CN106527493A - Unmanned aerial vehicle control method based on terrestrial magnetism mode and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method based on terrestrial magnetism mode and unmanned aerial vehicle Download PDFInfo
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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
- G05D1/12—Target-seeking control
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Abstract
The invention discloses an unmanned aerial vehicle control method based on a terrestrial magnetism mode. The unmanned aerial vehicle control method includes the following steps: the nose of an unmanned aerial vehicle is toward due north; a flight instruction sent by a remote controller is received, and the flight instruction carries attitude information of an attitude control rod of the remote controller; and a target flight direction of the unmanned aerial vehicle is determined according to the attitude information of the attitude control rod, and the unmanned aerial vehicle flies according to the target flight direction. The embodiment of the invention also provides an unmanned aerial vehicle. By adoption of the unmanned aerial vehicle control method based on the terrestrial magnetism mode and the unmanned aerial vehicle provided by the embodiment of the invention, the manipulation of the unmanned aerial vehicle is more convenient and faster, and occurrence of unmanned aerial vehicle crash accidents is avoided.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, more particularly to a kind of unmanned aerial vehicle (UAV) control method and nothing based on earth magnetism mode
It is man-machine.
Background technology
Unmanned plane full name is UAV (Unmanned Aerial Vehicle, UAV), is distant using radio
The not manned aircraft that control equipment and the presetting apparatus provided for oneself are manipulated.Can be divided into from technical standpoint definition：Unmanned fixed-wing
Machine, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane is taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring are infected
The application in disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field, has greatly expanded nothing
The man-machine purposes of itself, developed country is also in actively extension sector application and development unmanned air vehicle technique.The operation of unmanned plane at present
Mainly manipulation movement is carried out according further to the camera angle and direction of the camera on unmanned plane.This control mode operation is multiple
Miscellaneous, new hand is typically not easy to grasp, it is easy to send unmanned plane air crash accident.
The content of the invention
The embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method and unmanned plane based on earth magnetism mode, makes the behaviour of unmanned plane
It is vertical more convenient, it is to avoid the generation of unmanned plane air crash accident.
In a first aspect, the embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode, including：
By the head of the unmanned plane towards positive north；
The flight directive that remote control sends is received, the flight directive carries the attitude of the gesture stability bar of the remote control
Information；
The target flight direction of the unmanned plane is determined and according to the mesh according to the attitude information of the gesture stability bar
Mark heading flight.
In a kind of feasible embodiment, the head by the unmanned plane towards positive north, including：
Obtain the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
According to the Geomagnetism Information by the head of the unmanned plane towards positive north.
In a kind of feasible embodiment, the attitude information according to the gesture stability bar determines the unmanned plane
Target flight direction, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
In a kind of feasible embodiment, methods described also includes：It is when according to the target flight direction flight, described
Unmanned plane sends current location information in real time to the remote control.
In a kind of feasible embodiment, the head by the unmanned plane is towards positive north and described according to the attitude
The attitude information of control-rod determines that the target flight direction of the unmanned plane is executed in parallel；Or, described by the unmanned plane
Head the target flight direction of the unmanned plane is determined towards positive north and the attitude information according to the gesture stability bar
It is that serial is performed.
Second aspect, the embodiment of the present invention provide a kind of unmanned plane, including：
Head adjusting module, for just described unmanned plane head towards positive north；
Receiver module, for receiving the flight directive of remote control transmission, the flight directive carries the appearance of the remote control
The attitude information of state control-rod；
Determining module, for the target flight side of the unmanned plane is determined according to the attitude information of the gesture stability bar
To；
Fly control module, for flying according to the target flight direction.
In a kind of feasible embodiment, the head adjusting module, including：
Acquiring unit, for the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
Adjustment unit, for according to the Geomagnetism Information by the head of the unmanned plane towards positive north.
In a kind of feasible embodiment, the determining module is according to the attitude information of the gesture stability bar determines
The target flight direction of unmanned plane, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
In a kind of feasible embodiment, the unmanned plane also include sending module, in the unmanned plane according to institute
When stating target flight direction flight, current location information is sent in real time to the remote control.
