CN106020219A - Aircraft control method and device - Google Patents
Aircraft control method and device Download PDFInfo
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- CN106020219A CN106020219A CN201610327694.9A CN201610327694A CN106020219A CN 106020219 A CN106020219 A CN 106020219A CN 201610327694 A CN201610327694 A CN 201610327694A CN 106020219 A CN106020219 A CN 106020219A
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- 238000000034 method Methods 0.000 title claims abstract description 55
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- 230000033001 locomotion Effects 0.000 claims description 49
- 230000008569 process Effects 0.000 claims description 24
- 230000003028 elevating effect Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 15
- 238000007667 floating Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
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Classifications
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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
-
- 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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Abstract
The invention discloses an aircraft control method and device, and the method and device are used for simplifying the operation requirements of a user for an aircraft, and complete the precise control of the aircraft according to a terminal controlled by the user to move. According to the embodiment of the invention, the method comprises the steps: carrying out the real-time gravity sensing information collection of the terminal controlled by the user to move, obtaining first gravity sensing information and second gravity sensing information of the terminal, wherein the second gravity sensing information is obtained through the collection of the gravity sensing information of the terminal before the obtaining of the first gravity sensing information; obtaining the posture deviation of the terminal according to the first and second gravity sensing information of the terminal; transmitting a flight control command to the aircraft according to the obtained posture deviation, and controlling the aircraft to adjust the flight attitude according to the flight control command.
Description
Technical field
The present invention relates to vehicle technology field, particularly relate to control method and the device of a kind of aircraft.
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 the following two kinds scheme when performing flare maneuver at present: 1, aircraft is in flight
During, user is by the rocking bar on Artificial Control remote controller, and Non-follow control aircraft does basic flight
Motion；2, user operation handheld device simulation controls rocking bar, rocking bar control the sporting flying of aircraft,
Handheld device may refer to the mobile device such as smart mobile phone, panel computer.
In above-mentioned current scheme, either use remote controller or handheld device, be all to pass through rocking bar
Control the sporting flying of aircraft, but this by rocking bar control the method for aircraft need user with
Time pay close attention to the flight path of aircraft, could realize accurately controlling aircraft, the operation to user will
Ask the highest.
Summary of the invention
Embodiments provide control method and the device of a kind of aircraft, be used for simplifying user to flying
The operation requirement of row device, the terminal controlling movement according to user completes the accurate control to aircraft.
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 control method of a kind of aircraft, including:
The terminal being controlled movement by user is carried out real-time gravity sensing information gathering, obtains described terminal
The first gravity sensing information and the second gravity sensing information, described second gravity sensing information is to obtain
Before described first gravity sensing information, described terminal is carried out what gravity sensing information gathering obtained；
Terminal described in the first gravity sensing information according to described terminal and the second gravity sensing acquisition of information
Attitude misalignment；
Send flight control command according to the described attitude misalignment got to aircraft, control described flight
Device adjusts flight attitude according to described flight control command.
Second aspect, the embodiment of the present invention also provides for the control device of a kind of aircraft, including:
Gravity sensing acquisition module, for carrying out real-time gravity sensing to the terminal being controlled movement by user
Information gathering, obtains the first gravity sensing information and the second gravity sensing information of described terminal, and described
Two gravity induction informations are, before obtaining described first gravity sensing information, described terminal is carried out gravity-feed tank
Information gathering is answered to obtain；
Terminal attitude acquisition module, for the first gravity sensing information according to described terminal and the second gravity
Induction information obtains the attitude misalignment of described terminal；
Flight control modules, controls for sending flight according to the described attitude misalignment got to aircraft
Order, controls described aircraft and adjusts flight attitude according to described flight control command.
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, first the terminal being controlled movement by user is carried out real-time gravity sensing
Information gathering, obtains the first gravity sensing information and the second gravity sensing information, second gravity-feed tank of terminal
Answering information is before obtaining the first gravity sensing information, terminal to be carried out gravity sensing information gathering to obtain
, then according to the first gravity sensing information and the attitude of the second gravity sensing information acquisition terminal of terminal
Deviation, sends flight control command finally according to the attitude misalignment got to aircraft, controls aircraft
Flight attitude is adjusted according to flight control command.The control real-time owing to having only to user in the embodiment of the present invention
The movement of terminal processed, it is possible to collect gravity sensing information from terminal, is believed by the first gravity sensing
Breath and the second gravity sensing information can get the attitude misalignment of terminal, and this attitude misalignment can be used for determining
Sending flight control command to aircraft, aircraft can adjust flight attitude according to flight control command,
Avoiding user's control to rocking bar in prior art, the control of aircraft is detected voluntarily by user by terminal,
Reduce the operation requirement to user.
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.
Fig. 1 is mutual between terminal and aircraft in the embodiment of the present invention to realize scene schematic diagram；
The process blocks schematic diagram of the control method of a kind of aircraft that Fig. 2 provides for the embodiment of the present invention；
Fig. 3 is to do elevating movement, roll motion, partially by terminal control aircraft in the embodiment of the present invention
The control flow schematic diagram that shipping is dynamic；
Fig. 4 is that the control flow moved up and down by terminal control aircraft in the embodiment of the present invention is illustrated
Figure；
The composition structural representation controlling device of a kind of aircraft that Fig. 5-a provides for the embodiment of the present invention；
The composition structural representation of a kind of gravity sensing acquisition module that Fig. 5-b provides for the embodiment of the present invention；
The composition structural representation of the another kind of gravity sensing acquisition module that Fig. 5-c provides for the embodiment of the present invention
Figure；
The control method of the aircraft that Fig. 6 provides for the embodiment of the present invention is applied to the composition structure of terminal and shows
It is intended to.
