CN105786019A - Aerial carrier flight control method and aerial carrier flight control system - Google Patents
Aerial carrier flight control method and aerial carrier flight control system Download PDFInfo
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- CN105786019A CN105786019A CN201610274498.XA CN201610274498A CN105786019A CN 105786019 A CN105786019 A CN 105786019A CN 201610274498 A CN201610274498 A CN 201610274498A CN 105786019 A CN105786019 A CN 105786019A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides an aerial carrier flight control method and an aerial carrier flight control system, wherein the method comprises the steps of acquiring first obstacle information and a preset flight path which are determined according to a landform elevation map; performing real-time detection on obstacles in the flight process, and obtaining second obstacle information; performing real-time comparison on the first obstacle information and the second obstacle information; if the first obstacle information is same with the second obstacle information, making the aerial carrier fly according to the preset flight path; and if the first obstacle information does not accord with the second obstacle information, correcting the preset flight path according to the second obstacle information, and making the aerial carrier fly according to the corrected flight path. The aerial carrier flight control method and the aerial carrier flight control system effectively prevent collision between the aerial carrier and the obstacles and furthermore ensure high flight safety of the aerial carrier.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of carrier aircraft flight control method and system.
Background technology
Carrier aircraft, such as unmanned aerial vehicle, be usually a kind of by radio robot or handled by self presetting apparatus, the non-manned vehicle that performs task.Generally, carrier aircraft all can be provided with navigation and flight control, presetting apparatus and power-supply device etc..In the last few years, carrier aircraft is developed in multiple fields and applies, and has great military significance and economic status.
Carrier aircraft mainly has advantage of lower cost, it does not have casualties is dangerous, and survival ability is strong, the advantages such as mobility is good.But also because being unmanned, therefore carrier aircraft can only rely on the flight control system of self or the instruction of ground control centre to fly.So, when running into the barriers such as high voltage cable, trees or building, just it is easy to collision situation carrier aircraft occurring with barrier, there is bigger potential safety hazard.
Summary of the invention
The present invention provides a kind of carrier aircraft flight control method and system, to solve the generation of carrier aircraft and the collision situation of barrier, it is ensured that the safety of carrier aircraft.
In order to solve the problems referred to above, the invention discloses a kind of carrier aircraft flight control method, including:
Obtain the first obstacle information and preset flight path determined according to landform elevation map；
Barrier in flight course is carried out real-time detection, obtains the second obstacle information；
Described first obstacle information and described second obstacle information are carried out real-time comparison；
If described first obstacle information is consistent with described second obstacle information, then control carrier aircraft flight according to described preset flight path；If described first obstacle information is inconsistent with described second obstacle information, then according to described second obstacle information, described preset flight path is modified, and controls carrier aircraft flight according to revised flight path.
Correspondingly, the invention also discloses a kind of carrier aircraft flight control system, including:
First acquisition module, for obtaining the first obstacle information and preset flight path determined according to landform elevation map；
Detecting module, for the barrier in flight course is carried out real-time detection, obtains the second obstacle information；
Comparison module, for carrying out real-time comparison by described first obstacle information and described second obstacle information；
Perform module, for when described first obstacle information is consistent with described second obstacle information, controlling carrier aircraft flight according to described preset flight path；And, when described first obstacle information and described second obstacle information are inconsistent, according to described second obstacle information, described preset flight path is modified, and controls carrier aircraft flight according to revised flight path.
