when and where to make a return voyage, if there is unexpected drop in midway unmanned plane
It falls, then there is the risk for losing unmanned plane.
Invention content
In consideration of it, the embodiment of the present invention provides a kind of unmanned plane during flying track method for drafting, device and system, to solve
In the prior art cause after unmanned plane loses signal user to the position of unmanned plane can not control the problem of.
The present invention provides a kind of unmanned plane during flying track method for drafting, and method includes：Plan unmanned plane during flying destination with
And flight path；The position signal returned during unmanned plane during flying is received per setting time interval, according to position signal in electricity
The flight path of unmanned plane is drawn on sub- map；If can not receive position signal in setting time, last time is set
It receives position signal and corresponds to the position of electronic map and start to draw virtual track as the starting point of virtual track, with last
The flying speed of secondary unmanned plane when receiving position signal is the simulated flight speed of unmanned plane, and nothing is determined according to the direction of destination
The man-machine heading in current location determines unmanned plane during flying setting time further according to simulated flight speed and heading
The next position reached behind interval draws the virtual track of unmanned plane further according to the next position on the electronic map.
Preferably, in the step of planning the destination and flight path of unmanned plane during flying, including：It sets on the electronic map
Set the flight path of unmanned plane；The destination of unmanned plane during flying is selected on flight path；Calculate each destination to takeoff point away from
From and determine the direction of each destination.
Preferably, unmanned plane is determined in current location heading, further according to simulated flight speed according to the direction of destination
And heading determines the step of the next position reached behind unmanned plane during flying setting time interval, including：Flown according to simulation
Scanning frequency degree calculates flight total distance when unmanned plane reaches the next position；Judge flight total distance whether be more than it is next will be through
Distance of the destination crossed to takeoff point；If it is the distance more than next destination to takeoff point, and continue to judge a upper warp
Whether the heading for the destination crossed is inconsistent with the heading of next destination；If it is inconsistent, with it is next will
Heading in current location of the heading of the destination of process as unmanned plane calculates flight total distance and next boat
Point arrives the difference of the distance of takeoff point, along heading as nobody at the difference at a distance of next destination that will pass through
The next position that machine reaches, otherwise, the heading for continuing the destination of the above process are that unmanned plane flies in current location
Line direction calculates difference of the flight total distance at a distance from next destination to takeoff point, along heading at a distance of next
The next position reached as unmanned plane at the difference of a destination；If it is less than or equal to next destination that will be reached to rise
The distance of flying spot selects heading of the direction of the destination of a process for unmanned plane in current location, total by flying
Distance determines the next position.
Preferably, if position signal can not be received in setting time, last time is set and receives position letter
In the step of position of number corresponding electronic map starts drafting virtual track as the starting point of virtual track, including：Setting electricity
Sub- map display unmanned plane from receive for the last time position signal count setting time formed virtual track after, just open
Begin to draw virtual track.
Preferably, calculate each destination includes to the distance of takeoff point and the step of determining the direction of each destination：With
The center of electronic map is coordinate origin；Obtain the coordinate of takeoff point position on the electronic map corresponding with destination；By rising
Coordinate and the ratio of electronic map and actual range between flying spot and the coordinate and destination of destination calculate destination and apart take off
The distance of point calculates the vector of destination to determine the side of destination by the coordinate between takeoff point and the coordinate and destination of destination
To.
Preferably, position signal is GPS signal.
The present invention also provides a kind of unmanned plane during flying track drawing apparatus, device includes：Planning module, to plan nobody
The destination and flight path of machine flight；Real track drafting module receives unmanned plane during flying mistake to every setting time interval
The position signal returned in journey draws the flight path of unmanned plane according to position signal on the electronic map；Virtual track is drawn
Module is arranged last time and receives position signal correspondence electricity if can not receive position signal in setting time
The position of sub- map as the starting point of virtual track start draw virtual track, when receiving position signal for the last time without
Man-machine flying speed is the simulated flight speed of unmanned plane, determines unmanned plane in current location flight side according to the direction of destination
To, the next position reached behind unmanned plane during flying setting time interval is determined further according to simulated flight speed and heading,
Draw the virtual track of unmanned plane on the electronic map further according to the next position.