Detailed description of the invention
Embodiments provide control method and the device of a kind of aircraft, be used for simplifying user to flying
The operation requirement of row device, the terminal controlling movement according to user completes the accurate control to aircraft.
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 " first " in description and claims of this specification and above-mentioned accompanying drawing, " second " etc.
It is for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that
The term so used can exchange in the appropriate case, and this is only right in description embodiments of the invention
The differentiation mode that the object of same alike result is used when describing.Additionally, term " 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.
It is described in detail individually below.
Referring initially to shown in Fig. 1, for mutual between terminal and aircraft that the embodiment of the present invention provides
Realizing scene schematic diagram, user can control the movement of terminal, and this terminal is specially intelligent terminal, such as
The equipment such as mobile phone, Intelligent bracelet.Terminal, by the perception to user's controlling behavior, generates flight control and refers to
Order, flight control instruction is sent to aircraft by terminal, and aircraft can control to refer to according to the flight of terminal
Order adjusts flight attitude.For a user, simple to operate, user operation terminal, it is not necessary to single again
Solely control rocking bar.Next one embodiment of the control method of aircraft of the present invention is described, the most permissible
Being applied to the operation to aircraft control, in scene, to refer to shown in Fig. 2, one embodiment of the invention carries
The control method of the aircraft of confession, may include steps of:
101, the terminal being controlled movement by user is carried out real-time gravity sensing information gathering, obtain terminal
The first gravity sensing information and the second gravity sensing information, the second gravity sensing information is to obtain first
Before gravity sensing information, terminal is carried out what gravity sensing information gathering obtained.
In embodiments of the present invention, user operation terminal, the control mode that user can need according to oneself
Carrying out mobile terminal, such as user can overturn terminal, and to right translation terminal etc., terminal self can sense
The control mode of user, carries out real-time collection, in the embodiment of the present invention to the gravity sensing information of terminal
The gravity sensing information of every pair of terminal once gathers and can be obtained by a gravity sensing information.Specifically
, as a example by the gravity sensing information gathering that terminal is carried out twice, then can obtain two weights of terminal
Power induction information, is expressed as the first gravity sensing information and the second gravity sensing information, such as, distinguishes
To terminal at the gravity sensing information of first time point and the second time point, wherein will be first
The gravity sensing information definition that time point collects is the first gravity sensing information, will adopt at the second time point
Collect to gravity sensing information definition be the second gravity sensing information, the second time point be on a timeline morning
In the moment of first time point, then the second gravity sensing information is before obtaining the first gravity sensing information
It is acquired terminal obtaining.Do not limit, in embodiments of the present invention, the second gravity sensing letter
Breath is referred to as " history gravity sensing information ", and the first gravity sensing information is referred to as " currently weighing
Power induction information ".
In embodiments of the present invention, the gravity sensing information that terminal produces specifically also refers to following information
In at least one: the angle of pitch (English name: pitch), roll angle (English name: roll) and driftage
Angle (English name: yaw), specifically can determine the gravity sensing letter needing to gather with connected applications scene
Breath type.The attitude of terminal can by terminal three angles in space (yaw angle, the angle of pitch and
Roll angle) determine, these three angle is commonly referred to the attitude angle of Eulerian angles or terminal.
In some embodiments of the invention, user the terminal controlling movement is carried out in real time by step 101
Gravity sensing information gathering, obtain the first gravity sensing information and the second gravity sensing information of terminal,
Specifically may include steps of:
A1, reception control to start order, and terminal carry out real-time gravity sensing information gathering, obtain
Second gravity sensing information of terminal；
A2, after collecting the second gravity sensing information, continue terminal is carried out real-time gravity sensing
Information gathering, obtains the first gravity sensing information of terminal.
Wherein, can arrange control key in terminal, when user needs to manipulate aircraft, user can touch
Sending out and start control key, terminal can detect user and start order by the control that control key issues, the most right
The gravity sensing information of terminal, such as, can carry out real-time by the sensor of terminal built-in
Gravity sensing information gathering, such as can terminal built-in have acceleration transducer, angular-rate sensor and
Earth magnetism rotating vector sensor, the sensor can record the gravity sensing information of terminal.Concrete,
Acceleration transducer (English name: acceleration transducer) is to experience acceleration and be converted into
The sensor of usable output signal, angular-rate sensor is also referred to as gyroscope, earth magnetism rotating vector sensor
The rotating vector of terminal can be provided.It should be noted that terminal can also be interior in embodiments of the present invention
Put other sensor, be specifically dependent upon and realize scene.In step A1, when terminal receives user's
Control first to get when starting order the second gravity sensing information of terminal, can then proceed in preset adopting
The collection cycle constantly gathers gravity sensing information, such as, perform step A2, collecting the second gravity-feed tank
After answering information, continue terminal is carried out real-time gravity sensing information gathering, obtain the first weight of terminal
Power induction information.
In some embodiments of the invention, step A2 continues to carry out terminal real-time gravity sensing information
Gather, after obtaining the first gravity sensing information of terminal, the control of the aircraft that the embodiment of the present invention provides
Method processed can also comprise the steps:
B1, reception control to terminate order, then stop carrying out terminal real-time gravity sensing information gathering；
B2, according to control terminate order to aircraft send hovering order, control aircraft according to hovering life
Order keeps floating state.
Wherein, terminal is carried out real-time control by user and moves, if user needs to stop controlling terminal,
User can send to terminal and control to terminate order, then terminal is receiving when this control terminates order the most not
The gravity sensing information of acquisition terminal again.Such as, terminal is provided with control key, when user presses control
Can send to terminal during key and control enabled instruction, when user unclamps this control key, terminal may determine that use
Family has issued control END instruction.After receiving control end order, hovering can be sent to aircraft
Instruction, then aircraft keeps floating state according to hovering order.Wherein, hovering refers to that aircraft is necessarily
The state of flight that locus is basically unchanged is kept on height.