In a kind of feasible embodiment, the head by the unmanned plane is towards positive north and the unmanned plane according to institute
The attitude information for stating gesture stability bar determines that the target flight direction of the unmanned plane is executed in parallel；Or, described will be described
The head of unmanned plane determines the unmanned plane according to the attitude information of the gesture stability bar towards positive north and the unmanned plane
Target flight direction is that serial is performed.
As can be seen that in the scheme of the embodiment of the present invention, the head of the unmanned plane is received remote control towards positive north
The flight directive of transmission, the flight directive carry the attitude information of the gesture stability bar of the remote control；According to the attitude
The attitude information of control-rod determines the target flight direction of the unmanned plane；Flown according to the target flight direction.With it is existing
Technology is compared, and using scheme provided in an embodiment of the present invention, makes the manipulation of unmanned plane more convenient, it is to avoid unmanned plane air crash accident
Generation.
The aspects of the invention or other in terms of can more straightforward in the following description.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that a kind of application scenarios of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention are illustrated
Figure；
Fig. 2 is that another kind provided in an embodiment of the present invention is shown based on the application scenarios of the unmanned aerial vehicle (UAV) control method of earth magnetism mode
It is intended to；
Fig. 3 is a kind of schematic flow sheet of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention；
Fig. 4 is that a kind of unmanned aerial vehicle (UAV) control method interaction flow based on earth magnetism mode provided in an embodiment of the present invention is illustrated
Figure；
Fig. 5 is another kind of unmanned aerial vehicle (UAV) control method interaction schematic diagram based on earth magnetism mode provided in an embodiment of the present invention；
Fig. 6 is to embodiments provide a kind of unmanned plane structural representation；
Fig. 7 is to embodiments provide a kind of unmanned plane partial structural diagram；
Fig. 8 is to embodiments provide another kind of unmanned plane structural representation.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained under the premise of creative work is not made by member, should all belong to the model of present invention protection
Enclose.
It is described in detail individually below.
Term " first ", " second ", " the 3rd " in description and claims of this specification and the accompanying drawing and "
Four " it is etc. for distinguishing different objects, rather than for describing particular order.Additionally, term " comprising " and " having " and it
Any deformation, it is intended that cover and non-exclusive include.For example contain the process of series of steps or unit, method, be
System, product or equipment are not limited to the step of listing or unit, but alternatively also include the step of not listing or list
Unit, or alternatively also include other intrinsic for these processes, method, product or equipment step or unit.
Referenced herein " embodiment " is it is meant that the special characteristic, structure or the characteristic that describe can be wrapped in conjunction with the embodiments
It is contained at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly it is understood by, embodiment described herein can be combined with other embodiments.
" multiple " refer to two or more."and/or", describes the incidence relation of affiliated partner, and expression there may be
Three kinds of relations, for example, A and/or B can be represented：Individualism A, while there is A and B, individualism B these three situations.Word
Symbol "/" typicallys represent forward-backward correlation to liking a kind of relation of "or".
Below in conjunction with the accompanying drawings embodiments herein is described.
Referring to Fig. 1, Fig. 1 is a kind of application of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention
Schematic diagram of a scenario.Application scenarios include as shown in Figure 1：Remote control 101 and unmanned plane 102.Above-mentioned remote control 101 and unmanned plane
102 adopt communication.Above-mentioned communication can be WiFi, ZigBee, GPRS, 3G, 4G, 5G, WiMAX or other
Communication.Above-mentioned unmanned plane 102 can be for unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship, nobody goes straight up to
Machine, unmanned multi-rotor aerocraft, unmanned parasol or other unmanned planes.
