CN105929838A

CN105929838A - Flight control method of aircraft, mobile terminal and flight control end

Info

Publication number: CN105929838A
Application number: CN201610343359.8A
Authority: CN
Inventors: 杨夏; 杨瑞波; 王斌; 魏学峰
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2016-05-20
Filing date: 2016-05-20
Publication date: 2016-09-07
Anticipated expiration: 2036-05-20
Also published as: CN105929838B

Abstract

The invention discloses a flight control method of an aircraft, a mobile terminal and a flight control end. The objective of the invention is to simplify the operation difficulty of a user for the aircraft and improve the flexibility of the play mode of the aircraft. The flight control method of the aircraft provided by one embodiment of the invention includes the following steps that: the mobile terminal obtains completely-edited action scripts through a user interface (UI) of the mobile terminal; the mobile terminal obtains flight action information from the action scripts through analysis, wherein the flight action information contains at least one kind of flight action configured for the aircraft and action parameters corresponding to different action types of flight actions; and the mobile terminal calls the programming interface of the mobile terminal to execute the transmission of the flight action information to the flight control end, wherein the flight control end is arranged on the aircraft and adjusts the flight attitude of the aircraft according to the flight action information.

Description

The flight control method of a kind of aircraft and mobile terminal and flight control end

Technical field

The present invention relates to vehicle technology field, particularly relate to flight control method and the shifting of a kind of aircraft Dynamic terminal and flight control end.

Background technology

Aircraft has a lot of application in national economy, military affairs, current aircraft oneself be widely used in Take photo by plane photography, electric inspection process, environmental monitoring, forest fire protection, the condition of a disaster inspection, anti-probably lifesaving, military affairs are detectd Examine, the field such as battle assessment, aircraft is to utilize radio robot and the presetting apparatus provided for oneself The most manned aircraft handled.Without driving cabin on machine, but be provided with automatic pilot, presetting apparatus, The equipment such as information collecting device, remote control station personnel by the equipment such as radar, it be tracked, position, Remote control, remote measurement and Digital Transmission.

Aircraft generally uses following three kinds of schemes when performing flare maneuver at present: 1, aircraft is in flight During, user's remote controller by Artificial Control aircraft, aircraft is according to the control instruction of remote controller Carry out different flare maneuvers；2, aircraft connects earth station before take-off, and earth station is by a series of destinations Information and flare maneuver store in aircraft in the way of aerial mission, when starting to hold after aircraft takeoff This aerial mission of row；3, aircraft connects earth station in flight course, and user is by carrying out in earth station The setting of destination and the switching of offline mode, reach the editor to aircraft difference flare maneuver.

In above-mentioned current scheme, method 1 needs user manually to manipulate aircraft in real time, right The operation easier of user is big, and manipulation is impossible to make aircraft to reach consistent flare maneuver every time；Side Method 2 needs aircraft to be previously stored set aerial mission, and task can not be done during aircraft flight Dynamically amendment；Method 3 is limited to the control of earth station, and aircraft is only in destination and set flight mould Formula is flown.Therefore, all there is control aircraft underaction and the most easily in existing flight control method Problem.

Summary of the invention

Embodiments provide flight control method and the mobile terminal of a kind of aircraft and control of flying End processed, for simplifying user's operation easier to aircraft, improves the motility of aircraft playing method.

For solving above-mentioned technical problem, embodiment of the present invention offer techniques below scheme:

First aspect, the embodiment of the present invention provides the flight control method of a kind of aircraft, including:

Mobile terminal obtains the action script edited by user interface UI of described mobile terminal；

Described mobile terminal parses flare maneuver information from described action script, and described flare maneuver is believed Breath includes: at least one flare maneuver and the different type of action of described flare maneuver of aircraft configuration The most corresponding action parameter；

Described mobile terminal calls the DLL of described mobile terminal and performs to send institute to flight control end Stating flare maneuver information, described flight controls end and is arranged on described aircraft, described flight control end The flight attitude of described aircraft is adjusted according to described flare maneuver information.

Second aspect, the embodiment of the present invention provides the flight control method of another kind of aircraft, including:

Flight controls end and obtains mobile terminal by calling the flight that the DLL of described mobile terminal sends Action message, described flight controls end and arranges on board the aircraft；

Described flight controls end and parses into described aircraft configuration at least from described flare maneuver information The action parameter that the different type of action of a kind of flare maneuver and described flare maneuver are the most corresponding；

Described flight controls end and enters the action parameter that the different type of action of described flare maneuver are corresponding respectively Row attitude merges, and obtains the attitude fusion parameters of described aircraft；

Described flight controls end, according to described attitude fusion parameters, described aircraft is carried out flight control.

The third aspect, the embodiment of the present invention also provides for a kind of mobile terminal, including:

Action script acquisition module, completes for obtaining editor by user interface UI of described mobile terminal Action script；

Parsing module, for parsing flare maneuver information, described flare maneuver from described action script Information includes: at least one flare maneuver and the different action classes of described flare maneuver of aircraft configuration The action parameter that type is the most corresponding；

Interface interchange module, performs to control end to flight for calling the DLL of described mobile terminal Sending described flare maneuver information, described flight controls end and is arranged on described aircraft, by described flight Control end and adjust the flight attitude of described aircraft according to described flare maneuver information.

Fourth aspect, a kind of flight that the embodiment of the present invention provides controls end, including:

Acquisition module, for obtaining mobile terminal by calling what the DLL of described mobile terminal sent Flare maneuver information, described flight controls end and arranges on board the aircraft；

Parsing module, for parsing into described aircraft configuration at least from described flare maneuver information The action parameter that the different type of action of a kind of flare maneuver and described flare maneuver are the most corresponding；

Fusion Module, for entering the action parameter that the different type of action of described flare maneuver are corresponding respectively Row attitude merges, and obtains the attitude fusion parameters of described aircraft；

Control module, for carrying out flight control according to described attitude fusion parameters to described aircraft.

As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that

In embodiments of the present invention, can obtain, by user interface, the action that edits due to mobile terminal Script, therefore user has only to edit out action script by user interface, and mobile terminal just can pass through Parsing to action script obtains flare maneuver and action parameter, is additionally provided with DLL in mobile terminal, The function of end transmission flare maneuver information can be completed to control to flight by calling DLL.The present invention Embodiment user has only to provide action script can realize the control to aircraft by user interface, because of This can reduce the operation easier of user.In the embodiment of the present invention, flight controls the end volume by mobile terminal Journey interface interchange gets flare maneuver information, and the action parameter that different type of action are corresponding is carried out attitude Fusion can obtain attitude fusion parameters, and flight controls end can carry out real-time communicating with mobile terminal, and And the program interface call of the flare maneuver management of flight control end and mobile terminal is separated, convenient to shifting Dynamic terminal and flight control end and carry out follow-up function upgrading and extension.Embodiment of the present invention user can be led to Cross mobile terminal and flight controls end and aircraft is carried out real-time control, connect without aircraft Earth station, therefore can improve motility and the convenience of aircraft operation.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, to those skilled in the art, it is also possible to obtain according to these accompanying drawings Other accompanying drawing.

