CN105955296B - The method that one key of aircraft makes a return voyage - Google Patents

The method that one key of aircraft makes a return voyage Download PDF

Info

Publication number
CN105955296B
CN105955296B CN201610366665.3A CN201610366665A CN105955296B CN 105955296 B CN105955296 B CN 105955296B CN 201610366665 A CN201610366665 A CN 201610366665A CN 105955296 B CN105955296 B CN 105955296B
Authority
CN
China
Prior art keywords
aircraft
return voyage
location information
return
lat
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610366665.3A
Other languages
Chinese (zh)
Other versions
CN105955296A (en
Inventor
陈思达
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Jingrong Technology Co., Ltd.
Original Assignee
Guangdong Jingrong Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Jingrong Technology Co Ltd filed Critical Guangdong Jingrong Technology Co Ltd
Priority to CN201610366665.3A priority Critical patent/CN105955296B/en
Publication of CN105955296A publication Critical patent/CN105955296A/en
Application granted granted Critical
Publication of CN105955296B publication Critical patent/CN105955296B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The invention is realized in this way the method that one key of aircraft makes a return voyage, comprising the following steps: (1) location information when positioning system record aircraft takeoff before using it being equipped with is taken off, and the location information is sent to controller built-in in aircraft;(2) after aircraft takeoff, flight path information is simultaneously transmitted to controller by the flight path of positioning system record aircraft;(3) after one key of starting makes a return voyage switch, controller is analyzed and processed according to the existing location information of aircraft, flight path, the location information to take off, cooks up the return route of aircraft;(4) aircraft returns to position when taking off according to return route.After the above technology, the complexity of operation is greatly simplified, reduces the risk falling machine and hurting sb.'s feelings.

