CN105955288A - Aircraft positioning and control method and system - Google Patents
Aircraft positioning and control method and system Download PDFInfo
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- CN105955288A CN105955288A CN201610562184.XA CN201610562184A CN105955288A CN 105955288 A CN105955288 A CN 105955288A CN 201610562184 A CN201610562184 A CN 201610562184A CN 105955288 A CN105955288 A CN 105955288A
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- 238000002372 labelling Methods 0.000 claims description 115
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides an aircraft positioning and control method and system. The system comprises an optical motion capture system, a ground station and a plurality of aircrafts. The optical motion capture system obtains images of the aircrafts through a plurality of optical motion capture devices, carries out positioning on the plurality of aircrafts based on the images, obtains positioning data of the plurality of aircrafts and sends the positioning data to the ground station; the ground station is used for receiving the positioning data of the aircrafts obtained by the optical motion capture system, and sending the positioning data to the aircrafts; and the aircrafts are used for receiving the positioning data sent by the ground station and obtaining preset flight planning data and generating a flight control command for controlling flight of the aircrafts according to the positioning data and the preset flight planning data.
Description
Technical field
The application relates to technical field of flight control, fixed in particular to a kind of aircraft
Position and control method and system.
Background technology
In aircraft field, usually through GPS, (Global Position System, the whole world is fixed
Position system) or the real-time flight position of inertial navigation location technology acquisition aircraft.Wherein,
GPS positioning precision is meter level, and positioning accuracy of differential GPS is Centimeter Level, and error is the biggest,
Thus be difficult to the flight of aircraft is accurately controlled.
And inertial navigation location technology uses the IMU sensor speed (linear speed to aircraft
Degree, angular velocity) it is integrated, try to achieve its state.Owing to measuring speed exists error, long-pending
Partite transport is calculated and is caused error accumulation, the margin of error to be incremented by time, and margin of error accumulation is more than setting
Between machine during safe distance, two machines will be caused to bump against, be still difficult to accurately having aircraft
Effect location and control.
When the aircraft formation that spacing is less between to aircraft carries out flight location and controls,
Such as, during the flight of the aircraft formation less between 10～20cm to self wheelbase controls,
Require each aircraft in forming into columns is positioned accurately, in order to accurately control each
The flight position of individual aircraft, to reach desired formation formation and formation orientation.And it is above-mentioned
GPS location and inertial navigation location are all unable to reach the hi-Fix of this formation flight and want
Ask.
Summary of the invention
In view of this, the embodiment of the present application provide a kind of Aerial vehicle position and control method and
System, relatively low to improve the aircraft flight positional precision of above-mentioned acquisition, it is difficult to accurately to control
The problem of aircraft flight.
To achieve these goals, the technical scheme that the application uses is as follows:
A kind of Aerial vehicle position and control system, described system includes: optics motion capture system
System, earth station and multiple aircraft, wherein, described optics motion capture system passes through cloth
Multiple optics motion capture equipment in the territory, designated flying zone being placed in multiple aircraft obtain flight
The image of device, positions the plurality of aircraft based on described image, obtains described many
The location data of individual aircraft, and described location data are sent to described earth station；Wherein,
The plurality of aircraft, can be by least two in territory, designated flying zone in the case of normal flight
Optics motion capture equipment gets image；Described earth station is used for receiving described optics action
The location data of the described aircraft that seizure system obtains, and described location data are sent to
Described aircraft；Described aircraft is for receiving the described location data that described earth station sends
And obtain pre-set flight layout data, plan according to described location data and pre-set flight
Data genaration controls the flight control command of described aircraft flight.
A kind of Aerial vehicle position method, by being arranged in the territory, designated flying zone of multiple aircraft
Multiple optics motion capture equipment obtain aircraft image, based on described image to described
Multiple aircraft position, wherein, the plurality of aircraft in territory, designated flying zone just
Often under flight progress, image can be got by least two optics motion capture equipment, described
Localization method includes: what reception optics motion capture equipment obtained includes in multiple aircraft every
At least two width images of the labelling point of individual aircraft；According to the mark in described at least two width images
Note point, calculates the coordinate data of each labelling point；According to labelling in described at least two width images
The labelling point arrangement mode of the arrangement mode put and the aircraft prestored identifies labelling point pair
The aircraft answered；Coordinate data according to labelling point and aircraft corresponding to labelling point, obtain
Obtain the location data of each aircraft；The location data sending described aircraft are described to controlling
The earth station of aircraft.
A kind of flying vehicles control method, described method is used for aircraft according to optics motion capture
The location data genaration of the aircraft that system obtains controls the control command of aircraft flight, institute
The method of stating includes: receiving the location data of aircraft, described location data are by being arranged in
Multiple optics motion capture equipment in the territory, designated flying zone of aircraft obtain the figure of aircraft
Picture, the data described aircraft positioned based on described image；Acquisition pre-set flight is advised
Draw data；Institute is controlled according to described pre-set flight layout data and described location data genaration
State the flight control command of aircraft flight.