Preferably, planning module includes：Setting unit, the flight path of unmanned plane to be arranged on the electronic map；Choosing
Unit is selected, to select the destination of unmanned plane during flying on flight path；Computing unit, to calculate each destination to takeoff point
Distance and determine the direction of each destination.
Preferably, virtual track drafting module, including：First computing unit, to calculate each destination to takeoff point
Distance and the direction for determining each destination；Second computing unit, to be calculated under unmanned plane arrival according to simulated flight speed
Flight total distance when one position；Judging unit, to judge whether flight total distance is more than next destination that will pass through
To the distance of takeoff point；First position determination unit to if it is the distance more than next destination to takeoff point, and continues
Judge whether the heading of the destination of a upper process is inconsistent with the heading of next destination；If it is inconsistent,
Using the heading of next destination that will pass through as the heading in current location of unmanned plane, calculate flight always away from
From the difference at a distance from next destination to takeoff point, along heading in the difference at a distance of next destination that will pass through
The next position reached as unmanned plane at value, otherwise, the heading for continuing the destination of the above process are that unmanned plane exists
The heading of current location calculates difference of the flight total distance at a distance from next destination to takeoff point, along flight side
To the next position reached as unmanned plane at the difference at a distance of next destination；Second position determination unit, if to
Less than or equal to the distance of next destination that will be reached to takeoff point, it is nobody to select the direction of the destination of a process
Machine determines the next position in the heading of current location by flight total distance.
The present invention also provides a kind of unmanned plane during flying track drawing system, system includes unmanned plane during flying rail as described above
Mark drawing apparatus.
It is compared with the prior art, the beneficial effects of the invention are as follows：Unmanned plane during flying track method for drafting, the device of the present invention
And system, the position of unmanned plane is determined by the simulated flight speed and flying method of unmanned plane, to draw unmanned plane
Virtual track after losing signal can allow unmanned plane operator to remain to estimate the present bit of unmanned plane after unmanned plane lost contact
Set, to do some preparations to recycling unmanned plane, mitigate because unmanned plane is temporarily lost with signal and to the psychological pressure that user brings,
Improve the success rate of unmanned plane recycling.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow chart of the unmanned plane during flying track method for drafting of the present invention；
Fig. 2 is schematic diagram the step of drawing virtual track of Fig. 1；
Fig. 3 is the schematic diagram of the unmanned plane during flying track drawing process of the present invention；
Fig. 4 is the schematic diagram of the unmanned plane during flying track drawing apparatus of the present invention.
The reference numerals are as follows：The real 20 virtual track drafting module 30 of track drafting module of planning module 10.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, a kind of unmanned plane during flying track method for drafting of the present invention, method include：
Step S10：Plan the destination and flight path of unmanned plane during flying.In the present embodiment, manipulator is by controlling eventually
It holds the destination and flight path of flight is arranged.
In the present embodiment, step S10 includes：
Step S20：The flight path of the unmanned plane is set on the electronic map；
Step S21：The destination of the unmanned plane during flying is selected on the flight path；
Step S22：Each destination is calculated to the distance of takeoff point and the direction of determining each destination.
It needs exist for illustratively, the air line distance of distance not instead of the two of destination to takeoff point, unmanned plane
It flies from takeoff point to the flying distance of destination.For example, unmanned plane have passed through destination A, destination B from takeoff point M successively flight.Boat
The distance that the distance of point B to takeoff point M is destination A to takeoff point M is plus the distance between destination B to destination A.
Step S22 is specifically included：
Step S30：Using the center of electronic map as coordinate origin；
Step S31：Obtain the coordinate of takeoff point position on the electronic map corresponding with destination；
Step S32：Pass through coordinate between the coordinate of takeoff point and destination, destination and electronic map and actual range
Ratio calculates distance of the destination at a distance of takeoff point, and destination is calculated by the coordinate between takeoff point and the coordinate and destination of destination
Vector determines the direction of destination.