Referring to Fig. 2, Fig. 2 is answering for another kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention
Use schematic diagram of a scenario.Application scenarios include as shown in Figure 2：Remote control 201, unmanned plane 202 and wireless repeater 203.It is above-mentioned distant
Data transfer between control device 201 and unmanned plane 202 is forwarded by wireless repeater.Above-mentioned remote control 201 and above-mentioned nothing
Using communication and above-mentioned unmanned plane 202 and above-mentioned wireless repeater 203 between line repeater 203.Above-mentioned nothing
Line communication mode can be WiFi, ZigBee, GPRS, 3G, 4G, 5G, WiMAX or other communications.Above-mentioned unmanned plane 202
Can be unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, the unmanned umbrella wing
Machine or other unmanned planes.
Fig. 3 is referred to, Fig. 3 is a kind of stream of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention
Journey schematic diagram.As shown in figure 3, a kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode provided in an embodiment of the present invention, including with
Lower step：
S301, unmanned plane are by the head of the unmanned plane towards positive north.
Wherein, the unmanned plane by the head of the unmanned plane towards positive north, including：
Obtain the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
According to the Geomagnetism Information by the head of the unmanned plane towards positive north.
Alternatively, before energization is taken off, unmanned plane can carry out self-inspection.
Alternatively, after above-mentioned unmanned plane lift-off, above-mentioned Magnetic Sensor obtains the earth magnetism of above-mentioned unmanned plane current location in real time
Information, above-mentioned unmanned plane is according to the Geomagnetism Information of current location by head towards positive north.
S302, the unmanned plane receive the flight directive that remote control sends, and the flight directive carries the remote control
The attitude information of gesture stability bar.
Wherein, in flight course, whether real-time monitoring receives the flight of above-mentioned remote control transmission refers to above-mentioned unmanned plane
Order.If to receive the flight directive that above-mentioned remote control sends, above-mentioned unmanned plane is according to previous flight for above-mentioned unmanned plane monitoring
Instruction is flown, and the previous flight directive is reception time and the close flight directive of present system time；If it is above-mentioned nobody
Machine monitors to receive above-mentioned flight directive, then above-mentioned unmanned plane is according to the target flight direction for parsing above-mentioned flight directive acquisition
Flight.
S303, the unmanned plane determine the target flight side of the unmanned plane according to the attitude information of the gesture stability bar
To, and fly according to the target flight direction.
Wherein, the attitude information according to the gesture stability bar determines the target flight direction of the unmanned plane, bag
Include：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
Alternatively, the above-mentioned attitude information according to above-mentioned gesture stability bar determines the target flight direction of above-mentioned unmanned plane,
Also include：
If direction to the left pushes away above-mentioned gesture stability bar forward, above-mentioned target flight direction is north by west；
If direction to the right pushes away above-mentioned gesture stability bar forward, above-mentioned target flight direction is north by east；
If direction to the left pushes away above-mentioned gesture stability bar backward, above-mentioned target flight direction is south by west；
If direction to the right pushes away above-mentioned gesture stability bar backward, above-mentioned target flight direction is south by east；
If direction to the front pushes away above-mentioned gesture stability bar to the left, above-mentioned target flight direction is west by north；
If direction to the rear pushes away above-mentioned gesture stability bar to the left, above-mentioned target flight direction is west by south；
If direction to the front pushes away above-mentioned gesture stability bar to the right, above-mentioned target flight direction is east by north；
If direction to the rear pushes away above-mentioned gesture stability bar to the right, above-mentioned target flight direction is east by south；
If, not to front, rear, left and right wherein any one party to pushing away, above-mentioned unmanned plane is in hovering for above-mentioned gesture stability bar
State.
Wherein, when the unmanned plane is according to the target flight direction flight, the unmanned plane is by current location information
Sent to the remote control in real time.
Alternatively, current positional information is implemented to send to above-mentioned remote control by above-mentioned unmanned plane, including：
The location equipment of above-mentioned unmanned plane obtains the current positional information of unmanned plane in real time；And by unmanned plane present bit confidence
Breath is sent to above-mentioned remote control.
Alternatively, above-mentioned unmanned plane sends flight attitude information to above-mentioned remote control in flight course.The attitude information
It is data acquisition of the above-mentioned unmanned plane according to the accelerometer and gyroscope collection of above-mentioned unmanned plane.