Compared with prior art, the present invention includes advantages below:
Carrier aircraft Flight Control Scheme of the present invention, barrier in flight course can be carried out real-time detection, then the second obstacle information obtained by real-time detection is carried out real-time comparison with the first obstacle information determined according to landform elevation map, in time the preset flight path determined according to landform elevation map is modified when obstacle information is inconsistent, to control the timely avoiding obstacles of carrier aircraft according to revised flight path, it is ensured that the flight safety of carrier aircraft.Visible, the real-time detection result to barrier in carrier aircraft Flight Control Scheme Combining with terrain elevation map of the present invention and flight course controls the flight of carrier aircraft, it is simultaneously achieved the of overall importance of obstacle detection and real-time, improve the precision to barrier judgment and accuracy, it is ensured that the accuracy of carrier aircraft avoiding barrier and reliability.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of a kind of carrier aircraft flight control method in the embodiment of the present invention；
Fig. 2 is the flow chart of steps of another kind of carrier aircraft flight control method in the embodiment of the present invention；
Fig. 3 is that in the embodiment of the present invention, one detours correction schematic diagram；
Fig. 4 is that in the embodiment of the present invention, a kind of jump revises schematic diagram；
Fig. 5 is the structured flowchart of a kind of carrier aircraft flight control system in the embodiment of the present invention；
Fig. 6 is the structured flowchart of another kind of carrier aircraft flight control system in the embodiment of the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
With reference to Fig. 1, it is shown that the flow chart of steps of a kind of carrier aircraft flight control method in the embodiment of the present invention.In the present embodiment, described carrier aircraft flight control method includes:
Step 102, obtains the first obstacle information and preset flight path determined according to landform elevation map.
Elevation, is generally referred to as certain some distance along plumb line direction to absolute datum, claims absolute elevation, be called for short elevation.Landform altitude figure can be the topography drawn according to altitude data.
In the present embodiment, described landform altitude figure directly can obtain from third party, for instance, it is possible to the China map elevation map that third party is known obtains the landform altitude figure corresponding to target flight region.Additionally, described landform altitude figure can also obtain according to geography information (the being primarily referred to as elevation information) real-time rendering in target flight region, it may for example comprise but be not limited only to carry out landform altitude figure described in real-time rendering by elevation software for drawing.This is not limited as by the present embodiment.
In the present embodiment, on the landform altitude figure in the target flight region basis determined, can require to determine, with the factor such as carrying aircraft-related parameter, the obstacle information existed in flight course in conjunction with the aerial mission of carrier aircraft, flight parameter, namely described first obstacle information is determined, and, it is determined that described preset flight path.Wherein, described preset flight path has planned the concrete flight path from the flight of task starting point to task terminal, and meanwhile, described preset flight path effectively avoids the barrier indicated by described first obstacle information.
Step 104, carries out real-time detection to the barrier in flight course, obtains the second obstacle information.
In the present embodiment, by any one suitable mode, the barrier in flight course can be carried out real-time detection, such as, can but be not limited only to by binocular or monocular cam carry out the depth of field recover with realize the barrier in flight course is carried out real-time detection, obtain the second obstacle information.Or, it is possible to by the range unit such as radar, infrared ray, the barrier in flight course is carried out real-time detection, obtain the second obstacle information.This is not limited as by the present embodiment.
Step 106, carries out real-time comparison by described first obstacle information and described second obstacle information.
In theory, should be accurately according to described first obstacle information that landform elevation map is determined, but in actual application, in target flight region, in esse barrier may not match that with described first obstacle information.At this time, it may be necessary to can serve to indicate that target flight region is carried out real-time comparison by the second obstacle information of the barrier of currently practical existence and described first obstacle information by what obtain in real time, whether accurate to judge described first obstacle information.
Wherein, if the second obstacle information is consistent with described first obstacle information, then illustrate that the first obstacle information is accurately, it is possible to continue to control carrier aircraft flight according to described preset flight path, that is, perform following step 108；If the second obstacle information is inconsistent with described first obstacle information, then illustrate that the first obstacle information is inaccurate, if now still controlling carrier aircraft flight by preset flight path, then it is likely to make carrier aircraft and barrier collide, when the second obstacle information and described first obstacle information are inconsistent, following step 110 specifically can be performed.
Step 108, controls carrier aircraft flight according to described preset flight path.
As previously mentioned, preset flight path is the flight path that the barrier according to landform elevation map Combining with terrain elevation map is planned, can effectively avoid all kinds of barriers indicated by described first obstacle information, therefore, when the first obstacle information is consistent with described second obstacle information, carrier aircraft flight can be controlled according to described preset flight path and continue flight, complete aerial mission.