Description

The method that one key of aircraft makes a return voyage
Technical field
The invention belongs to the methods that airmanship field more particularly to one key of aircraft are maked a return voyage.
Background technique
With the development of science and technology, miscellaneous aircraft has been produced for meeting the needs of different clients.
Existing aircraft requires artificially to control during making a return voyage, and due to user's operation skill, has out It now collides or situation out of control, causes very big hidden danger, especially in some cases, use safely to aircraft flight Not the problems such as family does not see direction in recovery flight device, extremely easy to fall machine problem, causes the injury of aircraft or personnel.
Summary of the invention
The purpose of the present invention is to provide the methods that one key of aircraft makes a return voyage, it is intended to when solving existing Multiwing aircraft and taking off It controls cumbersome, it is difficult to the problem of manipulating.
The invention is realized in this way the method that one key of aircraft makes a return voyage, includes the following steps:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the position Information is sent to controller built-in in aircraft;
(2) after aircraft takeoff, flight path information is simultaneously transmitted to control by the flight path of positioning system record aircraft Device processed;
(3) one key of starting makes a return voyage after switch, controller according to the existing location information of aircraft, flight path, take off Location information is analyzed and processed, and cooks up the return route of aircraft;
(4) aircraft returns to position when taking off according to return route.
After the above technical solution is adopted, since aircraft is built-in with GPS positioning system, aircraft receives instruction of taking off Afterwards, GPS positioning system will record location information at this time and be sent to flight controller computer, and in flight course, GPS is fixed Position system can persistently record the location information being presently in and be sent to flight controller computer, and controller computer passes through receipts To information be analyzed and processed, to cook up the return route of aircraft, after aircraft, which receives, makes a return voyage instruction, control Device computer guiding aircraft is returned along return route, greatly simplifies the complexity of operation, reduces the risk falling machine and hurting sb.'s feelings.
Wherein, in step (1), the positioning system is GPS positioning system, and location information when taking off is to pass through The location parameter that the GPS positioning system obtains.
Wherein, in step (1), location information when taking off includes position longitude and latitude (lat when taking off1,lon1) And environmental information.
Wherein, in step (3), position that the existing location information is obtained in real time by the GPS positioning system Parameter.
Wherein, the existing location information includes the current position longitude and latitude (lat of the aircraft2,lon2) and environment Information.
Wherein, in step (3), the return route is determined by the angle that makes a return voyage apart from and make a return voyage of aircraft.
Wherein, the distance calculation formula of making a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
Wherein, the calculation formula of the angle that makes a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
Wherein, the return route be in conjunction with make a return voyage distance and the most short distance diameter planned of the angle that makes a return voyage, it is described most Short distance diameter refers to the most short distance diameter planned in safe range.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to Limit the present invention.
The present invention provides the method that one key of aircraft makes a return voyage, and includes the following steps:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the position Information is sent to controller built-in in aircraft;
(2) after aircraft takeoff, flight path information is simultaneously transmitted to control by the flight path of positioning system record aircraft Device processed;
(3) one key of starting makes a return voyage after switch, controller according to the existing location information of aircraft, flight path, take off Location information is analyzed and processed, and cooks up the return route of aircraft;
(4) aircraft returns to position when taking off according to return route.
The method is applicable not only to unmanned plane, applies also for someone and control a key of aircraft making a return voyage, in this implementation In example, it is mainly used for the operation of unmanned plane, the remote controler including aircraft and for controlling the aircraft execution movement is described Aircraft on be provided with controller and GPS positioning system, the GPS positioning system is integrated in controller, the remote controler On be provided with a key and make a return voyage switch, pass through wireless network connection between the aircraft and remote controler.
After the above technical solution is adopted, user can be maked a return voyage switch by controlling the key on the remote controler, i.e., controllably It makes the aircraft and realizes that a key makes a return voyage, easy to operate, very applicable and beginner, in addition, being provided with control on the aircraft Device processed and GPS positioning system, to record the flight path of the aircraft and the security information of surrounding enviroment constantly, further Improve the safety that a key makes a return voyage.
In the present embodiment, before aircraft takeoff, by operation long-pressing remote controler on a key make a return voyage switch 2 seconds when Between, signal instruction can be transmitted to controller, the controller analyzes signal instruction and takes off by GPS positioning system record When location information, location information when taking off is the longitude and latitude (lat of aircraft when taking off1,lon1) and environmental information, After aircraft takeoff, the GPS positioning system records the flight path of aircraft in real time and flight path information is transmitted to control Device processed, the aircraft at this time where longitude and latitude (lat2,lon2) and environmental information be existing location information, described Location information and existing location information when flying form the flight path.
The return route includes make a return voyage distance and the angle that makes a return voyage, the position when distance of making a return voyage is in conjunction with described take off Obtained by information and existing positional information calculation, i.e., the calculation formula of the described distance of making a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
It is obtained by location information and existing positional information calculation when the angle that makes a return voyage is in conjunction with described take off, i.e., described to return The calculation formula of boat angle are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe.
After the above technical solution is adopted, the controller according to make a return voyage distance and the angle that makes a return voyage cook up returning for aircraft Air route line, can be obtained the return route of a most short distance diameter in this way, and in flight course, the GPS positioning system is to peripheral ring Border has the function of automatic identification, records the flight path of the aircraft in real time and flight path information is transmitted to control Device, the controller can in conjunction with flight path information, thus cook up one can be realized in safe range it is most short Return route, to improve the efficiency that aircraft makes a return voyage.
After the above technical solution is adopted, the key that user need to only click on remote controler makes a return voyage switch, can realize described fly Row device makes a return voyage in safe range, to enormously simplify operating process, facilitates user, promotes the competitiveness of product.
In addition, the radius of curvature of meridian R1Calculation formula are as follows:
In formula, ReFor earth radius, θ is the unit radian of latitude, and e is eccentricity of the earth.
Wherein, the fourth of the twelve Earthly Branches chief of a tribe encloses radius of curvature R2Calculation formula are as follows:
In formula, ReFor earth radius, θ is the unit radian of latitude, and e is eccentricity of the earth.
Wherein, the calculation formula of the unit radian θ of the latitude are as follows:
In formula, lat1, lat2Respectively above-mentioned takeoff point A and the latitude of current location.
Wherein, the calculation formula of the eccentricity of the earth e are as follows:
In formula, a is semimajor axis of ellipsoid, and b is semiminor axis of ellipsoid.
Return route is arranged using the angle that makes a return voyage apart from and make a return voyage in the present invention, the advantage is that:
Obtained by the longitude and latitude actual measurement of location information when taking off and existing location information all in accordance with the earth, this Outside, the radius of curvature of meridian R1Radius of curvature R is enclosed with the fourth of the twelve Earthly Branches chief of a tribe2Obtained by eccentricity and difference of latitude also with the earth, have Certain practical application value and accuracy.
The present invention is by the GPS positioning system built in aircraft, and according to existing location information, i.e., the described aircraft is at this time Locating longitude and latitude (lat2,lon2) and environmental information, to accurately judge the safety of return route, in conjunction with taking off When location information and existing location information obtain a shortest return route in safe range, the return route packet The flight path is included, one key of triggering makes a return voyage when switching, and the aircraft of the controller guidance is along the road of making a return voyage It makes a return voyage on line.
In addition, since the GPS is also equipped with position identification function, making a return voyage to the aircraft during making a return voyage Safety more add guarantee.
In the present embodiment, location information when taking off can be include in ground and its in flight course appoint Meaning location information, if user needs to reset location information when taking off, or can after hope in flight course Back to aircraft approach some location point when, can be maked a return voyage switch 2 seconds by pinning a key, can directly reset institute State location information when taking off, after receiving and making a return voyage instruction, the directly guidance aircraft returns to the aircraft It is convenient for user's control to increase the flexibility of aircraft in the position.
In the present embodiment, other keys that user can also be maked a return voyage on switch or remote controler by operating a key, eventually The only automatic mode that a key makes a return voyage hovers over the aircraft in the way maked a return voyage, avoid user's operation it is improper cause it is described Aircraft execute this and make a return voyage instruction or the problems such as the takeoff point position of user needs to reset so that the flight Device is more flexible.
After the above technical solution is adopted, the operation art technique of user can be reduced, so that the aircraft is applicable in Range is more wide, while when the aircraft is in long term distance flight, can not distinguish flight path and generate it is unfavorable Problem, the accident that avoids falling machine and hurt sb.'s feelings occur.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (4)