Alternatively, above-mentioned location equipment can be that (such as positive dipper system positioning sets for GPS device or other location equipments
Standby, Galileo system location equipment, glonass system location equipment).
Wherein, above-mentioned remote control is after the positional information that above-mentioned unmanned plane sends is received, the display screen display of above-mentioned remote control
Show the flight path of above-mentioned unmanned plane.The unmanned plane during flying track intuitively shown by the display screen of above-mentioned remote control, unmanned plane
Driver can easily control unmanned plane.
Alternatively, the unmanned plane by the head of the unmanned plane towards positive north and the unmanned plane according to the attitude control
The attitude information of bar processed determines that the target flight direction of the unmanned plane is executed in parallel；Or, the unmanned plane is by the nothing
Man-machine head determines the mesh of the unmanned plane towards positive north and the unmanned plane according to the attitude information of the gesture stability bar
Mark heading is that serial is performed.
As can be seen that in the scheme of the embodiment of the present invention, the head of the unmanned plane is received remote control towards positive north
The flight directive of transmission, the flight directive carry the attitude information of the gesture stability bar of the remote control；According to the attitude
The attitude information of control-rod determines the target flight direction of the unmanned plane；Flown according to the target flight direction.With it is existing
Technology is compared, and using scheme provided in an embodiment of the present invention, makes the manipulation of unmanned plane more convenient, it is to avoid unmanned plane air crash accident
Generation.
Referring to Fig. 4, Fig. 4 is a kind of unmanned aerial vehicle (UAV) control method interactive stream based on earth magnetism mode provided in an embodiment of the present invention
Journey schematic diagram, as shown in figure 4, the present invention is a kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode that embodiment is provided, including：
S401, unmanned plane obtain the Geomagnetism Information of the unmanned plane current location, and according to the Geomagnetism Information by head
Direction is towards positive north.
Alternatively, above-mentioned Geomagnetism Information is the Magnetic Sensor acquisition of above-mentioned unmanned plane.
Alternatively, behind above-mentioned unmanned plane overhead, the earth magnetism letter of the real-time above-mentioned unmanned plane current location of above-mentioned geomagnetic sensor
Breath, above-mentioned unmanned plane is according to above-mentioned Geomagnetism Information, the direction of real-time adjustment head so as to which the heading moment is towards positive north.
S402, remote control send flight directive to the unmanned plane, and the flight directive carries the attitude of the remote control
The attitude information of remote-control lever.
Alternatively, the flight directive that the above-mentioned remote control of above-mentioned unmanned plane real-time monitoring sends, if above-mentioned remote control does not send
Flight directive, then, according to the target flight direction flight obtained after the previous flight directive parsing of team, this is previous winged for above-mentioned unmanned plane
Row instruction is reception time and the close flight directive of present system time；If above-mentioned unmanned plane receives above-mentioned remote control and sends
Flight directive, then above-mentioned unmanned plane according to above-mentioned flight directive parsing after obtain target flight direction flight.
The attitude information of S403, the unmanned plane according to the attitude remote-control lever, obtains target flight direction.
Wherein, the attitude information according to the gesture stability bar determines the target flight direction of the unmanned plane, bag
Include：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
S404, the unmanned plane fly according to the target direction.
S405, the unmanned plane obtain the current positional information of the unmanned plane.
Wherein, the location equipment of above-mentioned unmanned plane obtains the positional information of unmanned plane current location in real time.
Alternatively, above-mentioned location equipment can be that (such as positive dipper system positioning sets for GPS device or other location equipments
Standby, Galileo system location equipment, glonass system location equipment).
S406, the unmanned plane send the positional information of institute's unmanned plane to above-mentioned remote control.
Wherein, above-mentioned remote control includes a display screen, and above-mentioned remote control is receiving the positional information that above-mentioned unmanned plane sends
Afterwards, above-mentioned display screen shows the flight path of above-mentioned unmanned plane.By observing the unmanned plane that the display screen of above-mentioned remote control shows
Flight path, unmanned plane driver can be visually known unmanned plane location, and easily control unmanned plane.