Step 110, is modified described preset flight path according to described second obstacle information, and controls carrier aircraft flight according to revised flight path.
As it was previously stated, preset flight path is the flight path that the barrier according to landform elevation map Combining with terrain elevation map is planned, it is possible to effectively avoid all kinds of barriers indicated by described first obstacle information.But, when the first obstacle information and described second obstacle information are inconsistent, illustrate that described first obstacle information is likely to not correspond with practical situation, if now continuing to control carrier aircraft flight according to preset flight path, then it is probably carrier aircraft to collide with barrier, causes air crash.Therefore, generation in order to avoid this situation, in the present embodiment, according to described second obstacle information, described preset flight path can be modified, and control carrier aircraft flight according to revised flight path, and then avoid all kinds of barriers that real-time detection in flight course is determined, it is ensured that the flight safety of carrier aircraft.
In sum, carrier aircraft flight control method described in the present embodiment, barrier in flight course can be carried out real-time detection, then the second obstacle information obtained by real-time detection is carried out real-time comparison with the first obstacle information determined according to landform elevation map, in time the preset flight path determined according to landform elevation map is modified when obstacle information is inconsistent, to control the timely avoiding obstacles of carrier aircraft according to revised flight path, it is ensured that the flight safety of carrier aircraft.Visible, carrier aircraft flight control method described in the present embodiment the real-time detection result to barrier in Combining with terrain elevation map and flight course can control the flight of carrier aircraft, it is simultaneously achieved the of overall importance of obstacle detection and real-time, improve the precision to barrier judgment and accuracy, it is ensured that the accuracy of carrier aircraft avoiding barrier and reliability.
With reference to Fig. 2, it is shown that the flow chart of steps of another kind of carrier aircraft flight control method in the embodiment of the present invention.In the present embodiment, described carrier aircraft flight control method includes:
Step 202, obtains the landform altitude figure in target flight region.
As it was previously stated, in the present embodiment, described landform altitude figure can pass through third party and directly obtain, it is also possible to generate described landform altitude figure in real time according to altitude data.
Step 204, divides described landform altitude figure according to pre-set flight height, obtains division result.
In the present embodiment, it is possible to according to described pre-set flight height, described landform altitude figure is carried out dividing landform altitude figure and divide.Preferably, can but be not limited only to, with the horizontal plane at described pre-set flight height place for benchmark, described landform altitude figure is divided into two parts: the Part I (including the horizontal plane at described pre-set flight height place) on the horizontal plane at described pre-set flight height place and the Part II under the horizontal plane at described pre-set flight height place.
Wherein, the height of the barrier in described Part I is be more than or equal to pre-set flight height, and carrier aircraft may collide with the barrier in described Part I in flight course.The height of the barrier in described Part II is less than described pre-set flight height, and carrier aircraft generally will not collide with the barrier in described Part II in flight course, therefore, the barrier in described Part II can not be for further processing.
It should be noted that in the present embodiment, described pre-set flight height can but be not limited only to multiple parametric synthesis such as the setting flying height according to carrier aircraft, carrier aircraft Safety of Flight Requirements, carrier aircraft size, carrier aircraft flight requisite space and arrange.Those skilled in the art it will be clear that, it is also possible to arranging described pre-set flight height in conjunction with other parameters, this is not limited as by the present embodiment.
Step 206, determines described first obstacle information and described preset flight path according to described division result.
In the present embodiment, described determine that described first obstacle information and described preset flight path specifically can be accomplished in that according to described division result
Sub-step 2062, according to described division result, it is determined that sub-landform altitude figure.
As it was previously stated, described division result may include that the Part I landform altitude figure after cutting and Part II landform altitude figure.In the present embodiment, it is possible to described Part I landform altitude figure is defined as described sub-landform altitude figure, in other words, described sub-landform altitude figure is the height landform altitude figure be more than or equal to described pre-set flight height place planar section.