Mobile terminal and flight control in the flight control method of the aircraft that Fig. 1 provides for the embodiment of the present invention The interaction scenarios schematic diagram of end processed；

The process blocks signal of the flight control method of a kind of aircraft that Fig. 2 provides for the embodiment of the present invention Figure；

The process blocks of the flight control method of the another kind of aircraft that Fig. 3 provides for the embodiment of the present invention is shown It is intended to；

Mobile terminal and flight that Fig. 4 provides for the embodiment of the present invention control the communication process signal between end Figure；

Fig. 5 controls the function structure schematic diagram of end for the flight that the embodiment of the present invention provides；

The flight that Fig. 6 controls end for the flight that the embodiment of the present invention provides controls process schematic；

The composition structural representation of a kind of mobile terminal that Fig. 7 provides for the embodiment of the present invention；

A kind of flight that Fig. 8-a provides for the embodiment of the present invention controls the composition structural representation of end；

The composition structural representation of a kind of Fusion Module that Fig. 8-b provides for the embodiment of the present invention；

Fig. 8-c controls the composition structural representation of end for the another kind of flight that the embodiment of the present invention provides；

The flight control method of the aircraft that Fig. 9 provides for the embodiment of the present invention is applied to the group of mobile terminal Become structural representation；

The flight control method of the aircraft that Figure 10 provides for the embodiment of the present invention is applied to flight and controls end Composition structural representation.

Detailed description of the invention

For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, below will In conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Ground describes, it is clear that the embodiments described below are only a part of embodiment of the present invention, and not all Embodiment.Based on the embodiment in the present invention, the every other enforcement that those skilled in the art is obtained Example, broadly falls into the scope of protection of the invention.

Term in description and claims of this specification and above-mentioned accompanying drawing " includes " and " having " And their any deformation, it is intended that cover non-exclusive comprising, in order to comprise a series of unit Process, method, system, product or equipment are not necessarily limited to those unit, but can include the most clearly That list or for intrinsic other unit of these processes, method, product or equipment.

Referring initially to as it is shown in figure 1, the mobile terminal provided for the embodiment of the present invention controls end with flight Between mutual realize scene schematic diagram, user can by the user interface of mobile terminal (English full name: User Interface, English abbreviation: UI) action script that input editing is good, this mobile terminal is specially intelligence Can mobile terminal, the such as equipment such as mobile phone, panel computer.Mobile terminal gets use by user interface The action script that family has been edited, mobile terminal parses flare maneuver information from action script, mobile Terminal is called the DLL of mobile terminal and is performed to control end transmission flare maneuver information to flight.Flight Controlling end and receive flare maneuver information by the edition interface of mobile terminal, flight controls end according to being somebody's turn to do Flare maneuver information controls aircraft, aircraft can be specifically unmanned plane, can also be telecontrolled aircraft, Aeromodelling airplane etc..Next one embodiment of the flight control method of aircraft of the present invention is described, specifically Can apply to the operation to aircraft control, in scene, to refer to shown in Fig. 2, first from user operation Mobile terminal side the flight control method of the aircraft that one embodiment of the invention provides is said Bright, the method may include steps of:

201, mobile terminal obtains the action script edited by the user interface of mobile terminal.

In embodiments of the present invention, the user interface of mobile terminal is editor circle that user edits flare maneuver Face, user is sent to mobile terminal by user interface in the way of action script, and mobile terminal is by right The detection of user interface can get the action script that user has edited.Detailed, user has edited The action script become can be fixed with JSON (English full name: JavaScript Object Notation) form The description script of the action sequence of justice, does not limits, and action script may also take on the definition of other form, The Format Type and the user that are specifically dependent upon mobile terminal support edit the control association that flare maneuver uses View.User oneself can wish to control the concrete flare maneuver of aircraft by user interface input, such as User can input and control the action script that aircraft does rotation movement, it is also possible to input controls aircraft and rises The action script flown or land, the process that implements does not limits.

202, mobile terminal parses flare maneuver information from action script, and flare maneuver information includes: For at least one flare maneuver of aircraft configuration and the most corresponding the moving of the different type of action of flare maneuver Make parameter.

In embodiments of the present invention, after mobile terminal gets action script by user interface, mobile This action script is resolved by terminal, owing to action script is to there being the content of specific data structure, logical Cross the parsing to action script and can obtain flare maneuver information, concrete, acquisition for mobile terminal to fly Row action message can be included as at least one flare maneuver of aircraft configuration and the action of this flare maneuver The action parameter that type is corresponding.Wherein, user can be flying of the multiple different type of action of aircraft configuration Action is made, and need to arrange corresponding action parameter, such as user needs when differently configured flare maneuver Control to be accomplished by configuration when aircraft does rocking action wave directioin parameter and wave intensive parameter, for not Concrete action parameter can be configured as required with the type of action crossed.It should be noted that at this Can be that some flare maneuver configures concrete action parameter when in bright embodiment, user edits flare maneuver, But some action parameter can also need not user to be configured, but is given by the way of appointment is given tacit consent to Action parameter, concrete connected applications scene realizes.

In some embodiments of the invention, flare maneuver information can include at least one type of action Flare maneuver, concrete, this type of action can include following types of at least one: landing type, Direction type, revolution type, rotation type and rocker type.Wherein, landing type refers to aircraft Takeoff and landing, direction type refers to aircraft and moves according to the impact point of three-dimensional, revolve round the sun class Type refers to aircraft according to carrying out pitch of the laps with specified point for the center of circle, and rotation type refers to aircraft self Horizontal rotation, rocker type refers to aircraft and carries out roll and pitch etc..It should be noted that User needs to control aircraft and carries out during the flare maneuver of which kind of type of action that user can be in action script Editor's type of action also can arrange corresponding action parameter, but in the embodiment of the present invention, user is editable Type of action can be not limited to the example above explanation, specifically combines user true to the controlling behavior of aircraft Fixed.

In some embodiments of the invention, further, when type of action includes landing type, dynamic Include as parameter: displacement in the vertical direction and translational speed；When type of action includes direction class During type, action parameter includes: displacement on fore-and-aft direction, left and right directions and above-below direction and right Answer the translational speed on direction；When type of action includes revolving round the sun type, action parameter includes: revolution half Footpath and revolution angular velocity；When type of action includes rotation type, action parameter includes: spin velocity； When type of action includes rocker type, action parameter includes: waves direction and waves intensity.Such as, When user needs the flare maneuver controlling aircraft execution rotation type, user can need according to oneself Controlled quentity controlled variable determines spin velocity, and user can also need not input spin velocity, but according to silent Recognize configuration to determine spin velocity.It should be noted that user edits flight in embodiments of the present invention Can be that some flare maneuver configures above-mentioned action parameter during action, but these action parameters can also Need not user configure, but provide action parameter value by the way of appointment is given tacit consent to, concrete combination should Realize by scene.

203, mobile terminal calls the DLL of mobile terminal and performs to control end to flight to send flight dynamic Making information, flight controls end and arranges on board the aircraft, flight control end and adjust according to flare maneuver information The flight attitude of aircraft.

In embodiments of the present invention, after mobile terminal gets flare maneuver information by step 202, Mobile terminal needs to control end to flight and assigns control instruction, and this control instruction needs to carry flare maneuver letter Breath.Wherein, being configured with DLL in mobile terminal, this DLL is packaged with the merit transmitting data Can, after acquisition for mobile terminal to flare maneuver information, can be by calling within this mobile terminal DLL realizes controlling end to flight and sends flare maneuver information, then flight control end is moved by this The program interface call of terminal receives the flare maneuver information that mobile terminal sends.

In some embodiments of the invention, step 203 mobile terminal calls the DLL of mobile terminal Perform after flight controls end transmission flare maneuver information, the aircraft that the embodiment of the present invention provides Flight control method can also comprise the steps:

A1, mobile terminal obtain new action script by user interface；

A2, mobile terminal resolve the flare maneuver information made new advances from new action script, and new flight is moved Include as information: the different type of action of new flare maneuver and new flare maneuver distinguish the new of correspondence Action parameter；

A3, mobile terminal call DLL and perform to control, to flight, the flare maneuver information that end transmission is new.