102, according to the first gravity sensing information and the attitude of the second gravity sensing information acquisition terminal of terminal
Deviation.
In embodiments of the present invention, by getting in the gravity sensing information collected the most in the same time
Terminal attitudes vibration in space, such as by the first gravity sensing information and second gravity-feed tank of terminal
Answer information can obtain the attitude misalignment of terminal.Wherein, attitude misalignment refers to the terminal control user
The situation of change of mobile lower terminal attitude.
In some embodiments of the invention, aforementioned the first gravity sensing information collected, including: the
One angle of pitch, the first roll angle and the first yaw angle；Second gravity sensing information, including: the second pitching
Angle, the second roll angle and the second yaw angle.In this case, step 102 is according to the first weight of terminal
Power induction information and the attitude misalignment of the second gravity sensing information acquisition terminal, specifically can include walking as follows
Rapid:
C1, the difference calculated between first angle of pitch and second angle of pitch thus obtain pitch deviation, and/or,
Calculate the difference between the first roll angle and described second roll angle thus obtain roll deviation, and/or, meter
Calculate the difference between the first yaw angle and described second yaw angle thus obtain deviation of going off course；
C2, by pitch deviation, and/or roll deviation, and/or driftage deviation is combined thus obtains attitude
Deviation.
Concrete, the difference upwards calculated between first angle of pitch and second angle of pitch at pitch axis is bowed
Facing upward deviation, calculating the difference between the first roll angle and the second roll angle in roll axially, to obtain roll inclined
Difference, upwards calculates the difference between the first yaw angle and the second yaw angle at yaw axis and obtains deviation of going off course.
Pitch deviation, roll deviation and driftage deviation have only to gather according to concrete it should be noted that calculate
The gravity sensing information arrived calculates at least one deviation therein, specifically can come with connected applications scene
Determine and need to obtain pitch deviation, and/or roll deviation, and/or driftage deviation.After step C1 performs,
Can be by pitch deviation, and/or roll deviation, and/or driftage deviation is combined as one and gathers thus obtain appearance
The attitude misalignment of state deviation, i.e. terminal also refers to the pitch deviation that terminal upwards produces at pitch axis,
And/or the roll deviation produced in roll axially, and/or the driftage deviation upwards produced at yaw axis.
In other embodiments of the present invention, aforementioned the first gravity sensing information collected includes: the
One angle of pitch；Second gravity sensing information includes: second angle of pitch.In this case, step 102
The first gravity sensing information according to terminal and the attitude misalignment of the second gravity sensing information acquisition terminal, tool
Body may include steps of:
C3, the difference calculated between first angle of pitch and second angle of pitch, obtain attitude misalignment.
Concrete, the difference upwards calculated between first angle of pitch and second angle of pitch at pitch axis obtains appearance
The attitude misalignment of state deviation, i.e. terminal also refers to the pitch deviation that terminal upwards produces at pitch axis.
It should be noted that in previously described embodiments of the present invention, perform step C1 and C2, or step
C3 can realize under different scenes, and concrete calculative attitude misalignment can be according to concrete application
Scene determines.
103, send flight control command according to the attitude misalignment got to aircraft, control aircraft and press
Flight attitude is adjusted according to flight control command.
In embodiments of the present invention, got the attitude misalignment of terminal by abovementioned steps 102 after, should
The attitude misalignment of terminal can be the foundation adjusting aircraft flight, sends out to aircraft according to this attitude misalignment
Send flight control command, can be communicated by communication between terminal and aircraft.Such as
Use number pass (915Mhz or 433Mhz) or use WLAN or bluetooth to communicate, fly
After row device receives flight control command, aircraft can adjust flight attitude according to flight control command.
In some embodiments of the invention, realize under scene in aforementioned execution step C1, step 103
Send flight control command according to the attitude misalignment got to aircraft, control aircraft according to flight control
System order adjusts flight attitude, specifically includes following steps:
D1, when attitude misalignment includes pitch deviation, be sent in pitching according to pitch deviation to aircraft
Needing the angle of pitch adjusted on Zhou Xiang, controlling aircraft upwards needs the angle of pitch adjusted to complete according at pitch axis
Elevating movement；And/or,
D2, when attitude misalignment includes roll deviation, be sent in roll according to roll deviation to aircraft
Need the roll angle adjusted on Zhou Xiang, control aircraft according to needing the roll angle adjusted to complete in roll axially
Roll motion；And/or,
D3, when attitude misalignment include go off course deviation time, according to driftage deviation be sent in driftage to aircraft
Needing the yaw angle adjusted on Zhou Xiang, controlling aircraft upwards needs the yaw angle adjusted to complete according at yaw axis
Yawing rotation.
Wherein, the flight control command sent to aircraft may include that aircraft upwards needs at pitch axis
The angle of pitch adjusted, and/or aircraft needs the roll angle that adjusts in roll axially, and/or aircraft is partially
Need the yaw angle adjusted on boat is axial, then, after aircraft receives this flight control command, can obtain
To above-mentioned information, aircraft performs at least one step in step D1, step D2, step D3, flies
Row device can upwards need the angle of pitch adjusted to complete elevating movement, according to axial in roll according at pitch axis
On the roll angle that need to adjust complete roll motion, upwards need the yaw angle adjusted to complete partially according at yaw axis
Shipping is moved.