Sub-step 2064, carries out labelling to the barrier in described sub-landform altitude figure, obtains label information.
In the present embodiment, it is possible to each barrier in described sub-landform altitude figure is carried out labelling one by one and obtains label information.For example, it is possible to but be not limited only to adopt the mode of vector labelling that barrier is carried out labelling, obtain label information: Z1、Z2、Z3、···、Zn.That is, described label information can include the vector information for indicating the barrier in described sub-landform altitude figure.
Wherein, ZiCan but be not limited only to length and the azimuth information for indicating barrier.For example, it is possible to by the radius of cylinder, highly, the center of circle feature of barrier is described, the azimuth information of barrier is described by absolute longitude and latitude.It is of course also possible to described barrier is carried out labelling by two-dimensional grid form, this is not limited as by the present embodiment.Wherein, n >=1,1≤i≤n, and, n and i is integer.
Sub-step 2066, is defined as described first obstacle information by described label information.
Sub-step 2068, determines described preset flight path according to described label information.
In the present embodiment, the determination process of described preset flight path specifically can be divided into two parts to realize: first, the beginning and end according to aerial mission, generates sample flight path according to presetting rule.Then, according to described label information, described sample flight path is modified, obtains described preset flight path.
Wherein, the described beginning and end according to aerial mission, generate sample flight path according to presetting rule and specifically may include that when giving tacit consent to airbound target region clear, generate described sample flight path according to the beginning and end of aerial mission according to the rule that the flight time is the shortest or plane distance is the shortest.In other words, sample flight path is the path planning carried out when being left out barrier, the planning in described sample flight path can but be not limited only to carry out planning or planning based on the rule that the flight time is the shortest based on the rule that plane distance is the shortest.
Wherein, described according to described label information, described sample flight path is modified, obtain described preset flight path specifically to may include that and revise according to described sample flight path the detoured correction and/or jump of described label information, obtain described preset flight path.Certainly, those skilled in the art it should be apparent that correcting mode be not limited only to described in detour correction and jump revise, any one path modification mode that may be used for realizing avoiding obstacles can be applied to the present embodiment.
A, correction of detouring: if the relative altitude of the barrier indicated by described label information is more than setting height threshold value, then correction of being detoured in described sample flight path.
With reference to Fig. 3, it is shown that in the embodiment of the present invention, one detours correction schematic diagram.In the present embodiment, it is possible to detoured by left side or described sample flight path is modified by the mode that detours in right side: on the left of barrier A or right side detour after avoiding obstacles A, come back on sample flight path.
B, correction of jumping: if the relative altitude of the barrier indicated by described label information is less than or equal to setting height threshold value, then described sample flight path being carried out jumps revises.
With reference to Fig. 4, it is shown that in the embodiment of the present invention, a kind of jump revises schematic diagram.In the present embodiment, it is possible to by the mode (that is, promoting flying height) jumped, described sample flight path is modified: after avoiding obstacles B above barrier B, come back on sample flight path.
It should be noted that in the present embodiment, described setting height threshold value is the height H that can arrive according to carrier aircraft and reaches the height H negative effect brought and consider and determine, described negative effect refers to and reaches the required resource consumed of height H.The relative altitude of described barrier specifically may refer to the relative altitude between described barrier and described pre-set flight height place plane.
It should be noted that, above-mentioned steps 202-206 can perform in real time in carrier aircraft flight course, off-line execution in advance can also be performed before aerial mission in carrier aircraft, step 202-206 described in off-line execution effectively reduces taking of system resource in carrier aircraft flight course, ensure that the properly functioning of equipment, simultaneously, shorten the real-time comparison time of the first obstacle information and the second obstacle information, improve efficiency, can determine that whether preset flight path is correct more timely, and the correction of flight path is completed in time when preset flight path is incorrect, ensure the flight safety of carrier aircraft.
Step 208, obtains the first obstacle information and preset flight path determined according to landform elevation map.
In the present embodiment, carrier aircraft is when starting to perform aerial mission, it is possible to fly according to preset flight path, meanwhile, obtains described first obstacle information.