Step S11：The position signal returned during unmanned plane during flying is received per setting time interval, according to position signal
The flight path of unmanned plane is drawn on the electronic map.
In the present embodiment, 0.5S is divided between setting time.Also it is both that unmanned plane returns to a position signal every 0.5S,
Electronic map updates position of the unmanned plane on map every 0.5S, and the flight rail of unmanned plane is drawn according to position
Mark.
Step S12：If position signal can not be received in setting time, last time is set and receives position signal
The position of corresponding electronic map starts to draw virtual track as the starting point of virtual track, to receive position letter for the last time
Number when unmanned plane flying speed be unmanned plane simulated flight speed, determine unmanned plane in current location according to the direction of destination
Heading, determined further according to simulated flight speed and heading reach behind unmanned plane during flying setting time interval it is next
Position draws the virtual track of unmanned plane further according to the next position on the electronic map.
In the present embodiment, setting time 4S.If position signal can not be received in 4S, unmanned plane on electronic map
Position will not update, and the cursor that unmanned plane is represented on electronic map can be static.
In step s 12, setting electronic map is drawn after the virtual track that display unmanned plane is formed in setting time
Virtual track.
Although the unmanned plane not return position signal in setting time, unmanned plane still awing, in order to avoid
The virtual track shown in control terminal the situation inconsistent with the actual flight of unmanned plane, then after setting time, directly
The virtual track formed in this setting time is shown on the electronic map, is then carried out on the basis of this section of virtual track again empty
The drafting of quasi- track.The case where virtual track reflects in this way is just more accurate.
Referring to Fig. 2, determining unmanned plane in current location heading, further according to simulated flight speed according to the direction of destination
The step of degree and heading determine the next position reached behind unmanned plane during flying setting time interval, including：
Step S40：Each destination is calculated to the distance of takeoff point and the direction of determining each destination；
Step S41：Flight total distance when unmanned plane reaches the next position is calculated according to simulated flight speed；
Step S42：Judge flight total distance whether be more than next destination that will pass through to takeoff point distance；
Step S43：If it is the distance more than next destination to takeoff point, and continue to judge a upper process
Whether the heading of the destination is inconsistent with the heading of next destination；If it is inconsistent, with next
Heading in current location of the heading for the destination that will pass through as the unmanned plane, calculates the flight
Difference of the total distance at a distance from next destination to the takeoff point is incited somebody to action along the heading at a distance of next
Otherwise the next position reached as the unmanned plane at the difference for the destination to be passed through continues the above process
The heading of the destination is heading of the unmanned plane in the current location, calculates the flight total distance under
One destination to the distance of the takeoff point difference, along the heading at a distance of next destination difference
The next position reached as the unmanned plane at value；
Step S44：If it is less than or equal to next destination that will be reached to the distance of takeoff point, a upper warp is selected
The direction for the destination crossed be unmanned plane in the heading of current location, the next position is determined by flight total distance.
Carry out the unmanned plane during flying track method for drafting that the present invention will be described in detail with reference to Fig. 1 to Fig. 3.
First, user has planned takeoff point A1, destination A2 and destination A3, flight path be from A1 flights to A2, from
A2 flies to A3, finally flies back A1 from A3.By measuring and calculating, the distance of destination A2 to takeoff point A1 is T1, destination A3 to takeoff point
The distance of A1 is T2+T1, from takeoff point A1 passes through destination A2, the distance of A3 to A1 is T3+T2+T1.
Assuming that losing signal when F point of the unmanned plane F flights between destination A2 and destination A3, represented on electronic map at this time
The cursor of unmanned plane is static when on track, and does not re-form track.After setting time, such as 4 seconds, nothing is confirmed
Man-machine lost contact starts to draw the void on electronic map after the virtual track N1 that display unmanned plane is formed in setting time at this time
Quasi- track.Also it is both, using the F1 on scheming as starting point, to start to draw virtual track.