Concrete, after user is by user interface one action script of input of mobile terminal, mobile whole End can perform step 201 to step 203, and when user also needs to again control aircraft, user is permissible The action script that the input of operation user interface is new again, then the detection user interface that mobile terminal can be real-time, Extracting new action script, similar with step 202 and step 203, mobile terminal performs step A2 and step A3, acquisition for mobile terminal is to new flare maneuver information, then mobile terminal can be adjusted again Controlling end with the DLL of mobile terminal to flight and send new flare maneuver information, flight controls end and leads to Cross the DLL of mobile terminal again to call and can receive new flare maneuver information, this new flight Action message is the new action script that user edits, and flight controls end and can move according to this new flight The sporting flying of aircraft is controlled as information.

In some embodiments of the invention, mobile terminal parses from action script in step 102 Flare maneuver information can also include: calling the time point of flare maneuver, i.e. this time point is to control to move Terminal sends the time control information of flare maneuver information, in this case, step 103 mobile terminal The DLL calling mobile terminal performs to control end transmission flare maneuver information to flight, the most permissible Comprise the steps:

The DLL that B1, mobile terminal call mobile terminal according to time point performs to control end to flight Send flare maneuver information.

In embodiments of the present invention, if flare maneuver information includes the time point calling flare maneuver, Then can call the DLL of mobile terminal at this time point with mobile terminal to perform to flying temporarily Row controls end and sends flare maneuver information.Therefore user can input control when editing action script Time point, such that it is able to mobile terminal controls end to flight sends the time of flare maneuver information, flight control End processed can get flare maneuver information at this time point by the program interface call of mobile terminal.

By the above example description to the embodiment of the present invention, owing to mobile terminal can be by using Interface, family obtains the action script editted, and therefore user has only to edit out action foot by user interface This, mobile terminal just can pass through by the parsing of action script is obtained flare maneuver and action parameter Call DLL and can complete to control to flight the function of end transmission flare maneuver information.The present invention implements Example user has only to provide action script can realize automatically controlling aircraft by user interface, because of This can reduce the operation easier of user.In the embodiment of the present invention, flight controls the end volume by mobile terminal Journey interface interchange gets flare maneuver information, and the action parameter that different type of action are corresponding is carried out attitude Fusion can obtain attitude fusion parameters, and flight controls end can carry out real-time communicating with mobile terminal, and And the program interface call of the flare maneuver management of flight control end and mobile terminal is separated, convenient to shifting Dynamic terminal and flight control end and carry out follow-up function upgrading and extension.Embodiment of the present invention user can be led to Cross mobile terminal and flight controls end and aircraft is carried out real-time control, connect without aircraft Earth station, therefore can improve motility and the convenience of aircraft operation.

In previous embodiment, mobile terminal side describes the flight control of the aircraft that the embodiment of the present invention provides Method, next controls end side from carry-on flight and introduces the flight that the embodiment of the present invention provides The flight control method of device, refers to as it is shown on figure 3, the flight of aircraft that provides of the embodiment of the present invention Control method comprises the steps:

301, flight controls end acquisition mobile terminal by calling the flight that the DLL of mobile terminal sends Action message, flight controls end and arranges on board the aircraft.

In embodiments of the present invention, being configured with DLL in mobile terminal, this DLL is packaged with Transmit the function of data, after acquisition for mobile terminal to flare maneuver information, can be by calling this shifting The DLL of dynamic terminal inner realizes controlling end to flight and sends flare maneuver information, then control of flying Hold and receive, by the program interface call of this mobile terminal, the flare maneuver information that mobile terminal sends.

In some embodiments of the invention, step 301 flight controls end acquisition mobile terminal by calling The flare maneuver information that the DLL of mobile terminal sends, comprises the steps:

C1, flight control end and obtain mobile terminal by calling movement according to the time point calling flare maneuver The flare maneuver information that the DLL of terminal sends.

Wherein, user can input control time point when editing action script, such that it is able to mobile Terminal controls end to flight and sends the time of flare maneuver information, and flight controls end and can lead at this time point The program interface call crossing mobile terminal gets flare maneuver information.By setting in flare maneuver information Putting the time point calling flare maneuver, user can control in aircraft flight and control termination to receive flight dynamic Make information, thus realize the time of aircraft response flare maneuver is controlled.

302, flight control end parses at least one flight into aircraft configuration from flare maneuver information The action parameter that the different type of action of action and flare maneuver are the most corresponding.

In embodiments of the present invention, after flight control end gets flare maneuver information, flight controls end This flare maneuver information is resolved, such that it is able to get at least one that user is aircraft configuration Flare maneuver and action parameter corresponding to different type of action.Wherein, user can be aircraft configuration The flare maneuver of multiple different type of action, needs when differently configured flare maneuver to arrange corresponding moving Make parameter, such as user need to control aircraft be accomplished by when doing rocking action configuration wave directioin parameter and Waving intensive parameter, the type of action crossed for difference can configure concrete action parameter as required.

In some embodiments of the invention, flare maneuver information can include at least one type of action Flare maneuver, concrete, this type of action can include following types of at least one: landing type, Direction type, revolution type, rotation type and rocker type.When the type of action of flare maneuver has included During fall type, action parameter includes: displacement in the vertical direction and translational speed；When flight is dynamic The type of action made is when including direction type, and action parameter includes: fore-and-aft direction, left and right directions and on Translational speed in lower section displacement upwards and correspondence direction；When the type of action of flare maneuver includes During revolution type, action parameter includes: revolution-radius and revolution angular velocity；Action class when flare maneuver When type includes rotation type, action parameter includes: spin velocity；Type of action bag when flare maneuver When including rocker type, action parameter includes: waves direction and waves intensity.It should be noted that at this Can be that some flare maneuver configures above-mentioned action ginseng when in inventive embodiments, user edits flare maneuver Number, but these action parameters can also need not user and configure, but by the way of appointment is given tacit consent to Providing action parameter value, concrete connected applications scene realizes.

303, flight controls end and the action parameter that the different type of action of flare maneuver are corresponding respectively is carried out appearance State merges, and obtains the attitude fusion parameters of aircraft.

In embodiments of the present invention, flight control end parse user for aircraft configuration flare maneuver with And after action parameter corresponding to different type of action, flight controls end can to different type of action respectively Corresponding action parameter carries out attitude fusion, obtains the attitude fusion parameters of aircraft.Wherein, attitude is melted Close parameter and refer to that flight controls the ginseng that the attitude of aircraft is arranged when aircraft carries out action management by end Number.Merged by attitude in step 303, the type of action that user can be arranged for aircraft and Action parameter is converted to the concrete control instruction to aircraft, and this control instruction is with the shape of attitude fusion parameters Formula generates in flight controls end.

In some embodiments of the invention, step 303 flight controls the end different actions to flare maneuver The action parameter of type correspondence respectively carries out attitude fusion, obtains the attitude fusion parameters of aircraft, specifically May include steps of:

D1, flight control end and carry out according to the action parameter that the different type of action of flare maneuver are corresponding respectively Adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: yaw angle, the angle of pitch And roll angle；

D2, flight control end and determine that attitude fusion parameters includes: after the waypoint location after adjustment and adjustment Yaw angle or the angle of pitch or roll angle.