In some embodiments of the invention, realize under scene in aforementioned execution step C2, step 103
Send flight control command according to the attitude misalignment got to aircraft, control aircraft according to flight control
System order adjusts flight attitude, specifically includes following steps:
D4, according to attitude misalignment to aircraft be sent in pitch axis upwards need adjust the angle of pitch, control to fly
Row device upwards needs the angle of pitch adjusted to complete elevating movement according at pitch axis.
Wherein, when needs control aircraft elevating movement, it is only necessary to acquisition terminal is at pitch axis upwards
Terminal attitudes vibration, calculates the angle of pitch needing to adjust, and aircraft upwards needs to adjust according at pitch axis
The angle of pitch complete elevating movement.
In other embodiments of the present invention, step 103 according to the attitude misalignment got to aircraft
Send flight control command, specifically may include steps of:
E1, the attitude misalignment got is carried out limit value process, obtain the attitude misalignment after limit value processes；
E2, according to limit value process after attitude misalignment to aircraft send flight control command.
Wherein, after the attitude misalignment getting terminal, it is also possible to this attitude misalignment is first carried out limit value,
So that attitude misalignment is carried out numerical value constraint, it is to avoid the control dynamics of user control terminal is excessive to be caused flight
The control of device exceeds standard, and wherein, limit value processes and refers to the attitude misalignment got is carried out numerical value constraint, lifts
Example is described as follows, and the value collected is constrained in a zone of reasonableness, and such as value A zone of reasonableness is 0-90,
If 0≤A≤90 gathered, A is constant, if the A<0 gathered, then makes A=0, if A>90, then
A=90.And for example after the attitude misalignment got, this attitude misalignment can be multiplied by a limit value factor,
Such as, the attitude misalignment A collected is multiplied by the limit value factor 0.8, is then 90 when collecting attitude misalignment
Time, the attitude misalignment after limit value processes can be 90 × 0.8=72.
By the above example description to the embodiment of the present invention, first control movement to by user
Terminal carries out real-time gravity sensing information gathering, obtains the first gravity sensing information and second weight of terminal
Power induction information, the second gravity sensing information is to carry out terminal before obtaining the first gravity sensing information
Gravity sensing information gathering obtains, then according to the first gravity sensing information and second gravity-feed tank of terminal
Answer the attitude misalignment of information acquisition terminal, send flight finally according to the attitude misalignment got to aircraft
Control command, controls aircraft and adjusts flight attitude according to flight control command.Due to the embodiment of the present invention
In have only to the movement of the real-time control terminal of user, it is possible to from terminal, collect gravity sensing information,
The attitude misalignment of terminal can be got by the first gravity sensing information and the second gravity sensing information, should
Attitude misalignment can be used for true directional aircraft and sends flight control command, and aircraft can be according to flight control
Order adjusts flight attitude, it is to avoid user's control to rocking bar in prior art, user's control to aircraft
System is detected voluntarily by terminal, reduces the operation requirement to user.
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.
In the embodiment of the present invention, can be at terminal built-in acceleration transducer, angular-rate sensor, earth magnetism
Rotating vector sensor, it is possible to calculate the attitude of terminal self, compares and shakes in the simulation of mobile phone terminal screen
The control of bar, more easy to control, reflection is quickly, it is simple to control basic acts and observed data is carried out simultaneously.
In the control mode simulating rocking bar at present with mobile phone, the rocking bar that mobile phone screen is simulated remote controller controls
The sporting flying of aircraft, there is player needs to pay close attention to mobile phone and aircraft simultaneously, it is impossible to carry out blind operation
Problem because blind operating handset screen itself cannot effective Feedback rocking bar position.
In the embodiment of the present invention, the foundation motion of aircraft can be divided into pitching (English name: pitch), horizontal
Rolling (English name: roll), driftage (English full name: yaw), lifting (English full name: up/down)
Four kinds, the embodiment of the present invention utilizes terminal (such as Intelligent mobile equipment: mobile phone/bracelet/intelligence ring etc.)
Built-in accelerometer, gyroscope, magnetometer can calculate the gravity sensing information of terminal, use eventually
End attitude controls the pitching of aircraft, roll and driftage, and elevating movement.
User passes through inclination, rolling, driftage Intelligent mobile equipment, and Intelligent mobile equipment gathers self and passes
The gravity sensing information that sensor (such as: gyroscope, accelerometer) exports after calculating, and by this gravity
Induction information by be wirelessly transferred send back aircraft after carry out limit value process, will process after gravity sensing
Information, as reference quantity, contrasts with current flight attitude, exports controlled quentity controlled variable, is used for controlling aircraft
In electric machine operation state, final realization carrys out synchronous manipulation aircraft by the attitude of Intelligent mobile equipment
Flight attitude.Further, user angle change on Intelligent mobile equipment, need divided by 2 the most again
Bringing limit value into, the preset value that limit value processes is: course angle excursion (-30 °, 30 °), and the angle of pitch changes
Scope (-30 °, 30 °), roll angle excursion (-30 °, 30 °).Such as, user is at intelligent mobile
The roll angle that equipment upper-pilot rolling obtains is 70 °, the most first becomes 35 ° after 2, then brings limit value into, becomes
It is 30 °, is so the accident caused in order to avoid flying vehicles control amount excessive variation.
Next it is illustrated respectively with different application scenarios, refers to shown in Fig. 3, for this
Bright embodiment is done the control stream of elevating movement, roll motion, yawing rotation by terminal control aircraft
Journey schematic diagram, illustrates the control of aircraft in the embodiment of the present invention with the intelligent finger ring with control key below
Mode processed.