It should be noted that the process that implements of each step of method shown in Fig. 4 is can be found in described in said method
Implement process, here is no longer described.
When the distance between unmanned plane and remote control are more than communication distance between the two, above-mentioned unmanned plane is distant with above-mentioned
The interaction of row information cannot normally be entered between control device.To solve the above problems, referring to Fig. 5, Fig. 5 is provided for the embodiment of the present invention
Another kind based on earth magnetism mode unmanned aerial vehicle (UAV) control method interaction schematic diagram.As shown in figure 5, provided in an embodiment of the present invention another
A kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode includes：
S501, unmanned plane obtain the Geomagnetism Information of the unmanned plane current location, and according to Geomagnetism Information by it is above-mentioned nobody
The head of machine is towards positive north.
Wherein, after the Magnetic Sensor of above-mentioned unmanned plane obtains the Geomagnetism Information of above-mentioned unmanned plane current location, it is above-mentioned nobody
Machine obtains direct north information according to above-mentioned Geomagnetism Information, and by head towards positive north.
Alternatively, behind above-mentioned unmanned plane overhead, the earth magnetism letter of the real-time above-mentioned unmanned plane current location of above-mentioned geomagnetic sensor
Breath, above-mentioned unmanned plane is according to above-mentioned Geomagnetism Information, the direction of real-time adjustment head so as to which the heading moment is towards positive north.
S502, remote control send flight directive to wireless repeater.
The flight directive is forwarded to the unmanned plane by S503, the repeater.
The attitude information of the remote control attitude bar that S504, the unmanned plane are carried according to the flight directive obtains target flight
Direction.
Wherein, above-mentioned unmanned plane obtains target flight direction according to above-mentioned attitude information, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
S505, the unmanned plane fly according to the target flight direction.
S506, the unmanned plane obtain current positional information.
Wherein, the location equipment of above-mentioned unmanned plane obtains the current location information of above-mentioned unmanned plane in real time.
Alternatively, above-mentioned location equipment can be GPS device or other location equipments (such as positive Big Dipper system location devices,
Galileo system location equipment, glonass system location equipment).
S507, the unmanned plane send the current location information to the wireless repeater.
S508, the wireless repeater send the current location information to the remote control.
It should be noted that the process that implements of each step of method shown in Fig. 5 is can be found in described in said method
Implement process, here is no longer described.
Referring to Fig. 6, Fig. 6 to embodiments provide a kind of unmanned plane structural representation, as shown in fig. 6, of the invention
A kind of unmanned plane 600 that embodiment is provided, including：
Direction adjusting module 601, for just described unmanned plane head towards positive north.
Wherein, the head adjusting module 601, including：
Acquiring unit 6011, for the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
Adjustment unit 6012, for according to the Geomagnetism Information by the head of the unmanned plane towards positive north.
Receiver module 602, for receiving the flight directive of remote control transmission, the flight directive carries the remote control
The attitude information of gesture stability bar.
Determining module 603, for the target flight of the unmanned plane is determined according to the attitude information of the gesture stability bar
Direction.
Wherein, the determining module 603 determines the target of the unmanned plane according to the attitude information of the gesture stability bar
Heading, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
Flight module 604, for being flown according to the target flight direction.
Wherein, the unmanned plane also includes：Sending module 605, in the unmanned plane according to the target flight side
When flight, current location information is sent in real time to the remote control.
Alternatively, the head by the unmanned plane towards positive north and the unmanned plane according to the gesture stability bar
Attitude information determines that the target flight direction of the unmanned plane is executed in parallel；Or, the head court by the unmanned plane
Determine that the target flight direction of the unmanned plane be according to the attitude information of the gesture stability bar to positive north and the unmanned plane
What serial was performed.
It should be noted that above-mentioned each module (direction adjusting module 601, receiver module 602, determining module 603, winged control
Module 604, sending module is 605) for performing the correlation step of said method.