Wherein, flight control end is specifically moved for what aircraft was arranged by flare maneuver acquisition of information to user After making type and action parameter, flight controls end can be true according to the concrete type of action of user setup Surely need to adjust waypoint location, need to adjust yaw angle, or adjust the angle of pitch, or adjust roll angle.Need It is noted that the various motion type that the example above illustrates can merge together, passes through mobile terminal Once the calling of DLL, perform the flare maneuver that user is arranged for aircraft simultaneously, simply do and have When body merges, the chain of command in the attitude fusion parameters that the flare maneuver of different type of action has influence on differs Sample.Such as, when there is the flare maneuver of rotation type, the calculating of yaw angle can be flown by autobiography type Action affects.

Further, in some embodiments of the invention, the flight of step D1 controls end according to action parameter Carry out adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: yaw angle, bow The elevation angle and roll angle, specifically may include steps of:

D11, flight control end and obtain the type of action that action parameter is corresponding；

D12, when flight control the type of action that gets of end include direction type and revolution type time, to boat Point position is adjusted；

D13, when flight control the type of action that gets of end include rotation type time, yaw angle is adjusted Whole；

D14, when flight control the type of action that gets of end include rocker type time, to the angle of pitch or rolling Angle is adjusted.

Wherein, step D12 to step D14 is to implementing that waypoint location, attitude angle are adjusted Mode, such as, the flare maneuver of the flare maneuver of direction type and revolution type simultaneously in the presence of, need Waypoint location is adjusted, the action parameter that action parameter corresponding to direction type is corresponding with revolution type Carry out Parameter fusion, the waypoint location after being adjusted.Additionally to yaw angle or the angle of pitch or roll angle Adjustment can also determine in conjunction with concrete attitude angle calculation.

304, flight controls end, according to attitude fusion parameters, aircraft is carried out flight control.

In embodiments of the present invention, flight controls end by corresponding to different type of action in step 303 Action parameter generates attitude fusion parameters after carrying out attitude fusion, next can merge ginseng according to this attitude Number adjusts the flight attitude of aircraft, thus realizes the flight to aircraft and control.

In some embodiments of the invention, the flight control method of the aircraft that the embodiment of the present invention provides Can also comprise the steps:

During E1, flight control end carry out flight control according to attitude fusion parameters to aircraft, fly Row controls end and judges whether to receive new flare maneuver information from mobile terminal；

If E2 flight controls end receives new flare maneuver information from mobile terminal, flight controls end pair The new action parameter that the different type of action of new flare maneuver are corresponding respectively carries out attitude fusion, obtains New attitude fusion parameters；

E3, flight control end, according to new attitude fusion parameters, aircraft are carried out flight control.

An action script that is concrete, that input by user interface for user, flight control end is permissible Execution step 301 is to step 304, and when user also needs to again control aircraft, user can grasp again Make the action script that user interface input is new, then flight control end can be by the DLL of mobile terminal Calling the new flare maneuver information that gets, similar with step 302 and step 303, flight controls end Performing step E1 to step E3, flight controls that end called again by the DLL of mobile terminal can To receive new flare maneuver information, after determining that receiving new flight letter action ceases, flight control End processed can control the sporting flying of aircraft according to this new flare maneuver information, and flight controls end and leads to Cross the real-time monitoring to mobile terminal, control the flight of aircraft in time according to new flare maneuver information Motion, so that aircraft is capable of responding the control mode that user is exported by user interface.

By the above example description to the embodiment of the present invention, owing to mobile terminal can be by using Interface, family obtains the action script editted, and therefore user has only to edit out action foot by user interface This, mobile terminal just can be mobile by the parsing of action script is obtained flare maneuver and action parameter Terminal is additionally provided with DLL, can complete to send to flight control end to fly by calling DLL The function of row action message.Embodiment of the present invention user has only to provide action script i.e. by user interface The control to aircraft can be realized, therefore can reduce the operation easier of user.The embodiment of the present invention flies Row controls end and gets flare maneuver information by the program interface call of mobile terminal, to different action classes The attitude that carries out the action parameter that type is corresponding merges can obtain attitude fusion parameters, and flight controls end and movement Terminal can carry out real-time communication, and the flare maneuver of the control end that flies manages and the programming of mobile terminal Interface interchange is separated, and conveniently mobile terminal and flight is controlled end and carries out follow-up function upgrading and extension. Embodiment of the present invention user can control end by mobile terminal and flight and aircraft is carried out real-time control System, connects earth station without aircraft, therefore can improve the motility of aircraft operation and convenient Property.

For ease of being better understood from and implement the such scheme of the embodiment of the present invention, citing below accordingly should It is specifically described by scene.Aircraft is in flight course, and in prior art, user can only be manually real Time manipulation aircraft carry out the flight of different action, so the operational capacity of user is required the highest, difficulty Very big, and user can not manipulate every time aircraft can be made to reach consistent flare maneuver.The present invention is real Executing and provide the user standard set DLL in example, user only need to edit action foot in user interface This, aircraft just can perform different flare maneuvers, thus reduces the use threshold of user, simplifies user Operation easier, and improve the motility of aircraft playing method.Appoint for needing to be previously stored set flight For business, aircraft task in the flight course departing from earth station can not make dynamically amendment, user Change for aircraft maneuvers is not real-time.The action script that in the embodiment of the present invention, user edits is Real-time effect is to carry-on, it is not necessary to aircraft connects earth station and updates, and improves convenience.For For what earth station provided flies only in destination and set offline mode, flare maneuver is limited to ground The control at station, face.The embodiment of the present invention provides a set of DLL flexibly, by realization and the management of action Call with user and separate, carry out function upgrading and extension the most later.

In the flight control method of the aircraft that the embodiment of the present invention provides, mainly include that flight controls end and flies The realization that action is made, flight controls the management of end flare maneuver, and flight controls end and is supplied to mobile terminal DLL.As shown in Figure 4, the mobile terminal and the flight that provide for the embodiment of the present invention control between end Communication process schematic diagram, mobile terminal can arrange the application program being supplied to user operation aircraft (English abbreviation: APP), can include user interface, DLL and communication module, fly in mobile terminal Row controls end and includes communication module and action management module, can be to multiple dynamic in action management module It is managed, such as, action 1 ..., action N is managed, wherein, leading in mobile terminal It is can be to use wireless network to connect or the number of pairing that letter module and flight control the communication module in end Transmission module.Mobile terminal and flight control end and micro-air-vehicles can be used to connect (English full name: Micro Air Vehicle Link, English abbreviation: MavLink) agreement, MavLink agreement is a kind of for small-sized The communication protocol of unmanned vehicle, mobile terminal and flight control to realize communication interaction between end.

In the embodiment of the present invention, user first passes through user interface editor's execution script, this action foot Originally can be the script of JSON program, mobile terminal gets this action script by user interface, then Resolving action script, obtain flare maneuver information, last mobile terminal can call the programming of mobile terminal Interface, controls end by communication module to flight and sends flare maneuver information.Wherein, flare maneuver is pre- First control, in aircraft flight, the Basic Flight Maneuver that end realizes, including landing type, direction type, public affairs Turn type, rotation type, and rocker type etc..