Aerial vehicle position that the embodiment of the present application provides and control method and system, pass through optics
Motion capture system obtains the location data of multiple aircraft, then will position number by earth station
According to being sent to multiple aircraft, so that aircraft according to its pre-set flight layout data and is somebody's turn to do
Location data genaration control command controls flight, the location number that optics motion capture system obtains
High according to precision, based on these high-precision location data can realize each aircraft more accurate
True flight controls, thus the flight meeting the less aircraft formation of spacing between aircraft is fixed
Position and control requirement.
For making the above-mentioned purpose of the application, feature and advantage to become apparent, cited below particularly
Preferred embodiment, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
For making the purpose of the embodiment of the present application, technical scheme and advantage clearer, below will
In conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is some embodiments of the present application,
Rather than whole embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained under not making creative work premise, broadly falls into
The scope of the application protection.
Fig. 1 shows the Aerial vehicle position and the structure of control system that the embodiment of the present application provides
Block diagram；
Fig. 2 shows the Aerial vehicle position and the application of control system that the embodiment of the present application provides
Scene graph；
Fig. 3 shows that the labelling point of the aircraft that the embodiment of the present application provides configurates signal
Figure；
Fig. 4 shows the flow chart of the Aerial vehicle position method that the embodiment of the present application provides；
Fig. 5 shows the flow chart of the flying vehicles control method that the embodiment of the present application provides；
Fig. 6 shows the flow chart of part steps in Fig. 5；
Fig. 7 shows the Aerial vehicle position and the data of control system that the embodiment of the present application provides
Interaction figure.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present application, to the technical side in the embodiment of the present application
Case is clearly and completely described, it is clear that described embodiment is only the application one
Section Example rather than whole embodiments.Generally herein described in accompanying drawing and illustrate
The assembly of the embodiment of the present application can arrange with various different configurations and design.Therefore,
Detailed description to the embodiments herein provided in the accompanying drawings is not intended to limit and wants below
Seek the scope of the present application of protection, but be merely representative of the selected embodiment of the application.Based on
Embodiments herein, those skilled in the art are not on the premise of making creative work
The every other embodiment obtained, broadly falls into the scope of the application protection.
It should also be noted that similar label and letter represent similar terms in following accompanying drawing, because of
This, be defined in the most a certain Xiang Yi accompanying drawing, then it is right to need not in accompanying drawing subsequently
It defines further and explains.Meanwhile, in the description of the present application, term " first ",
" second " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint relative importance.
Refer to Fig. 1 and Fig. 2, the application one embodiment provide a kind of Aerial vehicle position and
Control system 100, this system 100 includes optics motion capture system 130, earth station 120
And multiple aircraft 110, it is to be understood that aircraft 110 in Fig. 1 and Fig. 2
Quantity is not intended that the restriction to the application detailed description of the invention.
As in figure 2 it is shown, optics motion capture system 130 and multiple aircraft 110 all with
Connected by network 140 signal between earth station 120.Preferably, multiple aircraft 110
Realize being connected by wireless network with between earth station 120, optics motion capture system 130
Realize being connected by cable network with between earth station 120.Certainly, optics motion capture system
Can also realize being connected, in this enforcement by wireless network between system 130 and earth station 120
Example is not intended as limit.
Referring to Fig. 2, optics motion capture system 130 can include that multiple optics action is caught
Catch equipment 131 and the processor 132 being connected with optics motion capture equipment 131 signal.
The plurality of optics motion capture equipment 131 at least includes two, in fig. 2, only with
Two optics motion capture equipment 131 are as example.The plurality of optics motion capture equipment 131
It is arranged in the territory, designated flying zone 133 of multiple aircraft, can from different directions appointment be flown
Aircraft in row region 133 carries out image acquisition, and, multiple aircraft fly in appointment
In row region 133 in the case of normal flight, can be obtained by least two optics motion capture equipment
Get image.Certainly, the aircraft 110 being arranged in territory, designated flying zone 133 concrete
Form is not using the aircraft in Fig. 2 as restriction.Optics motion capture in the present embodiment
Equipment 131 can include CCD (Charge Coupled Device),
CMOS (Complementary Metal Oxide Semiconductor) etc., at the present embodiment
In be not intended as limit.
This processor 132 is used for receiving the image that optics motion capture equipment 131 collects,
And this image is processed to obtain the location data of aircraft.
Further, in the present embodiment, the surface configuration of each aircraft 110 has at least
Three labelling points 111, this at least three labelling point 111 is that processor 132 can be to its imaging
The labelling point being identified, and labelling point 111 be arranged at optics motion capture equipment 131 can
The surface of the aircraft 110 to collect, such as the upper surface of aircraft 110.Preferably,
The labelling point 111 being arranged at aircraft 110 is self-luminous or reflective labelling point.In one
In specific embodiment, this self luminous labelling point can be Led lamp, such as, can be
The LED lamp of 850nm wave band, it is to be understood that labelling point 111 can also be other ripples
The LED lamp of section.This reflective marker point can also is that reflective small ball, such as, can be that surface is
The reflective small ball of minute surface.The diameter of labelling point 111 can be preferably between 3-20mm
6mm。
In the present embodiment, at least three labelling point that the plurality of aircraft 110 is respectively provided with
The arrangement mode of 111 is different, and the labelling point of each aircraft has unique labelling point
Arrangement mode, as shown in Figure 3.Preferably, at surface configuration four mark of each aircraft
Note point 111.The labelling of each aircraft 110 can be made when arranging labelling point arrangement mode
The arranging distance of point 111 is big as far as possible, to increase the distinguishing property to labelling point 111.Further,
The arrangement of the labelling point 111 of each aircraft 110 avoids centrosymmetry and minute surface symmetrical, with
Avoid differentiating the aircraft that labelling point arrangement mode is centrosymmetric or minute surface is symmetrical.And
Multiple labelling points 111 are the most on the same line, in order to determine the attitude data of aircraft.