1, arranging control key A and control key B on intelligence finger ring, wherein control key A controls bowing of aircraft
Facing upward motion, roll motion, yawing rotation, control key B controls the elevating movement of aircraft.User is first
Press the control key A on intelligence finger ring, start gravity sensing control model.User does not unclamp control
Key A, similar press mouse and does not unclamps, and does trigger point by class Key Down message, and now record intelligence refers to
The current pose of ring, such as in pitching axially, axially and the Eulerian angles of going off course axial describe in upset
Gravity sensing information is as initial attitude, and such as initial attitude value includes: angle of pitch p, roll angle r, partially
Boat angle y.
2, keeping control key A down state, user rotates intelligence finger ring and changes the terminal attitude in hands,
Now can obtain the initial appearance of record in the current pose of current time intelligence finger ring and step 1 in real time
Attitude misalignment between state.Attitude misalignment includes: pitch deviation Δ p, roll deviation delta r, and driftage deviation
Δy.This attitude misalignment is the data source controlling aircraft flight attitude, is converted to aircraft according to deviation value
Actual should keep one corresponding three axial attitudes, and gravity sensing information is sent to aircraft.
Such as, it is ∠ A=30 ° in pitch orientation deviation, is then flown according to a specific function F=F (∠ A)
Row device, in the forward-reverse speed in pitching (before and after i.e.) direction, controls aircraft and flies in pitch orientation.
It is ∠ B=20 ° in the roll deviation of directivity, then obtains aircraft according to a specific function F=G (∠ B) and exist
The left and right flight speed in roll (i.e. left and right) direction, controls aircraft and flies in roll direction.In driftage
The deviation of directivity is ∠ C=20 °, then obtain aircraft in driftage side according to a specific function F=H (∠ B)
To rotary speed, control aircraft rotate change head towards.Concrete, if the pitching deviation of terminal
Initial value is A=30 °, then the aircraft that can simply convert need keep angle of pitch α=1/2*A, now by
In the existence of pitch attitude, the lift of aircraft will make aircraft forward flight with joint efforts with gravity.If eventually
The roll deviation initial value of end is A=30 °, then the aircraft that can simply convert needs to keep roll angle α=1/2
* A, now due to the existence of roll attitude, the lift of aircraft will make aircraft to the left with joint efforts with gravity
Flight.If the driftage deviation initial value of terminal is A=30 °, then the aircraft that can simply convert needs to keep partially
Boat speed alpha=1/2*A, now aircraft persistently will rotate according to this yawing velocity.
Actual aircraft motion can regard aircraft motion synthesis in three directions as.Such as, mark
The accurate Vector modulation in 3D geometry, being described as (p, r, y) of a such as attitude, then it is believed that be somebody's turn to do
Attitude is rotated p by initial attitude around pitch axis, rotates r around roll axle, rotates y around yaw axis and constitutes.
3, receive gravity sensing information data when aircraft, adjust certainly according to this gravity sensing information data
Oneself flight attitude, reaches to control the purpose of aircraft flight attitude.
4, cancel gravity sensing pattern, such as user and unclamp control key A, now utilize class Key UP
Message does trigger point, stops gathering the gravity sensing information of intelligence finger ring, and aircraft returns to floating state,
Wait the next action input of user.
Refer to shown in Fig. 4, for what the embodiment of the present invention was moved up and down by terminal control aircraft
Control flow schematic diagram.
With the intelligent finger ring with control key, the controlling party of aircraft in the embodiment of the present invention is described below
Formula.
1, user first presses the control key B on intelligence finger ring, starts gravity sensing control model.Use
Person does not unclamp control key B, similar press mouse and does not unclamps, and does trigger point by class Key Down message,
The now current pose of record intelligence finger ring, the gravity sensing letter such as described in the Eulerian angles that pitching is axial
Breath is as initial attitude.Such as initial attitude value includes: angle of pitch p, roll angle r, yaw angle y.
2, keeping control key B down state, user rotates intelligence finger ring and changes the terminal attitude in hands,
Now can obtain the initial appearance of record in the current pose of current time intelligence finger ring and step 1 in real time
Attitude misalignment between state.Attitude misalignment includes: pitch deviation Δ p, roll deviation delta r, and driftage deviation
Δy.This attitude misalignment is the data source controlling aircraft flight attitude, is converted to aircraft according to deviation value
Actual should keep one accordingly in the attitude that pitching is axial, and gravity sensing information is sent to aircraft.
Such as, it is ∠ A=30 ° in pitch orientation deviation, is then flown according to a specific function F=F (∠ A)
Row device, in the forward-reverse speed in pitching (before and after i.e.) direction, controls aircraft and flies in pitch orientation.
Concrete, as being ∠ D=30 ° in pitch orientation deviation, then obtain according to a specific function F=F (∠ D)
Speed is risen or fallen to control the height of aircraft to aircraft.
Wherein, intelligence finger ring can arrange two control keys, the lifting of aircraft can select and control
Other control keys beyond key A, such as control key B, according to intelligence finger ring and the angle of pitch of aircraft
Deviation controls.
3, receive gravity sensing information data when aircraft, adjust certainly according to this gravity sensing information data
Oneself attitude, reaches to control the purpose of aircraft flight attitude.
4, cancel gravity sensing pattern, such as user and unclamp control key B, now utilize class Key UP
Message does trigger point, stops gathering the gravity sensing information of intelligence finger ring, and aircraft returns to floating state,
Wait user action next time input.