Step 210, carries out real-time detection to the barrier in flight course, obtains the second obstacle information.
In the present embodiment, it is possible to by any one mode, the barrier in carrier aircraft flight course is carried out real-time detection, obtain the second obstacle information, carry out real-time comparison for barrier.
Step 212, is the coordinate under the same coordinate system by the second Coordinate Conversion indicated by the first coordinate indicated by described first obstacle information and described second obstacle information.
In the present embodiment, before barrier is carried out real-time comparison, needing the second Coordinate Conversion indicated by the first coordinate indicated by described first obstacle information and described second obstacle information is the coordinate under the same coordinate system, it is ensured that the effectiveness of comparison in real time.
Step 214, carries out real-time comparison by described first obstacle information and described second obstacle information.
In the present embodiment, it is possible to described first obstacle information and described second obstacle information are carried out real-time comparison, that is, barrier is carried out real-time comparison, it is determined that whether the barrier that predetermined barrier and actual detection are determined matches.
It should be noted that in the present embodiment, described first obstacle information can be specifically the three-dimensional coordinate information of barrier, it is also possible to be two-dimensional grid information；Equally, described second obstacle information can be specifically the three-dimensional coordinate information of barrier, it is also possible to be two-dimensional grid information.In other words, it is possible to indicate barrier with three-dimensional coordinate；Two-dimensional coordinate can also be converted to network to indicate barrier, and then reduce the operation burden of equipment.Wherein, described first obstacle information should be corresponding with the information in described second obstacle information: when described first obstacle information is three-dimensional coordinate information, and described second obstacle information should also be as being three-dimensional coordinate information；When described first obstacle information is two-dimensional grid information, described second obstacle information should also be as being two-dimensional grid information.
In the present embodiment, if described first obstacle information is consistent with described second obstacle information, then perform following step 216；If described first obstacle information is inconsistent with described second obstacle information, then perform following step 218.
Step 216, controls carrier aircraft flight according to described preset flight path.
Step 218, is modified described preset flight path according to described second obstacle information, and controls carrier aircraft flight according to revised flight path.
In the present embodiment, specifically can revise according to described preset flight path the detoured correction and/or jump of described second obstacle information；Wherein, if the relative altitude of the barrier indicated by described second obstacle information is more than setting height threshold value, then correction of described preset flight path being detoured；If the relative altitude of the barrier indicated by described second obstacle information is less than or equal to setting height threshold value, then described preset flight path being carried out jumps revises.
The described correcting mode revised with described jump correction that detours is referred to the above-mentioned flow process being detoured in described sample flight path and revising and/or jump correction, and the present embodiment does not repeat them here.
In sum, carrier aircraft flight control method described in the present embodiment, barrier in flight course can be carried out real-time detection, then the second obstacle information obtained by real-time detection is carried out real-time comparison with the first obstacle information determined according to landform elevation map, in time the preset flight path determined according to landform elevation map is modified when obstacle information is inconsistent, to control the timely avoiding obstacles of carrier aircraft according to revised flight path, it is ensured that the flight safety of carrier aircraft.Visible, carrier aircraft flight control method described in the present embodiment the real-time detection result to barrier in Combining with terrain elevation map and flight course can control the flight of carrier aircraft, it is simultaneously achieved the of overall importance of obstacle detection and real-time, improve the precision to barrier judgment and accuracy, it is ensured that the accuracy of carrier aircraft avoiding barrier and reliability.
It should be noted that, for aforesaid embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not by the restriction of described sequence of movement, because according to the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, embodiment described in this description belongs to preferred embodiment, and involved action is not necessarily essential to the invention.
Based on inventive concept same as said method embodiment, with reference to Fig. 5, it is shown that the structured flowchart of a kind of carrier aircraft flight control system in the embodiment of the present invention.In the present embodiment, described carrier aircraft flight control system includes:
First acquisition module 302, for obtaining the first obstacle information and preset flight path determined according to landform elevation map.