Multiple optics motion capture equipment 131 are to the multiple aircraft in flight range 133
110 carry out image acquisition, and the image of collection includes the labelling point 111 of each aircraft 110,
Using labelling point as the framing signal of aircraft, optics motion capture equipment 131 is by collection
Image is sent to processor 132, and processor 132 obtains according to the labelling point 111 in image
Aircraft is also known by the location data of aircraft according to the arrangement mode of labelling point 111
Not.
Concrete, as shown in Figure 4, aircraft is positioned by this optics motion capture system
May include that with the method for acquisition location data
Step S110: what reception optics motion capture equipment obtained includes in multiple aircraft every
At least two width images of the labelling point of individual aircraft.
Owing to aircraft 110 is in flight range 133 during normal flight, an aircraft 110
Image can be got by least two optics motion capture equipment 131, therefore fly for one
Row device 110 can receive at least two width figures that at least two optics motion capture equipment 131 obtains
Picture.
Step S120: according to the labelling point in described at least two width images, calculate each labelling
The coordinate data of point.
Optics motion capture equipment 131 obtains the image of multiple aircraft 110, multiple optics
Motion capture equipment 131 then obtains multiple image, and image includes being arranged at aircraft 110
Labelling point 111.The processor 132 of optics motion capture equipment 131 is to this multiple image
In labelling point alignment processing, utilize the triangulation technique in multi-vision visual field, by list
Individual labelling point, no less than the 2D projection coordinate in 2 optics motion capture equipment, can be built
Vertical one group of overdetermined equation, and then solve the 3d space coordinate of labelling point, then can obtain each
The coordinate data of labelling point 111.
Step S130: according to the arrangement mode of labelling point in described at least two width images and pre-
The labelling point arrangement mode of the aircraft deposited identifies the aircraft that labelling point is corresponding.
In the present embodiment, at least three labelling point 111 of each aircraft 110 has only
The labelling point arrangement mode of one, then can be according to the labelling point 111 of each aircraft 110
Different arrangement modes identify each aircraft.Such as, processor 132 prestores multiple
The identity of each aircraft in aircraft, and the arrangement of each identity and labelling point
The corresponding relation of mode, the geometry that the most each labelling point is surrounded, then getting
In the case of the arrangement mode of labelling point, can be according to the aircraft identity prestored and labelling point
The corresponding relation of arrangement mode identifies aircraft.
Concrete, according to the arrangement mode of labelling point in described at least two width images and prestore
The labelling point arrangement mode of aircraft identify a kind of enforcement of aircraft corresponding to labelling point
Example may include that
First, labelling point and the labelling of this predetermined number of predetermined number in described image are obtained
The arrangement mode of point, the number of the labelling point that described predetermined number is corresponding with aircraft is identical,
Such as, carry out one aircraft of labelling with four labelling points, then from the image gathered, obtain four
Individual labelling point and the arrangement mode of these four labelling points.
Afterwards, by the labelling of the arrangement mode of the described labelling point of acquisition with the aircraft prestored
Point arrangement mode match cognization goes out the aircraft that labelling point is corresponding.Fly at multiple aircraft simultaneously
During row, each image can collect multiple labelling point, carry out labelling one with four labelling points
As a example by aircraft, by the labelling of the arrangement mode of any four labelling point with the aircraft prestored
Point arrangement mode coupling, matching principle includes: same labelling point can only be with an aircraft pair
Should, overall risk is minimum.Described overall risk minimum can be understood as the coupling finally obtained
The error of result is minimum.
Can be corresponding with aircraft by all labelling points gathered by aforesaid operations, namely obtain
Obtained multiple labelling points that each aircraft is corresponding.
Step S140: according to the aircraft that the coordinate data of labelling point and labelling point are corresponding,
Obtain the location data of each aircraft.
The location data of aircraft include coordinate data, according to the coordinate data of labelling point and
The aircraft that labelling point is corresponding, it is thus achieved that the coordinate data of each aircraft includes following at least one
Kind:
According to the coordinate data of multiple labelling points corresponding to same aircraft, determine the plurality of mark
The coordinate data of the geometric center that note point is surrounded, by the seat of this center
Mark data are as the coordinate data of described aircraft；
Using the meansigma methods of the coordinate data of multiple labelling points corresponding for same aircraft as flying
The coordinate data of row device.
The embodiment of the present application is not limited thereto, concrete, can determine according to practical situation.