As it is shown in figure 5, the function structure schematic diagram of the flight control end provided for the embodiment of the present invention, fly Row controls to distinguish type of action, flare maneuver management module, gesture stability and four merits of motor in end Layer can be realized.Flight controls the communication module of end can receive flare maneuver letter by MavLink agreement Breath, wherein, a flare maneuver is the elementary cell that programming is called.In addition to landing type, dissimilar Flare maneuver can merge simultaneously carry out.It is to the flight realized that flight controls the action management module of end Action is managed.Different types of flare maneuver, when merging, needs to enter according to respective implementation feature Row merges, thus obtains attitude fusion parameters.When the type of action merged has direction type and revolution type Time, the adjustment of waypoint location to be carried out；When there is rotation type, the adjustment of yaw angle to be carried out；When When there is rocker type, the angle of pitch to be carried out or the adjustment of roll angle.Action management module is according to each time The difference of the action script that programming is called, completes fusion and the execution of dissimilar action.Wherein, different The flare maneuver of type of action can merge together, when simply specifically merging, and different types of action shadow The control point rung is different.After action management module output attitude fusion parameters, gesture stability module is with regard to root The motor controlling aircraft according to this gesture stability module completes flight control.

As shown in Figure 6, the flight provided for the embodiment of the present invention controls the flight of end and controls process schematic. After action management module initialization completes, first determine whether new program interface call, if it has, Then various types of flare maneuver is set according to new flare maneuver information, then merges different types of flying Action is made；Without new flare maneuver information, then continue executing with the flare maneuver of last time, until Action executing completes.Action management module needs to call renewal function always, it is ensured that to action invocation and Time response and action executing.Such as, circular flow renewal function (i.e. update function), calculate this Output, is used for controlling aircraft and performs corresponding actions.

In embodiments of the present invention, flight control end is supplied to the DLL of mobile terminal for mobile whole End calls, and mobile terminal has only to the action script set according to user, calls DLL to perform phase The action flight answered, mobile terminal is issued by communication module to fly and is controlled the next action of end, and nothing Need to directly control aircraft flight.Here the aircraft flight that directly controls is direct change of flight device Roll angle, the angle of pitch, the controlled quentity controlled variable such as yaw angle or throttle (English name: Throttle), this and this In bright embodiment, user has only to edit action script then to be called DLL by mobile terminal is different , in the embodiment of the present invention when flare maneuver has upgrading amendment, as long as DLL does not changes, then move Dynamic terminal is without carrying out any amendment, if the optimization that action upgrading amendment simply action appearance realizes, not Changing the parameter of DLL, therefore DLL need not change.

It should be noted that the action script that in the embodiment of the present invention, user sets can use JSON form File describes, one-time programming interface call a corresponding JSON data structure, this data structure describes The different type of action called in different time points and action parameter.Mobile terminal is by resolving this JSON journey Sequence script calls DLL according to given time point, is sent to flight control by MavLink agreement End performs corresponding flare maneuver.

The present invention controls end flare maneuver by flight and realizes, and flight controls the management of end flare maneuver, flight Control end and be supplied to three parts of mobile terminal DLL, provided the user convenient a control and flown Device performs the method for different flare maneuver, and user only need to be in programming interface editor's action script, and aircraft is just Different flare maneuvers can be performed, thus reduce the use threshold of user, simplify the operation easier of user, And improve the motility of aircraft playing method.

By the aforementioned illustration to the present invention, flight controls the core merit that end flare maneuver realizes Can be to provide the most independent flare maneuver unit for mobile terminal, motor unit presses type of action Dividing, different types of motor unit can merge execution.Direction, rotation, to revolve round the sun, wave be all may be used To merge together, takeoff and landing the two landing type typically to independently execute, and does not merges.Fly Row controls the Core Feature of end flare maneuver management and is to make the program interface call of mobile terminal accordingly Process, the execution of management flare maneuver and the fusion treatment mechanism of dissimilar action.Flight controls end The Core Feature being supplied to mobile terminal DLL is to provide a set of DLL flexibly, by action Realization and management call with the programming of user and to separate, convenient after carries out function upgrading and extension.Will be dynamic The calling interface made separates with realization, and the amendment that flight controls end action realization can't have influence on movement The amendment of the DLL of terminal.

It should be noted that for aforesaid each method embodiment, in order to be briefly described, therefore by its all table Stating as a series of combination of actions, but those skilled in the art should know, the present invention is by being retouched The restriction of the sequence of movement stated because according to the present invention, some step can use other orders or Carry out simultaneously.Secondly, those skilled in the art also should know, embodiment described in this description Belong to preferred embodiment, necessary to involved action and the module not necessarily present invention.

For ease of preferably implementing the such scheme of the embodiment of the present invention, it is also provided below for implementing State the relevant apparatus of scheme.

Refer to shown in Fig. 7, a kind of mobile terminal 700 that the embodiment of the present invention provides, may include that dynamic Make script acquisition module 701, parsing module 702 and interface interchange module 703, wherein,

Action script acquisition module 701, for obtaining editor by user interface UI of described mobile terminal The action script completed；

Parsing module 702, for parsing flare maneuver information from described action script, described flight is moved Include as information: at least one flare maneuver and the different actions of described flare maneuver of aircraft configuration The action parameter that type is the most corresponding；

Interface interchange module 703, performs to flight control for calling the DLL of described mobile terminal End sends described flare maneuver information, and described flight controls end and is arranged on described aircraft, described fly Row controls end and adjusts the flight attitude of described aircraft according to described flare maneuver information.

In some embodiments of the invention, the type of action of described flare maneuver include following types of extremely Few one: landing type, direction type, revolution type, rotation type and rocker type.

In some embodiments of the invention, when described type of action includes described landing type, described Action parameter includes: displacement in the vertical direction and translational speed；

When described type of action includes described direction type, described action parameter includes: fore-and-aft direction, Displacement on left and right directions and above-below direction and the translational speed on correspondence direction；

When described type of action includes described revolution type, described action parameter includes: revolution-radius and Revolution angular velocity；

When described type of action includes described rotation type, described action parameter includes: spin velocity；

When described type of action includes described rocker type, described action parameter includes: wave direction and Wave intensity.

In some embodiments of the invention, described action script acquisition module 701, it is additionally operable to described interface Calling module 703 calls the DLL of described mobile terminal and performs to control to fly described in end transmission to flight After row action message, obtain new action script by described user interface；

Described parsing module 702, is additionally operable to resolve the flare maneuver letter made new advances from described new action script Breath, described new flare maneuver information includes: new flare maneuver and the difference of described new flare maneuver The new action parameter that type of action is the most corresponding；

Described interface interchange module 703, is additionally operable to call described DLL and performs to control to described flight End sends described new flare maneuver information.

In some embodiments of the invention, described flare maneuver information also includes: calls described flight and moves The time point made；Described interface interchange module 703, specifically for calling described movement according to described time point The DLL of terminal performs to control end to flight and sends described flare maneuver information.

By the above example description to the embodiment of the present invention, mobile terminal first passes through mobile whole The user interface of end obtains the action script edited, and mobile terminal parses flight from action script Action message, flare maneuver information includes: at least one flare maneuver and flight for aircraft configuration are dynamic The action parameter that the different type of action made are the most corresponding, mobile terminal calls the DLL of mobile terminal Performing to control end to flight and send flare maneuver information, flight controls end and arranges on board the aircraft, by flying Row controls end and adjusts the flight attitude of aircraft according to flare maneuver information.Owing to mobile terminal can pass through User interface obtains the action script editted, and therefore user has only to edit out action by user interface Script, mobile terminal just can move by the parsing of action script is obtained flare maneuver and action parameter Dynamic terminal is additionally provided with DLL, can complete to control end transmission to flight by calling DLL The function of flare maneuver information.Embodiment of the present invention user has only to provide action script by user interface The control to aircraft can be realized, therefore can reduce the operation easier of user.In the embodiment of the present invention Flight controls end and gets flare maneuver information by the program interface call of mobile terminal, to different actions The attitude that carries out action parameter corresponding to type merges can obtain attitude fusion parameters, and flight controls end and shifting Dynamic terminal can carry out real-time communication, and the flare maneuver of the control end that flies manages and the volume of mobile terminal Journey interface interchange is separated, and conveniently mobile terminal and flight is controlled end and carries out follow-up function upgrading and expansion Exhibition.Embodiment of the present invention user can control end by mobile terminal and flight and carry out aircraft in real time Control, without aircraft connect earth station, therefore can improve aircraft operation motility and Convenience.