By the previous embodiment illustration to the present invention, embodiment of the present invention user can start
With the mode of stopping gravity sensing, the clearing of terminal attitude misalignment it is the final movement posture of aircraft, passes through
User uses terminal (such as intelligence finger ring etc. are with the equipment of gravity sensing) to be started by button and stop
Gravity sensing, and calculate attitude misalignment and calculate the basic flight being converted into the attitude of aircraft to control aircraft
Action.The terminal gravity sensing control mode left-hand seat of aircraft is easy, the most convenient, may be referred to as one
The control mode of the terminal control aircraft basic acts of main flow.
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. 5-a, the control device 500 of a kind of aircraft that the embodiment of the present invention provides, can
To include: gravity sensing acquisition module 501, terminal attitude acquisition module 502 and flight control modules 503,
Wherein,
Gravity sensing acquisition module 501, for carrying out real-time gravity-feed tank to the terminal being controlled movement by user
Answer information gathering, obtain the first gravity sensing information and the second gravity sensing information of described terminal, described
Second gravity sensing information is, before obtaining described first gravity sensing information, described terminal is carried out gravity
Induction information collects；
Terminal attitude acquisition module 502, for the first gravity sensing information according to described terminal and the second weight
Power induction information obtains the attitude misalignment of described terminal；
Flight control modules 503, for sending flight control according to the described attitude misalignment got to aircraft
System order, controls described aircraft and adjusts flight attitude according to described flight control command.
In some embodiments of the invention, refer to as shown in Fig. 5-b, described gravity sensing acquisition module
501, including:
First collecting unit 5011, is used for receiving control and starts order, and carry out real-time to described terminal
Gravity sensing information gathering, obtains the second gravity sensing information of described terminal；
Second collecting unit 5012, for after collecting described second gravity sensing information, it is right to continue
Described terminal carries out real-time gravity sensing information gathering, obtains the first gravity sensing information of described terminal.
In some embodiments of the invention, relative to as shown in Fig. 5-b, refer to as shown in Fig. 5-c,
Described gravity sensing acquisition module 501, also includes: acquisition controlling unit 5013, wherein,
Described acquisition controlling unit 5013, continues to enter described terminal for described second collecting unit 5012
The gravity sensing information gathering that row is real-time, after obtaining the first gravity sensing information of described terminal, receives
Control to terminate order, then stop described terminal is carried out real-time gravity sensing information gathering；
Described flight control modules 503, is additionally operable to terminate order to aircraft transmission hovering according to described control
Order, controls described aircraft and keeps floating state according to described hovering order.
In some embodiments of the invention, described first gravity sensing information, including: first angle of pitch,
First roll angle and the first yaw angle；Described second gravity sensing information, including: second angle of pitch,
Two roll angles and the second yaw angle.Described terminal attitude acquisition module 502, specifically for calculating described first
Difference between the angle of pitch and described second angle of pitch thus obtain pitch deviation, and/or, calculate described
Difference between one roll angle and described second roll angle thus obtain roll deviation, and/or, calculate described
Difference between first yaw angle and described second yaw angle thus obtain deviation of going off course；By inclined for described pitching
Difference, and/or described roll deviation, and/or described driftage deviation are combined thus obtain described attitude misalignment.
In some embodiments of the invention, described flight control modules 503, specifically for when described attitude
When deviation includes described pitch deviation, it is sent in pitch axis according to described pitch deviation to described aircraft
Upwards need the angle of pitch adjusted, control described aircraft according to the described pitching upwards needing at pitch axis and adjusting
Angle completes elevating movement；And/or, when described attitude misalignment includes described roll deviation, according to described
Roll deviation is sent in the roll angle needing to adjust in roll axially to described aircraft, controls described aircraft
The roll angle adjusted is needed to complete roll motion in roll axially according to described；And/or, when described attitude is inclined
When difference includes described driftage deviation, it is sent in driftage axially according to described driftage deviation to described aircraft
On the yaw angle that need to adjust, control described aircraft according to the described yaw angle upwards needing at yaw axis and adjusting
Complete yawing rotation.
In some embodiments of the invention, described first gravity sensing information includes: first angle of pitch；
Described second gravity sensing information includes: second angle of pitch；Described terminal attitude acquisition module 502, specifically
For calculating the difference between described first angle of pitch and described second angle of pitch, obtain described attitude misalignment.
In some embodiments of the invention, described flight control modules 503, specifically for according to described appearance
State deviation is sent in, to described aircraft, the angle of pitch that pitch axis upwards needs to adjust, and controls described aircraft and presses
The angle of pitch adjusted upwards is needed to complete elevating movement according to described at pitch axis.
In some embodiments of the invention, described flight control modules 503, specifically for getting
Described attitude misalignment carries out limit value process, obtains the attitude misalignment after limit value processes；At described limit value
Attitude misalignment after reason sends flight control command to aircraft.
By the above description to the embodiment of the present invention, first the terminal being controlled movement by user is entered
The gravity sensing information gathering that row is real-time, obtains the first gravity sensing information and second gravity sensing of terminal
Information, the second gravity sensing information is, before obtaining the first gravity sensing information, terminal is carried out gravity-feed tank
Information gathering is answered to obtain, then according to the first gravity sensing information and the second gravity sensing information of terminal
Obtain the attitude misalignment of terminal, send flight finally according to the attitude misalignment got to aircraft and control life
Order, controls aircraft and adjusts flight attitude according to flight control command.Owing to the embodiment of the present invention only needing
Want the movement of the real-time control terminal of user, it is possible to from terminal, collect gravity sensing information, pass through
First gravity sensing information and the second gravity sensing information can get the attitude misalignment of terminal, this attitude
Deviation can be used for true directional aircraft and sends flight control command, and aircraft can be according to flight control command
Adjust flight attitude, it is to avoid user's control to rocking bar in prior art, user to the control of aircraft by
Terminal detects voluntarily, reduces the operation requirement to user.