Further, in the present embodiment, the location data of aircraft also include attitude data.Root
According to the aircraft that the coordinate data of labelling point and labelling point are corresponding, it is thus achieved that each aircraft
Attitude data may include that the coordinate data of the multiple labelling points corresponding according to same aircraft
And the coordinate data that the described original attitude of aircraft is corresponding, by the principle of minimum match error
Obtain the attitude data of aircraft.Namely at the coordinate of multiple labelling points corresponding to aircraft
In the case of data are known, in the case of ensureing error minimum, determine the attitude number of aircraft
According to.The attitude data of each aircraft 110 may include that aircraft 110 course angle,
The angle of pitch and roll angle.
In the present embodiment, the quantity of the labelling point 111 on each aircraft 110 is at least
Three, preferably four, may determine that a solid according to four mark labelling points 111,
According to the attitude data of the solid that four labelling points determine, can obtain each more accurately
The attitude data of aircraft 110, can also obtain according to the solid determined simultaneously more accurately
Know the coordinate data of the aircraft of correspondence.
This optics motion capture system can obtain the location of aircraft with predetermined acquisition rate
Data, during to obtain corresponding difference during being continually changing in the position of aircraft and attitude
The location data carved.This predetermined acquisition rate can be 30-180fps, in the present embodiment
It is not intended that restriction, can be preferably 60fps.If optics motion capture system 130 is with 60fps
Acquisition rate location data, the location the most in the same time that 60 aircraft can be obtained the most per second
Data.
Step S150: send the location data of described aircraft to the ground controlling described aircraft
Station, face.
The number of coordinates including each aircraft 110 that optics motion capture system 130 will obtain
According to this and the location data of attitude data are sent to earth station 120, it will of course be understood that,
For distinguishing each aircraft 110, the identity also including each aircraft 110 simultaneously sent
Mark, the identity of each aircraft 110 to should the location data of aircraft 110,
So that receiving the location earth station 120 of data and aircraft 110 can identify each flying
The location data of row device 110.Meanwhile, the time obtaining these location data can be sent to
Earth station 120.
In the embodiment of the present application, this optics motion capture system can be OptiTrack system
System or VICON system, the location data of the aircraft of acquisition, can reach submillimeter level
Positioning precision.
The earth station 120 receiving location data can be that server, computer etc. have data
The terminal of disposal ability.
Determining of the aircraft that earth station 120 obtains for receiving optics motion capture system 130
The described location data received also are sent to described aircraft 110 by bit data, and,
It is to send in real time that earth station 120 sends location data to aircraft 110, i.e. determines receiving
After bit data, then it is immediately sent to aircraft.Certainly, earth station 120 can also be to acquisition
Location data carry out pretreatment after recompression transmit to aircraft 110, this pretreatment
Can be filter invalid data or other.
In the present embodiment, earth station 120 sends all flight to each aircraft 110
The location data of device 110, the location data after aircraft 110 receives, to correspondence self
Resolve.Certainly, earth station 120 can also send it to 110, each aircraft
The location data of self.
Further, in the present embodiment, earth station 120 sends location data to aircraft
110 can be sent by radio station real-time broadcast.Radio station real-time broadcast long transmission distance, time delay
Low, time delay can be less than 10ms, and the endless number system of transmissible aircraft 110.Ground
Station, face sends real time positioning data by radio station real-time broadcast 120 to aircraft 110, flight
Device 110 can obtain himself location data quickly, makes location data and the flight of acquisition
Coordinate and the attitude difference of self reality of device 110 are less.The present embodiment a kind of concrete
In embodiment, selecting the radio communication of 900Mhz, certain the present embodiment is not limited to
This.
Multiple aircraft that the present embodiment provides can be the flight equipment with program control ability,
Built-in MPU (MicroProcessing Unit) and IMU (Inertial measurement unit),
This equipment can be controlled by SDK (Software Development Kit) and perform pre-set flight
Layout data, completes the action of correspondence.
In the present embodiment, the plurality of aircraft is used for the described fixed of satellite receiver transmission
Bit data, and, aircraft is additionally operable to obtain pre-set flight layout data.Aircraft according to
Described location data and pre-set flight layout data generate and control flying of described aircraft flight
Row control command.Concrete, referring to Fig. 5, this process includes:
Step S210: receive the location data of aircraft.
These location data are the location number that aforesaid optics motion capture system 130 obtains
According to, i.e. by being arranged in multiple optics motion captures in the territory, designated flying zone 133 of aircraft
Equipment 131 obtains the image of aircraft, positions described aircraft based on described image
Data.Optics motion capture system 130 obtains aircraft 110 with predetermined acquisition rate
Location data, then aircraft 110 can be to have the speed of certain relation with predetermined acquisition rate
Rate receives its location data.
If the location data of the aircraft received comprise all aircraft of whole flight formation
Location data and location aircraft identity corresponding to data, the most each aircraft can root
Identity according to self obtains the location data of self.
Step S220: obtain pre-set flight layout data.
Pre-set flight layout data can be previously stored with in each aircraft 110, wherein,
The default of all aircraft that can prestore whole flight formation in each aircraft flies
Row layout data and each pre-set flight layout data pass corresponding with aircraft identity
System, aircraft 110, under receiving location data cases, obtains preset corresponding with self
Flight program data, namely obtain the pre-set flight planning number that the identity of self is corresponding
According to.It is of course also possible to only store the pre-set flight planning number of himself in each aircraft
According to.