Referring to shown in Fig. 8-a, a kind of flight that the embodiment of the present invention provides controls end 800, may include that Acquisition module 801, parsing module 802, Fusion Module 803, control module 804, wherein,

Acquisition module 801, sends by calling the DLL of described mobile terminal for obtaining mobile terminal Flare maneuver information, described flight control end arrange on board the aircraft；

Parsing module 802, for parse from described flare maneuver information into described aircraft configuration to The action parameter that the different type of action of few a kind of flare maneuver and described flare maneuver are the most corresponding；

Fusion Module 803, for the action parameter that the different type of action to described flare maneuver are the most corresponding Carry out attitude fusion, obtain the attitude fusion parameters of described aircraft；

Control module 804, for carrying out flight control according to described attitude fusion parameters to described aircraft.

In some embodiments of the invention, when the type of action of described flare maneuver includes landing type, Described action parameter includes: displacement in the vertical direction and translational speed；

When the type of action of described flare maneuver includes direction type, described action parameter includes: front Rear displacement on, left and right directions and above-below direction and the translational speed on correspondence direction；

When the type of action of described flare maneuver includes revolving round the sun type, described action parameter includes: revolution Radius and revolution angular velocity；

When the type of action of described flare maneuver includes rotation type, described action parameter includes: rotation Angular velocity；

When the type of action of described flare maneuver includes rocker type, described action parameter includes: wave Direction and wave intensity.

In some embodiments of the invention, refer to as shown in Fig. 8-b, described Fusion Module 803, bag Include: adjusting module 8031, wherein,

Described adjusting module 8031, for the correspondence respectively of the different type of action according to described flare maneuver Action parameter carries out adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: partially Boat angle, the angle of pitch and roll angle；Determine that described attitude fusion parameters includes: the waypoint location after adjustment and Yaw angle after adjustment or the angle of pitch or roll angle.

In some embodiments of the invention, described adjusting module 8031, specifically for obtaining described action The type of action that parameter is corresponding；When the type of action got includes direction type and revolution type, right Described waypoint location is adjusted；When the type of action got includes rotation type, to described driftage Angle is adjusted；When the type of action got includes rocker type, to the described angle of pitch or described in turn over Roll angle is adjusted.

In some embodiments of the invention, referring to as shown in Fig. 8-c, described flight controls end 800 also Including: monitoring module 805, wherein,

Described monitoring module 805, for described control module 804 according to described attitude fusion parameters to described During aircraft carries out flight control, it is judged that mobile terminal described in described acquisition module 801 receives New flare maneuver information；

Described Fusion Module 803, receives newly from described mobile terminal if being additionally operable to described acquisition module 801 Flare maneuver information, the new action parameter the most corresponding to the different type of action of new flare maneuver Carry out attitude fusion, obtain new attitude fusion parameters；

Described control module 804, is additionally operable to carry out described aircraft according to described new attitude fusion parameters Flight controls.

In some embodiments of the invention, described acquisition module 801, specifically for dynamic according to calling flight The time point made obtains mobile terminal by calling the flare maneuver that the DLL of described mobile terminal sends Information.

By the above example description to the embodiment of the present invention, flight controls end and is arranged on aircraft On, flight controls end and obtains mobile terminal by calling the flare maneuver that the DLL of mobile terminal sends Information, at least one flight that flight control end parses as aircraft configuration from flare maneuver information is dynamic Making the action parameter that the different type of action with flare maneuver are the most corresponding, flight controls end to flare maneuver The corresponding respectively action parameter of different type of action carry out attitude fusion, the attitude obtaining aircraft merges Parameter, flight controls end, according to attitude fusion parameters, aircraft is carried out flight control.Due to mobile terminal Can obtain, by user interface, the action script that edits, therefore user has only to be compiled by user interface Collecting action script, mobile terminal just can be by obtaining flare maneuver and action to the parsing of action script Parameter, is additionally provided with DLL in mobile terminal, can complete to flight control by calling DLL End processed sends the function of flare maneuver information.Embodiment of the present invention user has only to be provided by user interface Action script can realize the control to aircraft, therefore can reduce the operation easier of user.The present invention In embodiment, flight control end gets flare maneuver information by the program interface call of mobile terminal, right The attitude that carries out the action parameter that different type of action are corresponding merges can obtain attitude fusion parameters, flight control End processed can carry out real-time communicating with mobile terminal, and the flare maneuver of the control end that flies manages and mobile The program interface call of terminal is separated, and conveniently mobile terminal and flight is controlled end and carries out follow-up function Upgrading and extension.Embodiment of the present invention user can control end to aircraft by mobile terminal and flight Carry out real-time control, connect earth station without aircraft, therefore can improve aircraft operation Motility and convenience.

The embodiment of the present invention additionally provides another kind of mobile terminal, as it is shown in figure 9, for convenience of description, Illustrate only the part relevant to the embodiment of the present invention, concrete ins and outs do not disclose, refer to this Bright embodiment method part.This mobile terminal can be to include mobile phone, panel computer, PDA (Personal Digital Assistant, personal digital assistant), POS (Point of Sales, point-of-sale terminal), vehicle mounted electric The arbitrarily terminal unit such as brain, as a example by mobile terminal is as mobile phone:

Fig. 9 is illustrated that the part-structure of the mobile phone relevant to the mobile terminal of embodiment of the present invention offer Block diagram.With reference to Fig. 9, mobile phone includes: radio frequency (Radio Frequency, RF) circuit 1010, storage Device 1020, input block 1030, display unit 1040, sensor 1050, voicefrequency circuit 1060, nothing Line fidelity (wireless fidelity, WiFi) module 1070, processor 1080 and power supply 1090, DLL 1001 parts such as grade.It will be understood by those skilled in the art that the handset structure shown in Fig. 9 also Do not constitute the restriction to mobile phone, can include that ratio illustrates more or less of parts, or combine some portion Part, or different parts layouts.

Below in conjunction with Fig. 9 each component parts of mobile phone carried out concrete introduction:

RF circuit 1010 can be used for receiving and sending messages or in communication process, the reception of signal and transmission, especially Ground, after being received by the downlink information of base station, processes to processor 1080；It addition, by number up for design According to being sent to base station.Generally, RF circuit 1010 include but not limited to antenna, at least one amplifier, Transceiver, bonder, low-noise amplifier (Low Noise Amplifier, LNA), duplexer etc.. Additionally, RF circuit 1010 can also be communicated with network and other equipment by radio communication.Above-mentioned wireless Communication can use arbitrary communication standard or agreement, includes but not limited to global system for mobile communications (Global System of Mobile communication, GSM), general packet radio service (General Packet Radio Service, GPRS), CDMA (Code Division Multiple Access, CDMA), WCDMA (Wideband Code Division Multiple Access, WCDMA), Long Term Evolution (Long Term Evolution, LTE), Email, Short Message Service (Short Messaging Service, SMS) etc..