The embodiment of the present invention additionally provides another kind of terminal, as shown in Figure 6, for convenience of description, only shows
Having gone out the part relevant to the embodiment of the present invention, concrete ins and outs do not disclose, and refer to the present invention real
Execute example method part.This 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 computer etc. appoint
Meaning terminal unit, as a example by terminal is as mobile phone:
Fig. 6 is illustrated that the block diagram of the part-structure of the mobile phone relevant to the terminal of embodiment of the present invention offer.
With reference to Fig. 6, mobile phone includes: radio frequency (Radio Frequency, RF) circuit 1010, memorizer 1020,
Input block 1030, display unit 1040, sensor 1050, voicefrequency circuit 1060, Wireless Fidelity (wireless
Fidelity, WiFi) module 1070, the parts such as processor 1080 and power supply 1090.Art technology
Personnel are appreciated that the handset structure shown in Fig. 6 is not intended that the restriction to mobile phone, can include ratio
Illustrate more or less of parts, or combine some parts, or different parts are arranged.
Below in conjunction with Fig. 6 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, optionally, can use liquid crystal
Display (Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic Light-Emitting
Diode, OLED) etc. form configure display floater 1041.Further, contact panel 1031 can cover
Lid display floater 1041, when contact panel 1031 detects thereon or after neighbouring touch operation, transmits
To processor 1080 to determine the type of touch event, with preprocessor 1080 according to the class of touch event
Type provides corresponding visual output on display floater 1041.Although in figure 6, contact panel 1031
It is to realize input and the input function of mobile phone as two independent parts with display floater 1041, but
In some embodiments it is possible to by integrated to contact panel 1031 and display floater 1041 and realize mobile phone
Input and output function.
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. 6 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 control method flow process of the aircraft that terminal performs.
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 (16)
1. the control method of an aircraft, it is characterised in that including:
The terminal being controlled movement by user is carried out real-time gravity sensing information gathering, obtains described terminal
The first gravity sensing information and the second gravity sensing information, described second gravity sensing information is to obtain
Before described first gravity sensing information, described terminal is carried out what gravity sensing information gathering obtained；
Terminal described in the first gravity sensing information according to described terminal and the second gravity sensing acquisition of information
Attitude misalignment；
Send flight control command according to the described attitude misalignment got to aircraft, control described flight
Device adjusts flight attitude according to described flight control command.
Method the most according to claim 1, it is characterised in that described control movement to by user
Terminal carries out real-time gravity sensing information gathering, obtains the first gravity sensing information and of described terminal
Two gravity induction informations, including:
Receive and control to start order, and described terminal is carried out real-time gravity sensing information gathering, obtain
Second gravity sensing information of described terminal；
After collecting described second gravity sensing information, continue described terminal is carried out real-time gravity
Induction information gathers, and obtains the first gravity sensing information of described terminal.
Method the most according to claim 2, it is characterised in that described terminal is carried out by described continuation
Real-time gravity sensing information gathering, after obtaining the first gravity sensing information of described terminal, described side
Method also includes:
Receive and control to terminate order, then stop described terminal is carried out real-time gravity sensing information gathering；
Control to terminate to order to send hovering order to aircraft according to described, control described aircraft according to institute
State hovering order and keep floating state.
Method the most according to claim 1, it is characterised in that described first gravity sensing information,
Including: first angle of pitch, the first roll angle and the first yaw angle；
Described second gravity sensing information, including: second angle of pitch, the second roll angle and the second yaw angle；
Described in described the first gravity sensing information according to described terminal and the second gravity sensing acquisition of information eventually
The attitude misalignment of end, including:
Calculate the difference between described first angle of pitch and described second angle of pitch thus obtain pitch deviation,
And/or, calculate the difference between described first roll angle and described second roll angle thus obtain roll deviation,
And/or, calculate the difference between described first yaw angle and described second yaw angle thus obtain deviation of going off course；
By described pitch deviation, and/or described roll deviation, and/or described driftage deviation be combined thus
Obtain described attitude misalignment.
Method the most according to claim 4, it is characterised in that the described appearance that described basis gets
State deviation sends flight control command to aircraft, controls described aircraft according to described flight control command
Adjust flight attitude, including:
When described attitude misalignment includes described pitch deviation, according to described pitch deviation to described flight
Device is sent in the angle of pitch that pitch axis upwards needs to adjust, and controls described aircraft according to described axial in pitching
On the angle of pitch that need to adjust complete elevating movement；And/or,
When described attitude misalignment includes described roll deviation, according to described roll deviation to described flight
Device is sent in the roll angle needing to adjust in roll axially, controls described aircraft according to described axial in roll
On the roll angle that need to adjust complete roll motion；And/or,
When described attitude misalignment includes described driftage deviation, according to described driftage deviation to described flight
Device is sent in the yaw angle that yaw axis upwards needs to adjust, and controls described aircraft according to described axial in driftage
On the yaw angle that need to adjust complete yawing rotation.
Method the most according to claim 1, it is characterised in that described first gravity sensing information bag
Include: first angle of pitch；Described second gravity sensing information includes: second angle of pitch；
Described in described the first gravity sensing information according to described terminal and the second gravity sensing acquisition of information eventually
The attitude misalignment of end, including:
Calculate the difference between described first angle of pitch and described second angle of pitch, obtain described attitude misalignment.
Method the most according to claim 6, it is characterised in that the described appearance that described basis gets
State deviation sends flight control command to aircraft, controls described aircraft according to described flight control command
Adjust flight attitude, including:
It is sent in the angle of pitch that pitch axis upwards needs to adjust, control to described aircraft according to described attitude misalignment
Making described aircraft upwards needs the angle of pitch adjusted to complete elevating movement according to described at pitch axis.