The pre-set flight layout data that this prestores can be by wireless by earth station 120
LAN (such as WiFi) or mobile communications network (such as 4G, 3G or GPRS) or
The communication modes in radio station sends.The WiFi communication network selected in the present embodiment can be
2.4/5.8Ghz Wifi。
In the present embodiment, the pre-set flight layout data of corresponding each aircraft 110 includes
The multiframe pre-set flight layout data performed in order, every frame pre-set flight layout data includes
The preset coordinate data of aircraft and preset posture data.Wherein, preset coordinate data are corresponding
Needing the Target space position that aircraft 110 arrives, these preset posture data are in requisition for flying
The targeted attitude that row device arrives.
Thus it is possible to understand, this acquisition pre-set flight layout data includes obtaining successively often
Frame pre-set flight layout data.
Each aircraft 110 obtains the pre-set flight planning of correspondence self with predetermined acquisition speed
Data, i.e. obtain frame data every preset interval time.Such as, this predetermined acquisition speed
20fps, then aircraft acquisition per second 20 frame pre-set flight layout data, the most adjacent two frames
Acquisition interval time of pre-set flight layout data is 50ms.
This predetermined speed that obtains can be realized by intervalometer, sets the time interval of intervalometer
For the preset interval time that predetermined acquisition speed is corresponding, read every preset interval time with realization
Take a frame pre-set flight layout data.
Step S230: according to described pre-set flight layout data and described location data genaration
Control the flight control command of described aircraft flight.
As shown in Figure 6, this is according to described pre-set flight layout data and described location data
The step 230 generating the flight control command controlling described aircraft flight includes:
Step S231: determine the location data that present frame pre-set flight layout data is corresponding.
Aircraft often reads a frame pre-set flight layout data, determines that this frame pre-set flight is advised
Draw the location data that data are corresponding.The location data that aircraft receives are continually changing, flight
Device 110 often reads a frame pre-set flight layout data, determines the location data of reception recently
As the location data that present frame pre-set flight layout data is corresponding.
For each frame pre-set flight layout data read, determine the location data of correspondence
In the case of, according to the location Data Control flight of this frame pre-set flight layout data and correspondence thereof
Process specifically include:
Step S232: for present frame pre-set flight layout data, calculates described presetting respectively
Coordinate data and the preset posture data coordinate data corresponding with the location data determined and appearance
Difference between state data.
Step S233: generate corresponding present frame pre-set flight layout data according to described difference
Control the control command of described aircraft flight.
Calculate preset coordinate data and the described location data of present frame pre-set flight layout data
Difference between middle coordinate data；Generate the described aircraft 110 of control according to described difference to fly
The control command of row.
Generate the control command controlling aircraft 110 flight according to this difference, can be to difference
Value carries out PID arithmetic, and difference is multiplied by scale factor K, and the integral term of difference is multiplied by I,
The differential term of difference is multiplied by D, then by these three summations, it is thus achieved that total to aircraft 110
Controlled quentity controlled variable.In this master control amount, difference is multiplied by scale factor K as flight position controlled quentity controlled variable,
Integral term is multiplied by I as flight speed controlled quentity controlled variable, and differential term is multiplied by D as Flight Acceleration
Controlled quentity controlled variable.Certainly, in the present embodiment, the concrete numerical value of K, I, D by user according to reality
Border needs to set, and is not intended as in the present embodiment limiting.
Meanwhile, the preset posture data of described pre-set flight layout data and described location are calculated
Difference between attitude data in data；Generate according to described difference and control described aircraft
The control command of the flight attitude of 110, makes aircraft be adjusted to preset posture data corresponding
Flight attitude.
In the present embodiment, also include all of aircraft 110 is carried out Synchronization Control, make
Multiple aircraft perform the time consistency of each frame pre-set flight layout data, the most multiple flights
Device performs the first frame pre-set flight layout data of himself simultaneously, performs self simultaneously
Two frame pre-set flight layout data, by that analogy.The implementation of this Synchronization Control it may be that
By making holding clock between multiple aircraft 110 and earth station 120 Tong Bu, so that many
Between individual aircraft 110, clock synchronizes.
Concrete, NTP (Network Time Protocol) time calibration in network association can be passed through
View realize between multiple aircraft 110 and earth station 120 and between multiple aircraft definitely
Time synchronized, the time synchronizing method of the embodiment of the present application is not limited thereto.Meanwhile, make
The predetermined acquisition speed of the pre-set flight layout data of each aircraft 110 correspondence is consistent, and
And, before aircraft flight, earth station 120 sends to multiple aircraft 110 in advance and reads
The identical starting time of pre-set flight layout data.The most multiple aircraft are in the identical time
Point start to obtain pre-set flight layout data, each aircraft 110 read each frame preset fly
The time of row layout data keeps consistent, makes multiple aircraft 110 synchronization action.