Assuming that the current position of unmanned plane is F1, when receiving position signal due to unmanned plane last time at F, because
This, speed when unmanned plane is at F is the simulated flight speed of unmanned plane.Again because updating primary nothing every setting time interval
Man-machine position, then being multiplied by the numerical value that the time obtains by simulated flight speed can count plus the distance that unmanned plane has flown
It is M1+M2 to calculate the distance of unmanned plane next time, then the total distance of unmanned plane during flying is that the distance flown adds M1 and M2
Value.From the figure, it can be seen that the total distance of unmanned plane during flying be more than next destination A3 that will pass through to takeoff point away from
From T2+T1, it is M2 to calculate difference of the flight total distance with next destination to takeoff point at a distance from, and the side of next destination
To fly to destination A1 from destination A3, it is determined that be next position of unmanned plane arrival at the places distance M2 at a distance of destination A3
F2, and unmanned plane is unanimously from destination A3 to destination A4 with destination A3 in the direction of position F2.
Also a kind of situation is, unmanned plane from current location to the next position after the total distance flown be not more than next boat
Point is to the distance of takeoff point, for example unmanned plane takes off from F1, behind setting time interval, still F1 and destination A3 it
Between, then at this point, heading is also both still consistent to the direction of destination A3 from destination A2 with the direction of destination A2, under unmanned plane
One position is then that the position of F1 is multiplied by the distance at setting time interval plus simulated flight speed.
Referring to Fig. 4, a kind of unmanned plane during flying track drawing apparatus of the present invention, device include：
Planning module 10, to plan the destination and flight path of unmanned plane during flying；
Real track drafting module 20 receives the position letter returned during unmanned plane during flying to every setting time interval
Number, draw the flight path of unmanned plane on the electronic map according to position signal；
Last is arranged if can not receive position signal in setting time in virtual track drafting module 30
It is secondary receive position signal and correspond to the position of electronic map start to draw virtual track as the starting point of virtual track, with last
The flying speed of unmanned plane is the simulated flight speed of unmanned plane when once receiving position signal, is determined according to the direction of destination
Unmanned plane determines unmanned plane during flying setting time in current location heading, further according to simulated flight speed and heading
The next position reached behind interval draws the virtual track of unmanned plane further according to the next position on the electronic map.
Planning module 10 includes：
Setting unit, the flight path of unmanned plane to be arranged on the electronic map；
Selecting unit, to select the destination of unmanned plane during flying on flight path；
Computing unit, to calculate each destination to the distance of takeoff point and the direction of determining each destination.
Computing unit includes：
Origin obtains subelement：Using the center of electronic map as coordinate origin；
Coordinate obtains subelement：Obtain the coordinate of takeoff point position on the electronic map corresponding with destination；
Operation subelement：By coordinate between the coordinate of takeoff point and destination, destination and electronic map with it is practical away from
From ratio calculate destination with a distance from takeoff point, boat is calculated by coordinate between takeoff point and the coordinate and destination of destination
The vector of point determines the direction of destination.
Virtual track drafting module 30, including：
First computing unit, to calculate each destination to the distance of takeoff point and the direction of determining each destination；
Second computing unit, to calculated according to simulated flight speed flight when unmanned plane reaches the next position always away from
From；
Judging unit, to judge flight total distance whether be more than next destination that will pass through to takeoff point away from
From；
First position determination unit to if it is the distance more than next destination to takeoff point, and continues in judgement
Whether the heading of the destination of one process is inconsistent with the heading of next destination；If it is inconsistent, with next
Heading in current location of the heading of a destination that will pass through as unmanned plane calculates flight total distance under
One destination is made along heading at the difference at a distance of next destination that will pass through to the difference of the distance of takeoff point
For the next position that unmanned plane reaches, otherwise, the heading for continuing the destination of the above process is unmanned plane in present bit
The heading set calculates difference of the flight total distance at a distance from next destination to takeoff point, along heading in phase
The next position reached as unmanned plane at difference away from next destination；
Second position determination unit, to if it is less than or equal to next destination that will be reached to takeoff point away from
From selecting heading of the direction for unmanned plane in current location of the destination of a process, determined by flight total distance
The next position.