Memorizer 1020 can be used for storing software program and module, and processor 1080 is stored by operation In software program and the module of memorizer 1020, thus perform the application of various functions and the data of mobile phone Process.Memorizer 1020 can mainly include storing program area and storage data field, wherein, stores program area Application program (the such as sound-playing function, image needed for operating system, at least one function can be stored Playing function etc.) etc.；Storage data field can store data (the such as sound that the use according to mobile phone is created Frequency evidence, phone directory etc.) etc..Additionally, memorizer 1020 can include high-speed random access memory, Can also include nonvolatile memory, for example, at least one disk memory, flush memory device or its His volatile solid-state part.

Input block 1030 can be used for receiving numeral or the character information of input, and produces the use with mobile phone Family is arranged and function controls relevant key signals input.Specifically, input block 1030 can include touch-control Panel 1031 and other input equipments 1032.Contact panel 1031, also referred to as touch screen, can collect User thereon or neighbouring touch operation (such as user uses any applicable object such as finger, stylus Or the operation that adnexa is on contact panel 1031 or near contact panel 1031), and according to presetting Formula drive corresponding attachment means.Optionally, contact panel 1031 can include touch detecting apparatus and Two parts of touch controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect tactile Touch the signal that operation brings, transmit a signal to touch controller；Touch controller is from touch detecting apparatus Upper reception touch information, and it is converted into contact coordinate, then give processor 1080, and can receiving area The reason order sent of device 1080 is also performed.Furthermore, it is possible to use resistance-type, condenser type, infrared ray And the polytype such as surface acoustic wave realizes contact panel 1031.Except contact panel 1031, input block 1030 can also include other input equipments 1032.Specifically, other input equipments 1032 can include But it is not limited to physical keyboard, function key (such as volume control button, switch key etc.), trace ball, Mus One or more in mark, action bars etc..

Display unit 1040 can be used for showing the information inputted by user or the information being supplied to user and hands The various menus of machine.Display unit 1040 can include display floater 1041, and this display floater 1041 is permissible Show a user interface, the action script that user can be completed with input editing by input block 1030.Can Choosing, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used Forms such as (Organic Light-Emitting Diode, OLED) configures display floater 1041.Further , contact panel 1031 can cover display floater 1041, detect thereon when contact panel 1031 or Near touch operation after, send processor 1080 to determine the type of touch event, with preprocessor 1080 provide corresponding visual output according to the type of touch event on display floater 1041.Although at figure In 9, contact panel 1031 and display floater 1041 are to realize the defeated of mobile phone as two independent parts Enter and input function, but in some embodiments it is possible to by contact panel 1031 and display floater 1041 Integrated and realize input and the output function of mobile phone.

Mobile phone may also include at least one sensor 1050, such as optical sensor, motion sensor and its His sensor.Specifically, optical sensor can include ambient light sensor and proximity transducer, wherein, ring Border optical sensor can regulate the brightness of display floater 1041, proximity transducer according to the light and shade of ambient light Display floater 1041 and/or backlight can be closed when mobile phone moves in one's ear.As motion sensor one Kind, accelerometer sensor can detect the size of (generally three axles) acceleration in all directions, time static Can detect that size and the direction of gravity, can be used for identify mobile phone attitude application (such as horizontal/vertical screen switching, Dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, percussion) etc.；Extremely The gyroscope that can also configure in mobile phone, barometer, drimeter, thermometer, infrared ray sensor etc. other Sensor, does not repeats them here.

Voicefrequency circuit 1060, speaker 1061, microphone 1062 can provide the sound between user and mobile phone Frequently interface.The signal of telecommunication after the voice data conversion that voicefrequency circuit 1060 can will receive, is transferred to raise one's voice Device 1061, is converted to acoustical signal output by speaker 1061；On the other hand, microphone 1062 will be received The acoustical signal of collection is converted to the signal of telecommunication, voicefrequency circuit 1060 be converted to voice data after receiving, then will After voice data output processor 1080 processes, through RF circuit 1010 to be sent to such as another mobile phone, Or voice data is exported to memorizer 1020 to process further.

WiFi belongs to short range wireless transmission technology, and mobile phone can help user by WiFi module 1070 Sending and receiving e-mail, browse webpage and access streaming video etc., it is mutual that it has provided the user wireless broadband Internet interview.Although Fig. 9 shows WiFi module 1070, but it is understood that, it is also not belonging to Must be configured into of mobile phone, can omit completely as required in not changing the scope of essence of invention.

Processor 1080 is the control centre of mobile phone, utilizes each of various interface and the whole mobile phone of connection Individual part, by running or perform to be stored in the software program in memorizer 1020 and/or module, and adjusts By the data being stored in memorizer 1020, perform the various functions of mobile phone and process data, thus opponent Machine carries out integral monitoring.Optionally, processor 1080 can include one or more processing unit；Preferably, Processor 1080 can integrated application processor and modem processor, wherein, application processor is mainly located Reason operating system, user interface and application program etc., modem processor mainly processes radio communication. It is understood that above-mentioned modem processor can not also be integrated in processor 1080.

Mobile phone also includes the power supply 1090 (such as battery) powered to all parts, it is preferred that power supply is permissible Logically contiguous with processor 1080 by power-supply management system, thus realize management by power-supply management system The functions such as charging, electric discharge and power managed.

Although not shown, mobile phone can also include photographic head, bluetooth module etc., does not repeats them here.

In embodiments of the present invention, the processor 1080 included by this terminal also have control perform above by The flight control method flow process of the aircraft that terminal performs.

Figure 10 is that a kind of flight that the embodiment of the present invention provides controls the structural representation of end, and this flight controls Holding 1100 settings on board the aircraft, flight controls end 1100 and can produce compare because of configuration or performance difference Big difference, can include one or more central processing units (central processing units, CPU) 1122 (such as, one or more processors) and memorizeies 1132, one or more storages Storage medium 1130 (such as one or more mass memories of application program 1142 or data 1144 Equipment).Wherein, memorizer 1132 and storage medium 1130 can be of short duration storage or persistently store.Deposit Store up the program at storage medium 1130 and can include one or more modules (diagram does not marks), often Individual module can include flight is controlled a series of command operatings in end.Further, central authorities process Device 1122 could be arranged to communicate with storage medium 1130, controls to perform storage on end 1100 in flight and is situated between A series of command operatings in matter 1130.It will be understood by those skilled in the art that flying shown in Figure 10 Row controls end structure and is not intended that the restriction that flight controls end, can include more more or less of than diagram Parts, or combine some parts, or different parts are arranged.

Flight controls end 1100 can also include one or more power supplys 1126, one or more Radio network interface 1150, one or more input/output interfaces 1158, and/or, one or one Above operating system 1141, such as Android system etc..This radio network interface 1150 can be based on Mavlink agreement and terminal communication.

In above-described embodiment, the flight rate-determining steps by the aircraft performed by flight control end can be based on this Flight shown in Figure 10 controls end structure.

Additionally it should be noted that, device embodiment described above is only schematically, wherein said The unit illustrated as separating component can be or may not be physically separate, shows as unit The parts shown can be or may not be physical location, i.e. may be located at a place, or also may be used To be distributed on multiple NE.Some or all of mould therein can be selected according to the actual needs Block realizes the purpose of the present embodiment scheme.It addition, in the device embodiment accompanying drawing of present invention offer, mould Annexation between block represents have communication connection between them, specifically can be implemented as one or more Communication bus or holding wire.Those of ordinary skill in the art are not in the case of paying creative work, i.e. It is appreciated that and implements.