It addition, in the present embodiment, pre-set flight layout data is the script literary composition write in advance
Number of packages evidence.Script file data have predetermined form, and aircraft 110 is by script literary composition
Number of packages evidence carries out resolving the pre-set flight layout data that just can obtain correspondence.If desired to flight
The pre-set flight layout data of device 110 is modified, directly pre-according to script file data
Determine form modifying script file data, simple to operation.Further, many in control
Aircraft is increased or decreased in individual aircraft, corresponding in script file data in a predetermined format
Data item is increased or decreased just can realize, reduces the multiple aircraft of self-defined control 110
Difficulty.
Further, in pre-set flight layout data, it is also possible to include time span.This time
The total duration of flight that the pre-set flight layout data of this each aircraft 110 a length of is corresponding.
As pre-set flight layout data control flight total time a length of 120 seconds, then pre-set flight planning
Time span in data is 120 seconds.
Certainly, every frame pre-set flight layout data that aircraft 110 obtains successively can also be
Aircraft 110 flight course is sent in real time by earth station 120.Earth station is to each flight
Device sends the present frame pre-set flight layout data of all aircraft in real time or only flies to each
Row device sends the present frame of the pre-set flight layout data of himself, and transmission mode can be passed through
WLAN, mobile communications network or radio station real-time broadcast.Preferably, in this reality
Execute in example, sending by radio station real-time broadcast in real time of pre-set flight layout data.Due to electricity
Transmitting terminal and each receiving terminal of platform real-time broadcast have same clock source, then in earth station
120 simultaneously when multiple aircraft 110 send pre-set flight layout data, each aircraft
110 time consistencies receiving pre-set flight layout data, such that it is able to make multiple aircraft
110 perform the time consistencies of pre-set flight layout data received, make multiple aircraft it
Between keep clock synchronize, each aircraft 110 of Synchronization Control.
Further, in the present embodiment, the self-inspection of aircraft 110 is also included.Described many
Individual aircraft 110 detects before flight or in-flight to self-operating parameter；And will inspection
Survey result and be sent to described earth station 120, as shown in Figure 7.Detection is tied by aircraft 110
Fruit is sent to earth station 120 and can use the nothing such as WLAN or mobile communications network
Line real-time performance.It should be understood that simultaneously, earth station passes through WLAN or shifting
The wireless networks such as dynamic communication network receive the testing result of described aircraft feedback, certainly, ground
Station, face can also receive other status datas that aircraft is sent by wireless network.
Inherent parameters is detected before flight by each aircraft 110, can include detection
The clock between network connectivty and earth station between battery electric quantity and earth station 120
Pre-set flight layout data concordance etc. between synchronicity or each aircraft and earth station.Often
In the case of individual aircraft prestores the pre-set flight layout data of all aircraft, often
In individual aircraft, the pre-set flight layout data of storage should be consistent, and pre-with earth station
If flight program data are identical.Detect pre-set flight planning number between each aircraft and earth station
According to the most consistent, if unanimously, then the pre-set flight layout data one in all aircraft is described
Cause, if inconsistent with earth station of pre-set flight layout data in certain aircraft, then say
Pre-set flight layout data existing problems in this aircraft bright.
Testing result is sent to earth station 120 by each aircraft 110, and according to detection knot
Fruit carries out alignment processing.Such as, when battery electric quantity deficiency, aircraft 110 and earth station 120
Between clock is asynchronous or the pre-set flight layout data of aircraft 110 be stored in ground
Stand 120 corresponding pre-set flight layout data inconsistent, aircraft 110 can have been refused
Fly, wait that the testing result that user receives according to earth station 120 processes.Further,
Network connection interruption between aircraft 110 and earth station 120, it is impossible to send data to ground
Station, face 120, aircraft still can be refused to take off.
Inherent parameters is awing detected by each aircraft 110, can include over the ground
The effectiveness of the location data that station, face 120 sends detects in real time.When aircraft 110 nothing
Method obtains location data, it may be possible between aircraft 110 and earth station 120 or earth station
Between 120 with optics motion capture system 130, network is connected disconnection, now aircraft 110
Forced landing can be done process.The location data obtained when aircraft 110 continue constant, then may be used
Can be that the location to aircraft 110 is interrupted, if the location data sustained time reaches pre-
If duration, forced landing can be taked to process, this scheduled duration can be by user according to practical situation
Determine, as can be 4 seconds.The location data obtained when aircraft 110 are flown beyond specifying
The border in region 133, then be probably optics motion capture system 130 corrupt data or
Coordinate system arranges mistake, and forced landing now can be taked to process.Certainly, aircraft 110
The ginseng such as battery electric quantity, pre-set flight layout data concordance can also be detected in flight course
Number.
It should be understood that the parameter that aircraft 110 carries out self-inspection can also include other, as
The temperature of aircraft 110, rotor Vibration Condition etc., be not intended as limiting in the present embodiment.
Further, in the present embodiment, earth station 120 can also include man-machine interaction list
Unit, makes user can send control instruction to control aircraft by this man-machine interaction unit
110.The control command that user is triggered by man-machine interaction unit can be sent by earth station 120
Individual the plurality of aircraft 110.Arbitrary aircraft 110 in the plurality of aircraft 110
When receiving the control instruction triggered by user that described earth station 120 sends, this aircraft
110 preferentially fly according to described control instruction.Such as, aircraft 110 is performing default flying
During the flare maneuver that row layout data is corresponding, receive earth station 120 send by with
The control instruction that family is triggered, interrupts current flight action, performs the control instruction pair received
The flare maneuver answered.