Virtual track drafting module 30 further includes：
Adding device, setting electronic map are showing unmanned plane from when receiving position signal for the last time and counting setting
Between after the virtual track that is formed, just start to draw the virtual track.
Referring to Fig. 4, a kind of unmanned plane during flying track drawing system of the present invention, including above-mentioned unmanned plane during flying track
Drawing apparatus.
It is worth noting that, the present invention other than applying in unmanned plane, can be applied in automobile data recorder, Flying Camera
Machine, full-view camera and automobile etc..
It is compared with the prior art, the beneficial effects of the invention are as follows：Unmanned plane during flying track method for drafting, the device of the present invention
And system, the position of unmanned plane is determined by the simulated flight speed and flying method of unmanned plane, to draw unmanned plane
Virtual track after losing signal can allow unmanned plane operator to remain to estimate the present bit of unmanned plane after unmanned plane lost contact
Set, to do some preparations to recycling unmanned plane, mitigate because unmanned plane is temporarily lost with signal and to the psychological pressure that user brings,
Improve the success rate of unmanned plane recycling.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment（Can be
People's computer, server or network equipment etc.）It performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory（ROM, Read-Only Memory）, arbitrary access deposits
Reservoir（RAM, Random Access Memory）, magnetic disc, various Jie that can store program code such as CD or cloud storage
Matter.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of unmanned plane during flying track method for drafting, which is characterized in that the method includes：
Plan the destination and flight path of unmanned plane during flying；
The position signal returned during the unmanned plane during flying is received per setting time interval, according to the position signal in electricity
The flight path of the unmanned plane is drawn on sub- map；
If the position signal can not be received in setting time, last time is set and receives the position signal correspondence
The position of the electronic map starts to draw the virtual track as the starting point of virtual track, to receive institute for the last time
The flying speed for stating unmanned plane when position signal is the simulated flight speed of the unmanned plane, according to the direction of the destination
Determine the unmanned plane current location heading, determine further according to the simulated flight speed and heading described in
The next position reached behind setting time interval described in unmanned plane during flying, further according to described the next position on the electronic map
Draw the virtual track of the unmanned plane.
2. unmanned plane during flying track as described in claim 1 method for drafting, which is characterized in that in the planning unmanned plane during flying
Destination and flight path the step of in, including：
The flight path of the unmanned plane is set on the electronic map；
The destination of the unmanned plane during flying is selected on the flight path；
Each destination is calculated to the distance of takeoff point and the direction of determining each destination.
3. unmanned plane during flying track as claimed in claim 2 method for drafting, which is characterized in that described according to the destination
Direction determines that in current location heading, institute is determined further according to the simulated flight speed and heading for the unmanned plane
The step of stating the next position reached behind setting time interval described in unmanned plane during flying, including：
The flight total distance when unmanned plane reaches described the next position is calculated according to the simulated flight speed；
Judge the flight total distance whether be more than next destination that will pass through to takeoff point distance；
If it is the distance more than next destination to takeoff point, and continue to judge that the destination of a upper process flies
Whether line direction is inconsistent with the heading of next destination；If it is inconsistent, with next institute that will pass through
Heading in current location of the heading as the unmanned plane for stating destination, calculate the flight total distance with it is next
The difference of distance of a destination to the takeoff point, along the heading at a distance of it is next will pass through described in
Otherwise the next position reached as the unmanned plane at the difference of destination continues flying for the destination of the above process
Line direction be the unmanned plane in the heading of the current location, calculate the flight total distance and next destination
To the difference of the distance of the takeoff point, be used as at the difference at a distance of next destination along the heading described in
The next position that unmanned plane reaches；
If it is less than or equal to next destination that will be reached to the distance of takeoff point, the described of a upper process is selected
The direction of destination be the unmanned plane in the heading of the current location, determined by the flight total distance described next
Position.