In the present embodiment, described landform altitude figure directly can obtain from third party, it is also possible to obtains according to geography information (the being primarily referred to as elevation information) real-time rendering in target flight region.This is not limited as by the present embodiment.The first obstacle information and preset flight path determined according to landform elevation map can be obtained by described first acquisition module 302.
Detecting module 304, for the barrier in flight course is carried out real-time detection, obtains the second obstacle information.
In the present embodiment, described detecting module 304 can be any one in the range units such as binocular, monocular cam, radar and infrared ray, for the barrier in flight course carries out real-time detection, obtaining the second obstacle information.
Comparison module 306, for carrying out real-time comparison by described first obstacle information and described second obstacle information.
In theory, should be accurately according to described first obstacle information that landform elevation map is determined, but in actual application, in target flight region, in esse barrier may not match that with described first obstacle information.At this time, it may be necessary to can serve to indicate that target flight region is carried out real-time comparison by the second obstacle information of the barrier of currently practical existence and described first obstacle information by what obtain in real time, whether accurate to judge described first obstacle information.
Perform module 308, for when described first obstacle information is consistent with described second obstacle information, controlling carrier aircraft flight according to described preset flight path；And, when described first obstacle information and described second obstacle information are inconsistent, according to described second obstacle information, described preset flight path is modified, and controls carrier aircraft flight according to revised flight path.
Visible, carrier aircraft flight control system described in the present embodiment the real-time detection result to barrier in Combining with terrain elevation map and flight course can control the flight of carrier aircraft, it is simultaneously achieved the of overall importance of obstacle detection and real-time, improve the precision to barrier judgment and accuracy, it is ensured that the accuracy of carrier aircraft avoiding barrier and reliability.
In a preferred version of the present embodiment, with reference to Fig. 6, it is shown that the structured flowchart of another kind of carrier aircraft flight control system in the embodiment of the present invention.
Preferably, described carrier aircraft flight control system can also include:
Second acquisition module 310, for obtaining the landform altitude figure in target flight region.
Result acquisition module 312, for described landform altitude figure being divided according to pre-set flight height, obtains division result.
Determine module 314, for determining described first obstacle information and described preset flight path according to described division result.
In the present embodiment, described determine that module 314 specifically may include that first determines submodule 3142, for according to described division result, it is determined that sub-landform altitude figure；Wherein, described sub-landform altitude figure is the height landform altitude figure be more than or equal to described pre-set flight height place planar section.Labelling submodule 3144, for the barrier in described sub-landform altitude figure is carried out labelling, obtains label information；Wherein, described label information includes: for indicating the vector information of the barrier in described sub-landform altitude figure.Second determines submodule 3146, for described label information is defined as described first obstacle information.3rd determines submodule 3148, for determining described preset flight path according to described label information.
Wherein, it is preferred that the described 3rd determines that submodule 3148 specifically may include that generation subelement 31482, for the beginning and end according to aerial mission, generates sample flight path according to presetting rule；Revise subelement 31484, for described sample flight path being modified according to described label information, obtain described preset flight path.
It is further preferred that described generation subelement 31482, specifically may be used for, when giving tacit consent to airbound target region clear, generating described sample flight path according to the beginning and end of aerial mission according to the rule that the flight time is the shortest or plane distance is the shortest.Described correction subelement 31484, specifically may be used for revising according to described sample flight path the detoured correction and/or jump of described label information, obtains described preset flight path；Wherein, if the relative altitude of the barrier indicated by described label information is more than setting height threshold value, then correction of being detoured in described sample flight path；If the relative altitude of the barrier indicated by described label information is less than or equal to setting height threshold value, then described sample flight path being carried out jumps revises.
Preferably, described carrier aircraft flight control system can also include:
Coordinate transferring 316, before described first obstacle information being carried out real-time comparison with described second obstacle information at described comparison module 306, it is the coordinate under the same coordinate system by the second Coordinate Conversion indicated by the first coordinate indicated by described first obstacle information and described second obstacle information.