Through the above description of the embodiments, those skilled in the art is it can be understood that arrive this Invention can add the mode of required common hardware by software and realize, naturally it is also possible to pass through specialized hardware Realize including special IC, dedicated cpu, private memory, special components and parts etc..General feelings Under condition, all functions completed by computer program can realize with corresponding hardware easily, and And, the particular hardware structure being used for realizing same function can also be diversified, such as analog circuit, Digital circuit or special circuit etc..But, the most more in the case of software program realize be more Good embodiment.Based on such understanding, technical scheme is the most in other words to existing skill The part that art contributes can embody with the form of software product, and this computer software product stores In the storage medium that can read, such as the floppy disk of computer, USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic Dish or CD etc., including some instructions with so that computer equipment (can be personal computer, Server, or the network equipment etc.) perform the method described in each embodiment of the present invention.

In sum, above example only in order to technical scheme to be described, is not intended to limit； Although being described in detail the present invention with reference to above-described embodiment, those of ordinary skill in the art should Work as understanding: the technical scheme described in the various embodiments described above still can be modified by it, or to it Middle part technical characteristic carries out equivalent；And these amendments or replacement, do not make appropriate technical solution Essence depart from various embodiments of the present invention technical scheme spirit and scope.

Claims

1. the flight control method of an aircraft, it is characterised in that including:

Method the most according to claim 1, it is characterised in that the type of action of described flare maneuver Including following types of at least one: landing type, direction type, revolution type, rotation type and shake Pendulum type.

Method the most according to claim 2, it is characterised in that when described type of action includes described During landing type, described action parameter includes: displacement in the vertical direction and translational speed；

Method the most according to claim 1, it is characterised in that described mobile terminal calls described shifting The DLL of dynamic terminal performs after flight controls the end described flare maneuver information of transmission, described side Method also includes:

Described mobile terminal obtains new action script by described user interface；

Described mobile terminal resolves the flare maneuver information made new advances from described new action script, described newly Flare maneuver information include: the different type of action of new flare maneuver and described new flare maneuver divide Not corresponding new action parameter；

Described mobile terminal calls described DLL and performs to control end to described flight and send described new Flare maneuver information.

Method the most according to claim 1, it is characterised in that described flare maneuver information also includes: Call the time point of described flare maneuver；

Described mobile terminal calls the DLL of described mobile terminal and performs to send institute to flight control end State flare maneuver information, including:

The DLL that described mobile terminal calls described mobile terminal according to described time point performs to flying Row controls end and sends described flare maneuver information.

6. the flight control method of an aircraft, it is characterised in that including:

Method the most according to claim 6, it is characterised in that when the action class of described flare maneuver When type includes landing type, described action parameter includes: displacement in the vertical direction and mobile speed Degree；

Method the most according to claim 7, it is characterised in that described flight controls end and flies described The action parameter that the different type of action that action is made are corresponding respectively carries out attitude fusion, obtains described aircraft Attitude fusion parameters, including:

Described flight controls the end action parameter according to the different type of action correspondence respectively of described flare maneuver Carry out adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: yaw angle, bow The elevation angle and roll angle；

Described flight controls end and determines that described attitude fusion parameters includes: the waypoint location after adjustment and adjustment After yaw angle or the angle of pitch or roll angle.

Method the most according to claim 8, it is characterised in that described flight controls end according to described Action parameter carries out adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: partially Boat angle, the angle of pitch and roll angle, including:

Described flight controls end and obtains the type of action that described action parameter is corresponding；

When the type of action that described flight control end gets includes direction type and revolution type, to institute State waypoint location to be adjusted；

When the type of action that described flight control end gets includes rotation type, described yaw angle is entered Row sum-equal matrix；

When described flight control the type of action that gets of end include rocker type time, to the described angle of pitch or Described roll angle is adjusted.

Method the most according to claim 6, it is characterised in that described method also includes:

Described flight controls end and described aircraft carries out according to described attitude fusion parameters the mistake of flight control Cheng Zhong, described flight controls end and judges whether to receive new flare maneuver information from described mobile terminal；

If described flight controls end receives new flare maneuver information, described flight from described mobile terminal Control end carries out attitude to the new action parameter that the different type of action of new flare maneuver are corresponding respectively and melts Close, obtain new attitude fusion parameters；

Described flight control end carries out flight according to described new attitude fusion parameters to described aircraft and controls System.

11. methods according to claim 6, it is characterised in that described flight controls end and obtains shifting Dynamic terminal by calling the flare maneuver information that the DLL of described mobile terminal sends, including:

It is described by calling according to the time point acquisition mobile terminal calling flare maneuver that described flight controls end The flare maneuver information that the DLL of mobile terminal sends.

12. 1 kinds of mobile terminals, it is characterised in that including:

13. mobile terminals according to claim 12, it is characterised in that moving of described flare maneuver As type include following types of at least one: landing type, direction type, revolution type, rotation class Type and rocker type.

14. mobile terminals according to claim 12, it is characterised in that when described type of action bag When including described landing type, described action parameter includes: displacement in the vertical direction and mobile speed Degree；

15. mobile terminals according to claim 12, it is characterised in that

Described action script acquisition module, is additionally operable to described interface interchange module and calls described mobile terminal DLL performs after flight controls the end described flare maneuver information of transmission, by described user circle Face obtains new action script；

Described parsing module, is additionally operable to resolve the flare maneuver information made new advances from described new action script, Described new flare maneuver information includes: new flare maneuver and the different actions of described new flare maneuver The new action parameter that type is the most corresponding；

Described interface interchange module, is additionally operable to call described DLL and performs to control end to described flight Send described new flare maneuver information.

16. mobile terminals according to claim 12, it is characterised in that described flare maneuver information Also include: call the time point of described flare maneuver；

Described interface interchange module, specifically for calling the programming of described mobile terminal according to described time point Interface performs to control end to flight and sends described flare maneuver information.

17. 1 kinds of flights control end, it is characterised in that including:

18. flights according to claim 17 control end, it is characterised in that when described flare maneuver Type of action when including landing type, described action parameter includes: displacement in the vertical direction And translational speed；

19. flights according to claim 18 control end, it is characterised in that described Fusion Module, Including: adjusting module, wherein,

Described adjusting module, for the action that the different type of action according to described flare maneuver are the most corresponding Parameter carries out adjusting and the adjustment of at least one angle in following three kinds of attitude angle of waypoint location: yaw angle, The angle of pitch and roll angle；Determine that described attitude fusion parameters includes: after the waypoint location after adjustment and adjustment Yaw angle or the angle of pitch or roll angle.

20. flights according to claim 19 control end, it is characterised in that described adjusting module, The type of action corresponding specifically for obtaining described action parameter；When the type of action got includes direction When type and revolution type, described waypoint location is adjusted；When the type of action got includes certainly When turning type, described yaw angle is adjusted；When the type of action got includes rocker type, The described angle of pitch or described roll angle are adjusted.

21. flights according to claim 17 control end, it is characterised in that described flight controls end Also include: monitoring module, wherein,

Described monitoring module, for described control module according to described attitude fusion parameters to described aircraft During carrying out flight control, it is judged that whether described acquisition module receives new from described mobile terminal Flare maneuver information；

Described Fusion Module, if being additionally operable to described acquisition module to receive new flight from described mobile terminal Action message, carries out appearance to the new action parameter that the different type of action of new flare maneuver are corresponding respectively State merges, and obtains new attitude fusion parameters；

Described control module, is additionally operable to fly described aircraft according to described new attitude fusion parameters Row controls.

22. flights according to claim 17 control end, it is characterised in that described acquisition module, Specifically for obtaining mobile terminal according to the time point calling flare maneuver by calling described mobile terminal The flare maneuver information that DLL sends.