Method the most according to any one of claim 1 to 7, it is characterised in that described basis obtains
The described attitude misalignment got sends flight control command to aircraft, including:
The described attitude misalignment got is carried out limit value process, obtains the attitude misalignment after limit value processes；
Attitude misalignment after processing according to described limit value sends flight control command to aircraft.
9. the control device of an aircraft, it is characterised in that including:
Gravity sensing acquisition module, for carrying out real-time gravity sensing to the terminal being controlled movement by user
Information gathering, obtains the first gravity sensing information and the second gravity sensing information of described terminal, and described
Two gravity induction informations are, before obtaining described first gravity sensing information, described terminal is carried out gravity-feed tank
Information gathering is answered to obtain；
Terminal attitude acquisition module, for the first gravity sensing information according to described terminal and the second gravity
Induction information obtains the attitude misalignment of described terminal；
Flight control modules, controls for sending flight according to the described attitude misalignment got to aircraft
Order, controls described aircraft and adjusts flight attitude according to described flight control command.
Device the most according to claim 9, it is characterised in that described gravity sensing acquisition module,
Including:
First collecting unit, is used for receiving control and starts order, and described terminal is carried out real-time gravity
Induction information gathers, and obtains the second gravity sensing information of described terminal；
Second collecting unit, for after collecting described second gravity sensing information, continues described
Terminal carries out real-time gravity sensing information gathering, obtains the first gravity sensing information of described terminal.
11. devices according to claim 10, it is characterised in that described gravity sensing acquisition module,
Also include: acquisition controlling unit, wherein,
Described acquisition controlling unit, continues to carry out real-time to described terminal for described second collecting unit
Gravity sensing information gathering, after obtaining the first gravity sensing information of described terminal, receives control and terminates
Order, then stops carrying out described terminal real-time gravity sensing information gathering；
Described flight control modules, is additionally operable to terminate order to aircraft transmission hovering life according to described control
Order, controls described aircraft and keeps floating state according to described hovering order.
12. devices according to claim 9, it is characterised in that described first gravity sensing information,
Including: first angle of pitch, the first roll angle and the first yaw angle；
Described second gravity sensing information, including: second angle of pitch, the second roll angle and the second yaw angle；
Described terminal attitude acquisition module, specifically for calculating described first angle of pitch and described second pitching
Difference between angle thus obtain pitch deviation, and/or, calculate described first roll angle and described second horizontal
Difference between roll angle thus obtain roll deviation, and/or, calculate described first yaw angle and described second
Difference between yaw angle thus obtain deviation of going off course；By described pitch deviation, and/or described roll deviation,
And/or described driftage deviation is combined thus obtains described attitude misalignment.
13. devices according to claim 12, it is characterised in that described flight control modules, tool
Body, for when described attitude misalignment includes described pitch deviation, flies to described according to described pitch deviation
Row device is sent in the angle of pitch that pitch axis upwards needs to adjust, and controls described aircraft according to described at pitch axis
The angle of pitch adjusted upwards is needed to complete elevating movement；And/or, when described attitude misalignment includes described roll
During deviation, it is sent in the roll angle needing to adjust in roll axially to described aircraft according to described roll deviation,
Controlling described aircraft needs the roll angle adjusted to complete roll motion according to described in roll axially；And/or,
When described attitude misalignment includes described driftage deviation, send out to described aircraft according to described driftage deviation
Sending the yaw angle upwards needing adjustment at yaw axis, controlling described aircraft upwards needs at yaw axis according to described
The yaw angle adjusted completes yawing rotation.
14. devices according to claim 9, it is characterised in that described first gravity sensing information
Including: first angle of pitch；Described second gravity sensing information includes: second angle of pitch；
Described terminal attitude acquisition module, specifically for calculating described first angle of pitch and described second pitching
Difference between angle, obtains described attitude misalignment.
15. devices according to claim 14, it is characterised in that described flight control modules, tool
Body upwards needs the angle of pitch of adjustment for being sent in pitch axis according to described attitude misalignment to described aircraft,
Controlling described aircraft upwards needs the angle of pitch adjusted to complete elevating movement according to described at pitch axis.
16. according to the device described in any one of claim 9 to 15, it is characterised in that described flight control
Molding block, specifically for carrying out limit value process to the described attitude misalignment got, after obtaining limit value process
Attitude misalignment；Attitude misalignment after processing according to described limit value sends flight control command to aircraft.
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|---|---|---|---|
| CN201610327694.9A CN106020219B (en) | 2016-05-17 | 2016-05-17 | A kind of control method and device of aircraft |
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| CN201610327694.9A CN106020219B (en) | 2016-05-17 | 2016-05-17 | A kind of control method and device of aircraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018095158A1 (en) * | 2016-11-25 | 2018-05-31 | 亿航智能设备（广州）有限公司 | Flight control method, apparatus and system for use in aircraft |
| CN110568859A (en) * | 2019-09-12 | 2019-12-13 | 深圳慧源创新科技有限公司 | Unmanned aerial vehicle control method, mobile terminal and computer readable storage medium |
| WO2022134301A1 (en) * | 2020-12-25 | 2022-06-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control method and system therefor, handheld control device and head-mounted device |
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| CN110568859B (en) * | 2019-09-12 | 2023-01-17 | 深圳慧源创新科技有限公司 | Unmanned aerial vehicle control method, mobile terminal and computer readable storage medium |
| WO2022134301A1 (en) * | 2020-12-25 | 2022-06-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control method and system therefor, handheld control device and head-mounted device |
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| Publication number | Publication date |
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| CN106020219B (en) | 2019-11-19 |
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