4. unmanned plane during flying track as claimed in claim 3 method for drafting, which is characterized in that if described in setting time
The position signal can not be received, then last time is set and receives the position that the position signal corresponds to the electronic map
In the step of starting point as virtual track starts to draw the virtual track, including：
The electronic map, which is arranged, is showing the unmanned plane from when receiving the position signal for the last time and counting setting
Between after the virtual track that is formed, just start to draw the virtual track.
5. unmanned plane during flying track as claimed in claim 2 method for drafting, which is characterized in that described to calculate each destination
Include to the distance of takeoff point and the step of determining the direction of each destination：
Using the center of the electronic map as coordinate origin；
Obtain the coordinate of the takeoff point position on the electronic map corresponding with the destination；
Pass through coordinate between the takeoff point and the coordinate and the destination of the destination and electronic map and actual range
Ratio calculate distance of the destination at a distance of takeoff point, by the coordinate of the takeoff point and the destination and the destination it
Between coordinate calculate the vector of the destination to determine the direction of the destination.
6. unmanned plane during flying track as described in claim 1 method for drafting, which is characterized in that the position signal is believed for GPS
Number.
7. a kind of unmanned plane during flying track drawing apparatus, which is characterized in that described device includes：
Planning module, to plan the destination and flight path of unmanned plane during flying；
Real track drafting module receives the position letter returned during the unmanned plane during flying to every setting time interval
Number, draw the flight path of the unmanned plane on the electronic map according to the position signal；
Last time is arranged if can not receive the position signal in setting time in virtual track drafting module
Receive the position signal correspond to the position of the electronic map start to draw as the starting point of virtual track it is described virtual
Track, the flying speed of the unmanned plane is the simulated flight of the unmanned plane when receiving the position signal for the last time
Speed determines the unmanned plane in current location heading, further according to simulated flight speed according to the direction of the destination
Degree and heading determine the next position reached behind setting time interval described in the unmanned plane during flying, under described
The virtual track of the unmanned plane is drawn on the electronic map in one position.
8. unmanned plane during flying track as claimed in claim 7 drawing apparatus, which is characterized in that the planning module includes：
Setting unit, the flight path of the unmanned plane to be arranged on the electronic map；
Selecting unit, to select the destination of the unmanned plane during flying on the flight path；
Computing unit, to calculate each destination to the distance of takeoff point and the direction of determining each destination.
9. unmanned plane during flying track as claimed in claim 8 drawing apparatus, which is characterized in that the virtual track draws mould
Block, including：
First computing unit, to calculate each destination to the distance of takeoff point and the side of determining each destination
To；
Second computing unit flies to be calculated according to the simulated flight speed when unmanned plane reaches described the next position
Row total distance；
Judging unit, to judge whether the flight total distance is more than next destination that will pass through to takeoff point
Distance；
First position determination unit to if it is the distance more than next destination to takeoff point, and continues in judgement
Whether the heading of the destination of one process is inconsistent with the heading of next destination；If inconsistent,
Then using the heading of next destination that will pass through as the heading in current location of the unmanned plane, meter
Difference of the flight total distance at a distance from next destination to the takeoff point is calculated, along the heading in phase
The next position reached as the unmanned plane at difference away from next destination that will pass through, otherwise, more than continuation
One process the destination heading be the unmanned plane in the heading of the current location, calculate the flight
Difference of the total distance at a distance from next destination to the takeoff point, along the heading at a distance of next institute
State the next position reached as the unmanned plane at the difference of destination；
Second position determination unit, to if it is less than or equal to next destination that will be reached to takeoff point away from
From selecting heading of the direction for the unmanned plane in the current location of the destination of a process, pass through institute
It states flight total distance and determines described the next position.
10. a kind of unmanned plane during flying track drawing system, which is characterized in that the system comprises such as claim 7 to 9 is any one
Unmanned plane during flying track drawing apparatus described in.
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