In the present embodiment, unmanned plane 600 is in modular form presenting.Here " module " can refer to application-specific
Integrated circuit (application-specific integrated circuit, ASIC), performs one or more softwares or solid
The processor and memory of part program, integrated logic circuit, and/or other can provide the device of above-mentioned functions.Additionally, more than
Direction adjusting module 601, receiver module 602, determining module 603, winged control module 604, sending module 605 can pass through shown in Fig. 8
Unmanned plane processor 801 realizing.
As shown in figure 8, unmanned plane 800 can be realized with the structure in Fig. 8, the unmanned plane 800 is included at least one
Reason device 801, at least one memory 802, at least one communication interface 803 and at least one rotor 804.The processor
801st, the memory 802 and the communication interface 803 are connected by the communication bus and complete mutual communication；It is described
Processor 801 and the rotor 804 are connected by the communication bus and complete mutual communication.
Processor 801 can be general central processor (CPU), microprocessor, ASIC
(application-specific integrated circuit, ASIC), or one or more be used for control above scheme journey
The integrated circuit that sequence is performed.
Communication interface 803, for other equipment or communication, such as Ethernet, wireless access network (RAN), nothing
Line LAN (Wireless Local Area Networks, WLAN) etc..
Memory 802 can be read-only storage (read-only memory, ROM) or can store static information and instruction
Other kinds of static storage device, random access memory (random access memory, RAM) or letter can be stored
Breath and the other kinds of dynamic memory for instructing, or EEPROM (Electrically
Erasable Programmable Read-Only Memory, EEPROM), read-only optical disc (Compact Disc Read-
Only Memory, CD-ROM) or other optical disc storages, laser disc storage (include compression laser disc, laser disc, laser disc, digital universal
Laser disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carrying or store to have referring to
The desired program code of order or data structure form simultaneously can be by any other medium of computer access, but not limited to this.
Memory can be individually present, and be connected with processor by bus.Memory can also be integrated with processor.
Wherein, the memory 802 is used to store the application code for performing above scheme, and by processor 801
Control is performed.The application code that the processor 801 is stored in being used to perform the memory 802, it is described so as to control
The rotation mode of rotor 804.
The code of the storage of memory 802 can perform the above-mentioned a kind of based on earth magnetism mode of terminal device execution provided above
Unmanned aerial vehicle (UAV) control method, than unmanned plane as will be described head towards positive north；The flight directive that remote control sends is received, it is described
Flight directive carries the attitude information of the gesture stability bar of the remote control；Determined according to the attitude information of the gesture stability bar
The target flight direction of the unmanned plane, and fly according to the target flight direction.
The embodiment of the present invention also provides a kind of computer-readable storage medium, wherein, the computer-readable storage medium can be stored with journey
Sequence, includes unmanned aerial vehicle (UAV) control method of any one described in said method embodiment based on earth magnetism mode during the program performing
Part or all of step.
It should be noted that for aforesaid each method embodiment, in order to be briefly described, therefore which is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention do not limited by described sequence of movement because
According to the present invention, some steps can adopt other orders or while carry out.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, can be by another way
Realize.For example, device embodiment described above is only schematic, such as division of described unit, is only one kind
Division of logic function, can have when actually realizing other dividing mode, such as multiple units or component can with reference to or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication connection by some interfaces, device or unit,
Can be electrical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can local to be located at one, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer-readable access to memory.Based on such understanding, technical scheme substantially or
Person say the part or technical scheme contributed by prior art all or part can in the form of software product body
Reveal and, the computer software product is stored in a memory, use so that a computer equipment including some instructions
(can be personal computer, server or network equipment etc.) performs all or part of each embodiment methods described of the invention
Step.And aforesaid memory includes：USB flash disk, read-only storage (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can be with the medium of store program codes.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Instruct related hardware to complete with by program, the program can be stored in a computer-readable memory, memory
Can include：Flash disk, read-only storage (English：Read-Only Memory, referred to as：ROM), random access device (English：
Random Access Memory, referred to as：RAM), disk or CD etc..