In a preferred version of the present embodiment, described execution module 308, when described preset flight path being modified according to described second obstacle information, specifically comprises the steps that and revises according to described preset flight path the detoured correction and/or jump of described second obstacle information；Wherein, if the relative altitude of the barrier indicated by described second obstacle information is more than setting height threshold value, then correction of described preset flight path being detoured；If the relative altitude of the barrier indicated by described second obstacle information is less than or equal to setting height threshold value, then described preset flight path being carried out jumps revises.
In sum, carrier aircraft flight control system described in the present embodiment, barrier in flight course can be carried out real-time detection, then the second obstacle information obtained by real-time detection is carried out real-time comparison with the first obstacle information determined according to landform elevation map, in time the preset flight path determined according to landform elevation map is modified when obstacle information is inconsistent, to control the timely avoiding obstacles of carrier aircraft according to revised flight path, it is ensured that the flight safety of carrier aircraft.Visible, carrier aircraft flight control system described in the present embodiment the real-time detection result to barrier in Combining with terrain elevation map and flight course can control the flight of carrier aircraft, it is simultaneously achieved the of overall importance of obstacle detection and real-time, improve the precision to barrier judgment and accuracy, it is ensured that the accuracy of carrier aircraft avoiding barrier and reliability.
For device embodiment, due to itself and embodiment of the method basic simlarity, so what describe is fairly simple, relevant part illustrates referring to the part of embodiment of the method.
Each embodiment in this specification all adopts the mode gone forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually referring to.
Above a kind of carrier aircraft flight control method provided by the present invention and system are described in detail, principles of the invention and embodiment are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, all will change in specific embodiments and applications, in sum, this specification content should not be construed as limitation of the present invention.
Claims (16)
1. a carrier aircraft flight control method, it is characterised in that including:
Obtain the first obstacle information and preset flight path determined according to landform elevation map；
Barrier in flight course is carried out real-time detection, obtains the second obstacle information；
Described first obstacle information and described second obstacle information are carried out real-time comparison；
If described first obstacle information is consistent with described second obstacle information, then control carrier aircraft flight according to described preset flight path；If described first obstacle information is inconsistent with described second obstacle information, then according to described second obstacle information, described preset flight path is modified, and controls carrier aircraft flight according to revised flight path.
2. method according to claim 1, it is characterised in that also include:
Obtain the landform altitude figure in target flight region；
According to pre-set flight height, described landform altitude figure is divided, obtain division result；
Described first obstacle information and described preset flight path is determined according to described division result.
3. method according to claim 2, it is characterised in that described determine described first obstacle information and described preset flight path according to described division result, including:
According to described division result, it is determined that sub-landform altitude figure；Wherein, described sub-landform altitude figure is the height landform altitude figure be more than or equal to described pre-set flight height place planar section；
Barrier in described sub-landform altitude figure is carried out labelling, obtains label information；Wherein, described label information includes: for indicating the vector information of the barrier in described sub-landform altitude figure；
Described label information is defined as described first obstacle information, and, determine described preset flight path according to described label information.
4. method according to claim 3, it is characterised in that described determine described preset flight path according to described label information, including:
Beginning and end according to aerial mission, generates sample flight path according to presetting rule；
According to described label information, described sample flight path is modified, obtains described preset flight path.
5. method according to claim 4, it is characterised in that described according to described label information, described sample flight path is modified, obtains described preset flight path, including:
Revise according to described sample flight path the detoured correction and/or jump of described label information, obtain described preset flight path；
Wherein,
If the relative altitude of the barrier indicated by described label information is more than setting height threshold value, then correction of being detoured in described sample flight path；
If the relative altitude of the barrier indicated by described label information is less than or equal to setting height threshold value, then described sample flight path being carried out jumps revises.
6. method according to claim 4, it is characterised in that the described beginning and end according to aerial mission, generates sample flight path according to presetting rule, including:
When giving tacit consent to airbound target region clear, generate described sample flight path according to the beginning and end of aerial mission according to the rule that the flight time is the shortest or plane distance is the shortest.