The control instruction that user triggers can include unlocking, take off, land and locking,
It is not intended as in the present embodiment limiting.The unblock of user's triggering and instruction of taking off, permissible
Aircraft 110 is made to start flight, and, start after take off to perform pre-set flight planning number
According to corresponding flare maneuver.It is right that the control instruction of landing in particular cases can realize at some
The forced landing of aircraft 110, as made aircraft forced landing etc. when aircraft 110 rotor damages.
Further it will be understood that aircraft according to respective pre-set flight layout data with
And the process of location data genaration flight control command can also be completed by earth station, namely
The earth station of a kind of embodiment of the application have pre-set flight layout data according to aircraft with
And the function of location data genaration flight control command.
Aerial vehicle position that the present embodiment provides and control method and system, by optics action
After seizure system 130 obtains the location data of multiple aircraft 110, will through earth station 120
Location data are sent to aircraft 110, and each aircraft 110 is according to respective pre-set flight
Layout data and location data genaration flight control command flight, to realize multiple flights
Device 110 controls, and completes the formation of multiple aircraft 110 corresponding to pre-set flight layout data
Aerial mission.
And optics motion capture system 130 is carried out for labelling point 111 discernible in image
Processing, processing accuracy is high, can reach sub-pixel high precision position location and attitude orientation
Can, it is achieved the accurate flying to multiple aircraft 110 submillimeter levels controls.
In several embodiments provided herein, it should be understood that disclosed system
And method, it is also possible to realize by another way.System embodiment described above is only
Being only illustrative, such as, the flow chart in accompanying drawing shows according to embodiments herein
Method architectural framework in the cards, function and operation.In this, in flow chart
Each square frame can represent a module, program segment or a part for code, described module,
A part for program segment or code comprises one or more logic function for realizing regulation
Executable instruction.It should also be noted that some as replace implementation in, in square frame
The function marked can also occur to be different from the order marked in accompanying drawing.Such as, two
Individual continuous print square frame can essentially perform substantially in parallel, and they sometimes can also be by the contrary
Order perform, this is depending on involved function.It is also noted that in flow chart
The combination of the square frame in each square frame and flow chart, can with perform regulation function or
The special hardware based system of action realizes, or can use specialized hardware and calculating
The combination of machine instruction realizes.
It addition, the part merit of aircraft 110 control system in each embodiment of the application
Can integrate one independent part of formation by unit, it is also possible to be each function list
Unit's individualism.
It should be noted that in this article, the relational terms of such as first and second or the like
It is used merely to separate an entity or operation with another entity or operating space, and not
Necessarily require or imply these entities or operation between exist any this reality relation or
Person's order.And, term " includes ", " comprising " or its any other variant are intended to
Comprising of nonexcludability so that include the process of a series of key element, method, article or
Person's equipment not only includes those key elements, but also includes other key elements being not expressly set out,
Or also include the key element intrinsic for this process, method, article or equipment.?
In the case of there is no more restriction, statement " including ... " key element limited, not
Eliminating there is also other in including the process of described key element, method, article or equipment
Identical element.
The foregoing is only the preferred embodiment of the application, be not limited to the application,
For a person skilled in the art, the application can have various modifications and variations.All
Within spirit herein and principle, any modification, equivalent substitution and improvement etc. made,
Within should be included in the protection domain of the application.It should also be noted that similar label and letter
In following accompanying drawing, represent similar terms, therefore, the most a certain Xiang Yi accompanying drawing is determined
Justice, then need not define it further and explain in accompanying drawing subsequently.
The above, the only detailed description of the invention of the application, but the protection domain of the application
It is not limited thereto, the skill that any those familiar with the art discloses in the application
In the range of art, change can be readily occurred in or replace, all should contain the protection domain in the application
Within.Therefore, the protection domain of the application should described be as the criterion with scope of the claims.
Claims (16)
1. an Aerial vehicle position and control system, it is characterised in that described system includes optics
Motion capture system, earth station and multiple aircraft, wherein,
Described optics motion capture system is by being arranged in the territory, designated flying zone of multiple aircraft
Multiple optics motion capture equipment obtain aircraft image, based on described image to described many
Individual aircraft positions, and obtains the location data of the plurality of aircraft, and by described location
Data are sent to described earth station；Wherein, the plurality of aircraft in territory, designated flying zone just
Often under flight progress, image can be got by least two optics motion capture equipment；
Described earth station is for receiving the described aircraft that described optics motion capture system obtains
Location data, and described location data are sent to described aircraft；
Described aircraft is for receiving described location data and the acquisition of the transmission of described earth station
Pre-set flight layout data, generates control according to described location data and pre-set flight layout data
Make the flight control command of described aircraft flight.
System the most according to claim 1, it is characterised in that described earth station is by electricity
Platform real-time broadcast sends described location data to described aircraft.
System the most according to claim 1, it is characterised in that described earth station is additionally operable to
The status data of described aircraft feedback is received by wireless network.
System the most according to claim 1, it is characterised in that in the plurality of aircraft
Each aircraft be provided with at least three labelling point, and the labelling point of each aircraft has only
The labelling point arrangement mode of one so that described optics motion capture system is by described labelling point
Different arrangement modes identify aircraft.
5. an Aerial vehicle position method, it is characterised in that by being arranged in multiple aircraft
Multiple optics motion capture equipment in territory, designated flying zone obtain the image of aircraft, based on described
The plurality of aircraft is positioned by image, and wherein, flight specified by the plurality of aircraft
In region in the case of normal flight, figure can be got by least two optics motion capture equipment
Picture, described localization method includes:
Receive the acquisition of optics motion capture equipment includes each aircraft in multiple aircraft
At least two width images of labelling point；
According to the labelling point in described at least two width images, calculate the number of coordinates of each labelling point
According to；
According to the arrangement mode of labelling point in described at least two width images and the aircraft that prestores
Labelling point arrangement mode identify the aircraft that labelling point is corresponding；
Coordinate data according to labelling point and aircraft corresponding to labelling point, it is thus achieved that each flight
The location data of device；
Send the location data of described aircraft to the earth station controlling described aircraft.
Method the most according to claim 5, it is characterised in that described in described basis at least
The arrangement mode of labelling point and the labelling point arrangement mode of aircraft that prestores in two width images
The aircraft identifying labelling point corresponding includes:
Obtain the labelling point of predetermined number in described image and the row of the labelling point of this predetermined number
Mode for cloth, the number of the labelling point that described predetermined number is corresponding with aircraft is identical；
The arrangement mode of the described labelling point obtained is arranged with the labelling point of the aircraft prestored
Mode match cognization goes out the aircraft that labelling point is corresponding.
Method the most according to claim 5, it is characterised in that the location of described aircraft
Data include: the coordinate data of aircraft, according to coordinate data and the labelling point pair of labelling point
The aircraft answered, it is thus achieved that the coordinate data of each aircraft include following at least one:
According to the coordinate data of multiple labelling points corresponding to same aircraft, determine the plurality of labelling
The coordinate data of the geometric center that point is surrounded, by the number of coordinates of this center
According to the coordinate data as described aircraft；
Using the meansigma methods of the coordinate data of multiple labelling points corresponding for same aircraft as flying
The coordinate data of row device.
Method the most according to claim 5, it is characterised in that determining of described aircraft
Bit data includes the attitude data of aircraft, according to coordinate data and the labelling point pair of labelling point
The aircraft answered, it is thus achieved that the attitude data of each aircraft includes:
Coordinate data and described aircraft according to multiple labelling points corresponding to same aircraft are former
The coordinate data that beginning attitude is corresponding, by the principle of minimum match error, it is thus achieved that the appearance of aircraft
State data.
Method the most according to claim 5, it is characterised in that in the plurality of aircraft
Each aircraft be provided with at least three labelling point, and the labelling point of each aircraft has only
The labelling point arrangement mode of one.
10. a flying vehicles control method, it is characterised in that described method is used for aircraft root
Location data genaration control aircraft flight according to the aircraft that optics motion capture system obtains
Control command, described method includes:
Receiving the location data of aircraft, described location data are the fingers by being arranged in aircraft
The multiple optics motion capture equipment determining flight range obtain the image of aircraft, based on described figure
As the data that described aircraft is positioned；
Obtain pre-set flight layout data；
Fly according to described pre-set flight layout data and the control of described location data genaration
The flight control command of row device flight.
11. methods according to claim 10, it is characterised in that described pre-set flight
Layout data is script file data.
12. methods according to claim 10, it is characterised in that described reception aircraft
Location data be satellite receiver send location data, receive aircraft location data before
Described method also includes:
Flown with each in described earth station and multiple aircraft by NTP time calibration in network agreement
Row device realizes Absolute Time Synchronization.
13. methods according to claim 10, it is characterised in that described method is also wrapped
Include:
Detect before flight or in-flight to self-operating parameter；
Testing result is sent to earth station.
14. methods according to claim 13, it is characterised in that to certainly before described flight
Body operational factor carries out detection and includes:
Detect the concordance of the pre-set flight layout data that multiple aircraft is preserved.
15. methods according to claim 13, it is characterised in that described in-flight to certainly
Body operational factor carries out detection and includes:
The effectiveness of the described location data that detection receives.
16. methods according to claim 10, it is characterised in that described pre-set flight
Layout data includes: the multiframe pre-set flight layout data performed in order, every frame pre-set flight
Layout data includes preset coordinate data and the preset posture data of aircraft, described location data
Including: the coordinate data of aircraft and attitude data, described acquisition pre-set flight layout data bag
Include: obtain every frame pre-set flight layout data successively；
Described control institute according to described pre-set flight layout data and described location data genaration
The flight control command stating aircraft flight includes:
Determine the location data that acquired present frame pre-set flight layout data is corresponding；
Described preset coordinate data are calculated respectively for described present frame pre-set flight layout data
And the preset posture data coordinate data corresponding with the location data determined and attitude data it
Between difference；
Generate according to described difference and fly described in the control of corresponding present frame pre-set flight layout data
The control command of row device flight.
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