Above the embodiment of the present invention is described in detail, specific case used herein to the principle of the present invention and
Embodiment is set forth, and the explanation of above example is only intended to help and understands the method for the present invention and its core concept；
Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, can in specific embodiments and applications
There is change part, to sum up above-mentioned, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method based on earth magnetism mode, it is characterised in that include：
By the head of the unmanned plane towards positive north；
The flight directive that remote control sends is received, the flight directive carries the attitude letter of the gesture stability bar of the remote control
Breath；
The target flight direction of the unmanned plane is determined according to the attitude information of the gesture stability bar, and is flown according to the target
Line direction flies.
2. method according to claim 1, it is characterised in that the head by the unmanned plane towards positive north, including：
Obtain the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
According to the Geomagnetism Information by the head of the unmanned plane towards positive north.
3. method according to claim 1, it is characterised in that described to be determined according to the attitude information of the gesture stability bar
The target flight direction of the unmanned plane, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
4. method according to claim 1, it is characterised in that methods described also includes：
When according to the target flight direction flight, the unmanned plane sends current location information in real time to the remote control
Device.
5. method according to claim 1, it is characterised in that the head by the unmanned plane is towards positive north and described
Determine that the target flight direction of the unmanned plane is executed in parallel according to the attitude information of the gesture stability bar；Or, described
The head of the unmanned plane is determined into the unmanned plane towards positive north and the attitude information according to the gesture stability bar
Target flight direction is that serial is performed.
6. a kind of unmanned plane, it is characterised in that include：
Direction adjusting module, for just described unmanned plane head towards positive north；
Receiver module, for receiving the flight directive of remote control transmission, the flight directive carries the attitude control of the remote control
The attitude information of bar processed；
Determining module, for the target flight direction of the unmanned plane is determined according to the attitude information of the gesture stability bar；
Fly control module, for flying according to the target flight direction.
7. unmanned plane according to claim 6, it is characterised in that the head adjusting module, including：
Acquiring unit, for the Geomagnetism Information of the Magnetic Sensor collection of the unmanned plane；
Adjustment unit, for according to the Geomagnetism Information by the head of the unmanned plane towards positive north.
8. unmanned plane according to claim 6, it is characterised in that appearance of the determining module according to the gesture stability bar
State information determines the target flight direction of the unmanned plane, including：
If the gesture stability bar is pushed away forward, the target flight direction is positive north；
If the gesture stability bar is to pusher, the target flight direction is due south；
If the gesture stability bar is pushed away to the left, the target flight direction is due west；
If the gesture stability bar is pushed away to the right, the target flight direction is due east.
9. unmanned plane according to claim 6, it is characterised in that the unmanned plane also includes：
Sending module, for when the unmanned plane is according to the target flight direction flight, current location information being sent out in real time
Deliver to the remote control.
10. unmanned plane according to claim 6, it is characterised in that the head by the unmanned plane towards positive north and
According to the attitude information of the gesture stability bar, the unmanned plane determines that the target flight direction of the unmanned plane is executed in parallel
's；Or, the head by the unmanned plane towards positive north and the unmanned plane according to the attitude information of the gesture stability bar
Determine the unmanned plane target flight direction be serial perform.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075081.7A CN106527493B (en) | 2016-11-29 | 2016-11-29 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
| PCT/CN2017/071701 WO2018098898A1 (en) | 2016-11-29 | 2017-01-19 | Terrestrial magnetism-based unmanned aerial vehicle control method, and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075081.7A CN106527493B (en) | 2016-11-29 | 2016-11-29 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
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| CN106527493B CN106527493B (en) | 2020-01-14 |
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| WO (1) | WO2018098898A1 (en) |
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| CN113272754A (en) * | 2020-09-28 | 2021-08-17 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, control terminal and system |
| CN114460967A (en) * | 2022-02-09 | 2022-05-10 | 沃飞长空科技(成都)有限公司 | Takeoff method and system of unmanned aerial vehicle, terminal device and storage medium |
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| CN106527493B (en) | 2020-01-14 |
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