7. method according to claim 1, it is characterised in that described according to described second obstacle information, described preset flight path is modified, including:
Revise according to described preset flight path the detoured correction and/or jump of described second obstacle information；
Wherein,
If the relative altitude of the barrier indicated by described second obstacle information is more than setting height threshold value, then correction of described preset flight path being detoured；
If the relative altitude of the barrier indicated by described second obstacle information is less than or equal to setting height threshold value, then described preset flight path being carried out jumps revises.
8. method according to claim 1, it is characterised in that before the described step that described first obstacle information and described second obstacle information carry out real-time comparison, described method also includes:
It is the coordinate under the same coordinate system by the second Coordinate Conversion indicated by the first coordinate indicated by described first obstacle information and described second obstacle information.
9. a carrier aircraft flight control system, it is characterised in that including:
First acquisition module, for obtaining the first obstacle information and preset flight path determined according to landform elevation map；
Detecting module, for the barrier in flight course is carried out real-time detection, obtains the second obstacle information；
Comparison module, for carrying out real-time comparison by described first obstacle information and described second obstacle information；
Perform module, for when described first obstacle information is consistent with described second obstacle information, controlling carrier aircraft flight according to described preset flight path；And, when described first obstacle information and described second obstacle information are inconsistent, according to described second obstacle information, described preset flight path is modified, and controls carrier aircraft flight according to revised flight path.
10. system according to claim 9, it is characterised in that also include:
Second acquisition module, for obtaining the landform altitude figure in target flight region；
Result acquisition module, for described landform altitude figure being divided according to pre-set flight height, obtains division result；
Determine module, for determining described first obstacle information and described preset flight path according to described division result.
11. system according to claim 10, it is characterised in that described determine module, including:
First determines submodule, for according to described division result, it is determined that sub-landform altitude figure；Wherein, described sub-landform altitude figure is the height landform altitude figure be more than or equal to described pre-set flight height place planar section；
Labelling submodule, for the barrier in described sub-landform altitude figure is carried out labelling, obtains label information；Wherein, described label information includes: for indicating the vector information of the barrier in described sub-landform altitude figure；
Second determines submodule, for described label information is defined as described first obstacle information；
3rd determines submodule, for determining described preset flight path according to described label information.
12. system according to claim 11, it is characterised in that the described 3rd determines submodule, including:
Generate subelement, for the beginning and end according to aerial mission, generate sample flight path according to presetting rule；
Revise subelement, for described sample flight path being modified according to described label information, obtain described preset flight path.
13. system according to claim 12, it is characterised in that described correction subelement, for revising according to described sample flight path the detoured correction and/or jump of described label information, obtain described preset flight path；Wherein, if the relative altitude of the barrier indicated by described label information is more than setting height threshold value, then correction of being detoured in described sample flight path；If the relative altitude of the barrier indicated by described label information is less than or equal to setting height threshold value, then described sample flight path being carried out jumps revises.
14. system according to claim 12, it is characterized in that, described generation subelement, for when giving tacit consent to airbound target region clear, generating described sample flight path according to the beginning and end of aerial mission according to the rule that the flight time is the shortest or plane distance is the shortest.
15. system according to claim 9, it is characterised in that described execution module when described preset flight path being modified according to described second obstacle information, including:
Revise according to described preset flight path the detoured correction and/or jump of described second obstacle information；
Wherein,
If the relative altitude of the barrier indicated by described second obstacle information is more than setting height threshold value, then correction of described preset flight path being detoured；
If the relative altitude of the barrier indicated by described second obstacle information is less than or equal to setting height threshold value, then described preset flight path being carried out jumps revises.
16. system according to claim 9, it is characterised in that also include:
Coordinate transferring, before described first obstacle information being carried out real-time comparison with described second obstacle information at described comparison module, it is the coordinate under the same coordinate system by the second Coordinate Conversion indicated by the first coordinate indicated by described first obstacle information and described second obstacle information.
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