1. the method that one key of aircraft makes a return voyage, it is characterised in that the following steps are included:
(1) location information of the positioning system record being equipped with before aircraft takeoff using it when taking off, and by the location information It is sent in aircraft built-in controller, the positioning system is GPS positioning system, and location information when taking off is logical Cross the location parameter that the GPS positioning system obtains;
(2) after aircraft takeoff, flight path information is simultaneously transmitted to controller by the flight path of positioning system record aircraft;
(3) after one key of starting makes a return voyage switch, controller is according to the existing location information of aircraft, flight path, the position taken off Information is analyzed and processed, and cooks up the return route of aircraft,
The return route by aircraft make a return voyage distance and return, the angle that navigate determination, the return route is returned in conjunction with described The most short distance diameter that boat distance and the angle that makes a return voyage are planned, the most short distance diameter refer to the most short distance planned in safe range Diameter;
The distance calculation formula of making a return voyage are as follows:
In formula, DoFor latitude direction distance, DeWherein for longitudinal distance:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
In formula, lat1、lat2Respectively above-mentioned takeoff point and the latitude of current location, lon1、lon2Respectively above-mentioned takeoff point and The longitude of current location, R1For radius of curvature of meridian, R2Radius of curvature is enclosed for the fourth of the twelve Earthly Branches chief of a tribe;
The calculation formula of the angle that makes a return voyage are as follows:
Wherein:
Do=(lat2-lat1)R1
De=(lon2-lon1)R2
The radius of curvature of meridian R1Calculation formula are as follows:
In formula, Re is earth radius, and θ is the unit radian of latitude, and e is eccentricity of the earth;
The fourth of the twelve Earthly Branches chief of a tribe encloses radius of curvature R2Calculation formula are as follows:
The calculation formula of the unit radian θ of latitude are as follows:
The calculation formula of eccentricity of the earth e are as follows:
In formula, a is semimajor axis of ellipsoid, and b is semiminor axis of ellipsoid;
(4) aircraft returns to position when taking off according to return route.
2. the method that one key of aircraft as described in claim 1 makes a return voyage, it is characterised in that: described when taking off in step (1) Location information include position longitude and latitude (lat when taking off1,lon1) and environmental information.
3. the method that one key of aircraft as described in claim 1 makes a return voyage, it is characterised in that: described existing in step (3) The location parameter that location information is obtained in real time by the GPS positioning system.
4. the method that one key of aircraft as claimed in claim 3 makes a return voyage, it is characterised in that: the existing location information includes The current position longitude and latitude (lat of the aircraft2,lon2) and environmental information.
CN201610366665.3A 2016-05-30 2016-05-30 The method that one key of aircraft makes a return voyage Active CN105955296B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610366665.3A CN105955296B (en) 2016-05-30 2016-05-30 The method that one key of aircraft makes a return voyage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610366665.3A CN105955296B (en) 2016-05-30 2016-05-30 The method that one key of aircraft makes a return voyage

Publications (2)

Publication Number Publication Date
CN105955296A CN105955296A (en) 2016-09-21
CN105955296B true CN105955296B (en) 2019-10-25

Family

ID=56910956

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610366665.3A Active CN105955296B (en) 2016-05-30 2016-05-30 The method that one key of aircraft makes a return voyage

Country Status (1)

Country Link
CN (1) CN105955296B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107505857A (en) * 2017-08-07 2017-12-22 广州南洋理工职业学院 Aircraft emergency control method and equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103176475A (en) * 2013-02-27 2013-06-26 广东工业大学 Ground station for unmanned aerial vehicles
CN103411609A (en) * 2013-07-18 2013-11-27 北京航天自动控制研究所 Online composition based aircraft return route programming method
CN104881039A (en) * 2015-05-12 2015-09-02 零度智控(北京)智能科技有限公司 Method and system for returning of unmanned plane
CN105556409A (en) * 2014-12-15 2016-05-04 深圳市大疆创新科技有限公司 Method and apparatus for controlling aircraft, and aircraft
CN105573338A (en) * 2015-12-25 2016-05-11 广东美嘉欣创新科技股份有限公司 Targeted staying and return voyage control system of unmanned aerial vehicle
CN105607645A (en) * 2016-01-20 2016-05-25 杭州米为科技有限公司 Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014187027A1 (en) * 2013-05-22 2014-11-27 上海九鹰电子科技有限公司 Transmission device and method, and reception device and method of remote control signal

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103176475A (en) * 2013-02-27 2013-06-26 广东工业大学 Ground station for unmanned aerial vehicles
CN103411609A (en) * 2013-07-18 2013-11-27 北京航天自动控制研究所 Online composition based aircraft return route programming method
CN105556409A (en) * 2014-12-15 2016-05-04 深圳市大疆创新科技有限公司 Method and apparatus for controlling aircraft, and aircraft
CN104881039A (en) * 2015-05-12 2015-09-02 零度智控(北京)智能科技有限公司 Method and system for returning of unmanned plane
CN105573338A (en) * 2015-12-25 2016-05-11 广东美嘉欣创新科技股份有限公司 Targeted staying and return voyage control system of unmanned aerial vehicle
CN105607645A (en) * 2016-01-20 2016-05-25 杭州米为科技有限公司 Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal

Also Published As

Publication number Publication date
CN105955296A (en) 2016-09-21

Similar Documents

Publication Publication Date Title
US9583007B2 (en) Dynamic selection of unmanned aerial vehicles
JP2017174442A (en) Device and method for generating flight limit zones having different altitude
US10977949B2 (en) Selection of networks for communicating with unmanned aerial vehicles
US10618654B2 (en) Unmanned aerial vehicle platform
CN105517664B (en) Unmanned vehicle docking system and method
US9527587B2 (en) Unoccupied flying vehicle (UFV) coordination
CN105388907B (en) Multiple no-manned plane low latitude monitoring system based on mobile communications network
US9616993B1 (en) Simplified auto-flight system coupled with a touchscreen flight control panel
Kendoul Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
US9448562B1 (en) Utilizing acceleration information for precision landing of unmanned aerial vehicles
US20200202720A1 (en) Supervisory safety system for controlling and limiting unmanned aerial system (uas) operations
Zeng et al. All your {GPS} are belong to us: Towards stealthy manipulation of road navigation systems
JP6524545B2 (en) Geo-fencing device and method of providing a set of flight restrictions
JP2017171283A (en) Unmanned Aerial Vehicle Flight Control System
CN104932525B (en) Control method, device, ground control system and the unmanned plane of unmanned plane
US10394858B2 (en) Utilization of third party networks and third party unmanned aerial vehicle platforms
US10013885B2 (en) Airspace deconfliction system and method
US8798922B2 (en) Determination of flight path for unmanned aircraft in event of in-flight contingency
US8977481B1 (en) Unmanned aircraft navigation system
US9520066B2 (en) Determining landing sites for aircraft
CN105573330B (en) Aircraft control method based on intelligent terminal
Kaufmann et al. Beauty and the beast: Optimal methods meet learning for drone racing
CN102707724B (en) Visual localization and obstacle avoidance method and system for unmanned plane
US9280904B2 (en) Methods, systems and computer readable media for arming aircraft runway approach guidance modes
US9646283B2 (en) Secure payload deliveries via unmanned aerial vehicles

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20190412

Address after: 514400 Industrial Park Erheng Road, Shuizhai Town, Wuhua County, Meizhou City, Guangdong Province

Applicant after: Guangdong Jingrong Technology Co., Ltd.

Address before: 518100 Room 201, Building A, No. 1 Qianwan Road, Qianhai Deep Lane Cooperative Zone, Shenzhen City, Guangdong Province

Applicant before: SHENZHEN QIANHAI TERRITORY INTELLIGENT TECHNOLOGY CO., LTD.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant