CN106598061A - Aircraft flight control method and apparatus - Google Patents
Aircraft flight control method and apparatus Download PDFInfo
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- CN106598061A CN106598061A CN201610559821.8A CN201610559821A CN106598061A CN 106598061 A CN106598061 A CN 106598061A CN 201610559821 A CN201610559821 A CN 201610559821A CN 106598061 A CN106598061 A CN 106598061A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an aircraft flight control method and apparatus. The aircraft flight control method includes receiving pseudo-flight action instructions input by a user, each pseudo-flight action instruction comprising at least two basic flight actions and the execution order between the two basic flight actions; determining whether the pseudo-flight action instructions are executable or not; and if the pseudo-flight action instructions are executable, receiving the confirmation information input by the user, and transmitting the pseudo-flight action instructions to the aircraft as flight control commands. The aircraft flight control method controls the aircraft to automatically complete a plurality of continuous basic flight actions without manual control, so that the flight safety of the aircraft can be guaranteed.
Description
Technical field
The present invention relates to aircraft field, more particularly to a kind of flight control method and device of aircraft.
Background technology
With the development of sensor technology and intelligent control technology so that the flight control technology of aircraft is more and more first
Enter, control accuracy more and more higher, and control speed of flying be more and more faster, brings great convenience to the user of aircraft so that
The manipulation of aircraft is simpler.At present on aircraft (especially amusement type aircraft, such as amusement type unmanned plane), various intelligent work(
Can be more and more, also more and more perfect, and operate increasingly simpler, a such as key takes off, a key landing, double swerve, turn in front and back
Turning to wait needs very skilled operator just complete the control to aircraft on the aircraft of early stage, as long as pressing now distant
On an operation button or click control APP on control device, One function button can easily realize the control to aircraft.
In addition, point of interest around, give directions the autonomous flight perfect in shape and function such as fly, make a return voyage automatically on the basis of, can develop it is more independently
Flight function so that the intelligence degree of aircraft is more preferable, recreational higher so that user can experience more New functions.
Although the control technology and intelligent function of existing aircraft relatively before for it is very advanced, user operation is also relative
Simplicity, but existing carry-on many functions are single, lack continuity, are needed then by another after completing One function action
The operation button or function button of outer One function action, or user need to manually complete the phase between former and later two function actions
Mutually it is connected so that linking control between aircraft former and later two function actions is not enough facilitated, and pendant is susceptible to when controlling bad
Machine.
The content of the invention
The technical problem to be solved in the present invention is, for linking control between existing aircraft former and later two function actions
A kind of inadequate easily problem, there is provided the flight control method and device of aircraft.
The technical solution adopted for the present invention to solve the technical problems is：A kind of flight control method of aircraft, including：
The plan flare maneuver instruction of receiving user's input, each plan flare maneuver instruction include that at least two basic flights are dynamic
Make and the execution sequence between the Basic Flight Maneuver；
Judge whether the plan flare maneuver instruction can perform；
If the plan flare maneuver instruction is executable, the confirmation of receiving user's input, by the plan flare maneuver
Instruction is sent to aircraft as flight control instruction.
Preferably, also include：The Basic Flight Maneuver is numbered, at least two numbering of input forms action numbering
Combination.
Preferably, the plan flare maneuver instruction of the receiving user's input, including：
Basic Flight Maneuver described at least two is shown on the display interface and is associated with the Basic Flight Maneuver
Numbering；
The action numbering combination that receive user is sequentially inputted, to form the plan flare maneuver instruction.
Preferably, the execution sequence between the Basic Flight Maneuver is the arrangement of each numbering in the action numbering combination
Sequentially.
Preferably, the plan flare maneuver instruction of the receiving user's input, also includes：By adding numbering and/or deleting
Numbering, to change the action numbering combination.
Preferably, the plan flare maneuver instruction of the receiving user's input, also includes：Receiving user's input checks information
Instruction, shows the control parameter of the Basic Flight Maneuver on the display interface.
Preferably, it is described to judge whether the plan flare maneuver instruction can perform, including：
Judge whether the control parameter sum for performing Basic Flight Maneuver described at least two exceedes the parameter of relevant parameter
Threshold value；
If exceeding, assert that the plan flare maneuver instruction not can perform, show executable information；
If being less than, assert that the plan flare maneuver instruction is executable, show non-executable information.
Preferably, after the plan flare maneuver instruction is executable, also include：Analog demenstration aircraft performs the plan
The flight path of flare maneuver instruction.
The present invention also provides a kind of flight control method, including：
Prestore the control program of some Basic Flight Maneuvers；
Flight control instruction is received, each flight control instruction includes at least two Basic Flight Maneuvers and the base
Execution sequence between this flare maneuver；
The control program of the Basic Flight Maneuver is called according to the execution sequence in the flight control instruction, to control
Aircraft flight.
Preferably, also include：
Prestore the control program and the numbering being associated with the Basic Flight Maneuver of some Basic Flight Maneuvers；
The flight control instruction is received and parsed through, each flight control instruction includes that at least two is basic with described
The associated numbering of flare maneuver, putting in order as the execution sequence between the Basic Flight Maneuver between the numbering；
Called and the action corresponding Basic Flight Maneuver of numbering according to the execution sequence in the flight control instruction
Control program, to control the aircraft flight.
The present invention also provides a kind of flight control assemblies of aircraft, including：
Motion editing unit, the plan flare maneuver for receiving user's input are instructed, and each plan flare maneuver instruction includes
Execution sequence between at least two Basic Flight Maneuvers and the Basic Flight Maneuver；
Judge processing unit, for judging whether the plan flare maneuver instruction can perform；
Instruction sending unit, for when the plan flare maneuver instruction is executable, then the confirmation letter of receiving user's input
The plan flare maneuver instruction is sent to aircraft as flight control instruction by breath.
Preferably, also including action numbered cell, for being numbered to the Basic Flight Maneuver, input at least two
Numbering forms action numbering combination.
Preferably, the motion editing unit includes：
The first information shows subelement, for show on the display interface Basic Flight Maneuver described at least two and with institute
State the associated numbering of Basic Flight Maneuver；
Instruction input subelement, for the action numbering combination of receiving user's input, is referred to forming the plan flare maneuver
Order.
Preferably, the execution sequence between the Basic Flight Maneuver is the arrangement of each numbering in the action numbering combination
Sequentially.
Preferably, it is also including numbering modification subelement, for by adding numbering and/or deleting numbering, described to change
Action numbering combination.
Preferably, the motion editing unit also includes：Second presentation of information subelement, looking into for receiving user's input
See information command；The control parameter of the Basic Flight Maneuver is shown on the display interface.
Preferably, the judgement processing unit includes：
Parameter judgment sub-unit, for whether judging the control parameter sum for performing Basic Flight Maneuver described at least two
More than the parameter threshold of relevant parameter；
First performs process subelement, for when more than parameter threshold, assert that the plan flare maneuver instruction can not be held
OK, show executable information；
Second performs process subelement, for when less than parameter threshold, then assert that the plan flare maneuver instruction can
Perform, show non-executable information.
Preferably, also including analog demenstration unit, for can perform in plan flare maneuver instruction, analog demenstration aircraft is held
The row flight path for intending flare maneuver instruction.
The present invention also provides a kind of flight control assemblies of aircraft, including：
Program storage unit (PSU), for prestoring the control program of some Basic Flight Maneuvers；
Instruction reception unit, for receiving flight control instruction, each flight control instruction includes at least two bases
Execution sequence between this flare maneuver and the Basic Flight Maneuver；
Control unit is performed, for the Basic Flight Maneuver being called according to the execution sequence in the flight control instruction
Control program, to control aircraft flight.
Preferably, also include：
Program storage unit (PSU), for prestoring the control program of some Basic Flight Maneuvers and dynamic with the basic flight
Make associated numbering；
Instruction reception unit, for receiving and parsing through the flight control instruction, each flight control instruction includes
At least two numberings being associated with the Basic Flight Maneuver, being put in order between the action numbering fly for described substantially
Execution sequence between action work；
Control unit is performed, it is right with action numbering for being called according to the execution sequence in the flight control instruction
The control program of the Basic Flight Maneuver answered, to control the aircraft flight.
The present invention is had the advantage that compared with prior art：The flight control method of aircraft provided by the present invention and
Device, is referred to by the control of the flight comprising the execution sequence between at least two and Basic Flight Maneuver and Basic Flight Maneuver
Order, is capable of achieving control aircraft and continuously performs at least two Basic Flight Maneuvers, without the need for controlling to be capable of achieving aircraft manually certainly
Move and complete corresponding at least two Basic Flight Maneuvers combination, it is convenient and simple, and also ensured the flight safety of aircraft.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is a flow chart of the flight control method of the aircraft in the embodiment of the present invention 1.
Fig. 2 is a flow chart of the flight control method of the aircraft in the embodiment of the present invention 2.
Fig. 3 is a flow chart of the flight control method of the aircraft in the embodiment of the present invention 3.
Fig. 4 is a flow chart of the flight control method of the aircraft in the embodiment of the present invention 4.
Fig. 5 is a theory diagram of the flight control assemblies of the aircraft in the embodiment of the present invention 5.
Fig. 6 is a theory diagram of the flight control assemblies of the aircraft in the embodiment of the present invention 6.
Fig. 7 is a theory diagram of the flight control assemblies of the aircraft in the embodiment of the present invention 7.
Fig. 8 is a theory diagram of the flight control assemblies of the aircraft in the embodiment of the present invention 8.
In figure：110th, motion editing unit；111st, the first information shows subelement；112nd, the second presentation of information subelement；
113rd, instruction input subelement；114th, numbering modification subelement；120th, judge processing unit；121st, parameter judgment sub-unit；
122nd, first perform process subelement；123rd, second perform process subelement；130th, instruction sending unit；140th, action List of Documents
Unit；150th, analog demenstration unit；210th, program storage unit (PSU)；220th, instruction reception unit；230th, perform control unit.
Specific embodiment
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now compare accompanying drawing and describe in detail
The specific embodiment of the present invention.
Embodiment 1
The flow chart that Fig. 1 illustrates the flight control method of the aircraft in the present embodiment.The flight controlling party of the aircraft
Method is mainly completed on control terminal, control terminal be refer to aircraft send flight control instruction equipment, including but
It is not limited to smart mobile phone, panel computer etc..As shown in figure 1, the flight control method of the aircraft includes：
S11：The plan flare maneuver instruction of receiving user's input, each plan flare maneuver instruction include that at least two fly substantially
Action is made and the execution sequence between Basic Flight Maneuver.It is to be appreciated that user can be by control terminal input including at least
The plan flare maneuver instruction of the execution sequence of two Basic Flight Maneuvers and Basic Flight Maneuver, for making by control terminal control
The aircraft of system can continuously perform at least two Basic Flight Maneuvers according to flare maneuver instruction is intended, to realize at least two bases
The coherent control of this flare maneuver.
Specifically, Basic Flight Maneuver includes but is not limited to taking off, landing, advancing, retreating, to the left in the present embodiment
Fly, to the right fly, rise, decline, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, it is front
Any one in rocking afterwards, make a return voyage, slowly flying out and slowly flying back.It is to be appreciated that user can be increased by control terminal
Or Basic Flight Maneuver is deleted, so that the flight control of aircraft is more perfect；Meanwhile, can independent assortment Basic Flight Maneuver, from
And showing that the plan flare maneuver of countless style is instructed, aircraft is automatically performed corresponding action by execution sequence, Yong Huke
The multiple Basic Flight Maneuvers of continuouss are completed attentively to appreciate aircraft heartily, without the need for controlling manually, user each other can be with
Study is compared and appreciation, as multiple fundamental notes can create inexhaustible beautiful music, increases to flying machine
Add more playing methods and enjoyment.
S12：Judge to intend whether flare maneuver instruction can perform.It is to be appreciated that user controlled by control terminal it is arbitrary
Basic Flight Maneuver is feasible, and the plan flare maneuver of user input is performed and includes at least two Basic Flight Maneuvers, if holding
The capable plan flare maneuver is instructed, it is possible to there is unreasonable or incorrect part, therefore need to first judge that intending flare maneuver whether may be used
Perform, to reach fool proof purpose, it is to avoid aircraft is performed when the plan flare maneuver is instructed and broken down.Such as each flight
There is restriction to its flying height during device flight, if perform intending total after at least two Basic Flight Maneuvers during flare maneuver is instructed
Flying height exceed its restriction flying height, then air crash or other security incidents occur, therefore user need to be prejudged
Whether the plan flare maneuver of input can perform.
S13：If it is executable to intend flare maneuver instruction, the confirmation of receiving user's input will intend flare maneuver instruction
Aircraft is sent to as flight control instruction.If it is to be appreciated that intend flare maneuver instruction can perform, the meeting on control terminal
Show executable information.Now, executable plan flare maneuver instruction can be made by user to control terminal input validation information
Aircraft is sent to for flight control instruction, so that aircraft flies by flight control instruction.Wherein, control terminal and aircraft
Between can be communicated by WIFI, 3G network, 4G networks.
In the present embodiment, user can be input into plan flare maneuver instruction on control terminal；By judging that intending flare maneuver refers to
Whether order can perform, to ensure the flight safety of aircraft；After user input confirmation, will just intend flare maneuver instruction and make
Aircraft is sent to for flight control instruction so that the flight control of aircraft is safer, and can continuously perform at least two bases
This flare maneuver.Include at least two Basic Flight Maneuvers with execution sequence due to intending flare maneuver instruction so that this flies
The control process of the flight control method of row device and achievable full automation, can complete various aerobatics.
Embodiment 2
The flow chart that Fig. 2 illustrates the flight control method of the aircraft in the present embodiment.The flight controlling party of the aircraft
Method is mainly completed on control terminal, control terminal be refer to aircraft send flight control instruction equipment, including but
It is not limited to smart mobile phone, panel computer etc..As shown in Fig. 2 the flight control method of the aircraft includes：
S21：Basic Flight Maneuver is numbered, at least two numbering of input forms action numbering combination.Wherein, substantially
Flare maneuver include but is not limited to the present embodiment in take off, land, advancing, retreating, to the left fly, to the right fly, rise, decline,
It is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, rock back and forth, making a return voyage, slowly flying out
Any one in slowly flying back.As shown in Table 1, Basic Flight Maneuver is numbered, so that each Basic Flight Maneuver
It is associated with unique numbering, corresponding Basic Flight Maneuver can be found based on numbering so that is formed by least two numberings
The combination of action numbering can correspond at least two Basic Flight Maneuvers.
One Basic Flight Maneuver information table of table
| Numbering | Basic Flight Maneuver | Control parameter |
| 01 | Take off | It is same with one key of remote control function phase of taking off |
| 02 | Landing | It is same with one key of remote control landing function phase |
| 03 | Advance | 1 meter of aircraft flight forward |
| 04 | Retreat | Aircraft flies 1 meter (inverted flight) backward |
| 05 | Fly to the left | Aircraft flies 1 meter to the left |
| 06 | Fly to the right | Aircraft flies to the right 1 meter |
| 07 | Rise | Aircraft rises 0.5 meter |
| 08 | Decline | Aircraft declines 0.5 meter |
| 09 | It is clockwise | Aircraft turns clockwise 45 degree |
| 10 | Reverse | 45 degree of aircraft rotate counterclockwise |
| 11 | Quick flashing orange lamp | The orange lamp quick flashing (4 times per second) of wing |
| 12 | Slow flash orange lamp | The orange lamp slow flash (1 time per second) of wing |
| 13 | Quick flashing green light | The green light quick flashing (4 times per second) of wing |
| 14 | Slow flash green light | The green light slow flash (1 time per second) of wing |
| 15 | Roll | Aircraft rolls |
| 16 | Rock back and forth | Aircraft rolls |
| 17 | Make a return voyage | Correspondence one key of remote control makes a return voyage function |
| 18 | Slowly fly out | (45 degree) slowly fly out aircraft at a certain angle, fly 2 meters |
| 19 | Slowly fly back | (45 degree) slowly fly back aircraft at a certain angle, fly 2 meters |
S22：The plan flare maneuver instruction of receiving user's input, each plan flare maneuver instruction include that at least two fly substantially
Action is made and the execution sequence between Basic Flight Maneuver.It is to be appreciated that user can be by control terminal input including at least
The plan flare maneuver instruction of the execution sequence of two Basic Flight Maneuvers and Basic Flight Maneuver, for making by control terminal control
The aircraft of system can continuously perform at least two Basic Flight Maneuvers according to flare maneuver instruction is intended, to realize at least two bases
The coherent control of this flare maneuver.Step S22 specifically includes following steps：
S221：The volume at least two Basic Flight Maneuvers being shown on display interface and being associated with Basic Flight Maneuver
Number.As shown in Table 1, at least two Basic Flight Maneuvers and dynamic with basic flight can be shown on the display interface of control terminal
Make associated numbering, so that user can be appreciated that the corresponding Basic Flight Maneuver of each numbering, input will make aircraft perform base
Corresponding at least two numbering of this flare maneuver is combined with forming action numbering.
S222：The control ginseng checked information command, Basic Flight Maneuver is shown on display interface of receiving user's input
Number.It is to be appreciated that user shows Basic Flight Maneuver and associated numbering on the display interface of terminal control, work as user
When need to understand each Basic Flight Maneuver, user can click on numbering or Basic Flight Maneuver in display interface, be checked with being input into
Information command, shows the control parameter and points for attention of Basic Flight Maneuver on the display interface of control terminal.The control is joined
Number contributes to the performances that user understands Basic Flight Maneuver, such as clicks on numbering 05, that is, show that aircraft is flown 1 meter of this control to the left
Parameter, so that user understands the performance of the Basic Flight Maneuver being associated with the numbering, is better achieved the intelligence to aircraft
Control.
It is to be appreciated that the numbering that is associated with Basic Flight Maneuver of each group of Basic Flight Maneuver and control parameter can
Being that system is self-defined and be stored on the firmware of control terminal, it is also possible to voluntarily arranged by user as needed, so that user
Aircraft can be controlled by control terminal and perform more Basic Flight Maneuvers so as to which function is more perfect.
S223：The action numbering combination that receive user is sequentially inputted, intends flare maneuver instruction to be formed.Each plan flight is dynamic
Making instruction includes the execution sequence between at least two Basic Flight Maneuvers and Basic Flight Maneuver.In the present embodiment, fly substantially
The execution sequence taken action between work is putting in order for respectively numbering in action numbering combination.
S224：By adding numbering and/or deleting numbering, to change action numbering combination.It is to be appreciated that defeated in user
After entering plan flare maneuver instruction, by increasing numbering and/or numbering can be changed, to realize numbering action the modification of combination,
Form new plan flare maneuver instruction.
S23：Judge to intend whether flare maneuver instruction can perform.It is to be appreciated that user controlled by control terminal it is arbitrary
Basic Flight Maneuver is feasible, and the plan flare maneuver of user input is performed and includes at least two Basic Flight Maneuvers, if holding
The capable plan flare maneuver is instructed, it is possible to there is unreasonable or incorrect part, therefore need to first judge that intending flare maneuver whether may be used
Perform, to reach fool proof purpose, it is to avoid aircraft is performed when the plan flare maneuver is instructed and broken down.Such as each flight
There is restriction to its flying height during device flight, if perform intending total after at least two Basic Flight Maneuvers during flare maneuver is instructed
Flying height exceed its restriction flying height, then air crash or other security incidents occur, therefore user need to be prejudged
Whether the plan flare maneuver of input can perform.Step S23 specifically includes following steps：
S231：Judge whether the control parameter sum for performing at least two Basic Flight Maneuvers exceedes the parameter of relevant parameter
Threshold value.If the numbering of user input 20 is 07 plan flare maneuver instruction, judge 20 number be 07 Basic Flight Maneuver
The parameter threshold whether the control parameter sum (such as flying height sum) of (" flying ") exceedes aircraft altitude is (like flying
The fly able maximum height of row device).
S232：If corresponding parameter threshold when exceeding aircraft flight, assert that intending flare maneuver instruction not can perform, and show
Show non-executable information, so that user re-enters plan flare maneuver instruction, to avoid aircraft from performing the not executable plan
There are the safety problems such as air crash when instructing in flare maneuver.
S233：If less than corresponding parameter threshold during aircraft flight, assert that intending flare maneuver instruction can perform, and show
Show executable information.If it is to be appreciated that control terminal shows executable information, illustrating plan of the aircraft according to user input
Failure is less likely to occur when performing flare maneuver for flare maneuver instruction, can be advantageously used for protecting the flight safety of aircraft.
S24：If intending, flare maneuver instruction is executable, and analog demenstration aircraft performs the flight rail for intending flare maneuver instruction
Mark.I.e. on the display interface of control terminal, analog demenstration aircraft performs the flight path for intending flare maneuver instruction, to use
Family understands aircraft and performs the reached flight effect of plan flare maneuver instruction, if user is satisfied with to flight effect, can be input into
Confirmation；If user is dissatisfied to flight effect, plan flare maneuver instruction can be re-entered, to avoid blindness layout from intending flying
Row action command, can ensure the safety of aircraft flight to a certain extent.
S25：The confirmation of receiving user's input, will intend flare maneuver instruction and is sent to flight as flight control instruction
Device.It is to be appreciated that when user checks that aircraft performs the flight path of plan flare maneuver instruction on control terminal, if this flies
Row track is that user is wanted, then input validation information, after control terminal receives the confirmation of user input, will intend flying
Row action command is sent to aircraft as flight control instruction, so that aircraft flies by flight control instruction.Wherein, control
Can be communicated by WIFI, 3G network, 4G networks between terminal and aircraft.
In the flight control method of aircraft provided by the present invention, user can be compiled to Basic Flight Maneuver in advance
Number, at least two numbering of input can formation action numbering combination.When flare maneuver instruction is intended in input, at least two need to be input into only
Individual numbering forms action numbering combination, you can complete the control at least two Basic Flight Maneuvers, and control process is simple and can
Full automation is realized, and easily realizes being mutually linked between two Basic Flight Maneuvers.Meanwhile, numbered by editor's action
Combination can independent assortment Basic Flight Maneuver, so as to the flight directive for drawing countless style is combined, aircraft is automatic in order
Corresponding action is completed, user can attentively appreciate aircraft heartily and complete the multiple flare maneuvers of continuouss, without the need for controlling manually,
User can learn to compare and appreciation each other, as multiple fundamental notes can create inexhaustible beautiful music
Equally, more playing methods and enjoyment are increased to flying machine.Judge to intend whether flare maneuver instruction can perform, ensure on certain procedures
Flight safety.Under the premise of plan flare maneuver instruction is executable, analog demenstration aircraft is performed intends the winged of flare maneuver instruction
Row track, so that user understands the flight path of aircraft in advance, is more conducive to realize that the flight to aircraft is controlled.In user
After input validation information, will just intend flare maneuver instruction and aircraft is sent to as flight control instruction, flown with controlling aircraft
OK.It is to be appreciated that the flight control method of aircraft provided by the present embodiment, can make the flight of aircraft control more to pacify
Entirely, it is convenient and intelligent, and controllable aircraft continuously performs at least two Basic Flight Maneuvers, between two Basic Flight Maneuvers
It is mutually linked.
Embodiment 3
The flow chart that Fig. 3 illustrates the flight control method of the aircraft in the present embodiment.The flight controlling party of the aircraft
Method is mainly completed on board the aircraft.In the present embodiment, aircraft can be amusement type unmanned plane.As shown in figure 3, the aircraft
Flight control method includes：
S31：Prestore the control program of some Basic Flight Maneuvers.It is to be appreciated that each Basic Flight Maneuver
The controllable aircraft of control program performs a Basic Flight Maneuver.Wherein, Basic Flight Maneuver includes but is not limited to the present embodiment
In take off, land, advancing, retreating, to the left fly, to the right fly, rise, decline, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp,
Quick flashing green light, slow flash green light, roll, rock back and forth, making a return voyage, slowly flying out and slowly flying back in any one.This reality
Apply in example, the control program of Basic Flight Maneuver can be stored in advance on the firmware of aircraft, also can load in the later stage and store.
S32：Receive and parse through flight control instruction, each flight control instruction include at least two Basic Flight Maneuvers and
Execution sequence between Basic Flight Maneuver.It is to be appreciated that the flight control instruction that aircraft is received is Jing in embodiment 1
The plan flare maneuver instruction that user confirms, the flight control instruction judge whether can perform through control terminal, to ensure flight
The safety of the flight control of device, flight control process are more perfect.
S33：The control program of Basic Flight Maneuver is called according to the execution sequence in flight control instruction, to control flight
Device flies.It is to be appreciated that according to the execution sequence in flight control instruction, successively calling and in flight control instruction at least two
The control program of individual Basic Flight Maneuver is performed, and control process is simple；And can be when same flight control instruction is received, continuously
Call the control program of at least two Basic Flight Maneuvers and perform, so that aircraft is completed at least two Basic Flight Maneuvers
Flight control, control process is simple and convenient, and is connected between two Basic Flight Maneuvers more preferable.
The flight control method of the aircraft provided by the present embodiment, according to the flight control instruction for receiving, according to holding
Row order is successively called the control program of at least two Basic Flight Maneuvers and is performed, dynamic at least two basic flights to realize
The continuous control of work, is mutually linked between two Basic Flight Maneuvers, without the need for the linking for controlling two Basic Flight Maneuvers manually,
It is more beneficial in the flight safety for ensureing aircraft, it is to avoid be connected between two Basic Flight Maneuvers and go wrong, causes flight
It is dangerous to there is air crash in device.
Embodiment 4：
The flow chart that Fig. 4 illustrates the flight control method of the aircraft in the present embodiment.The flight controlling party of the aircraft
Method is mainly completed on board the aircraft.In the present embodiment, aircraft can be amusement type unmanned plane.As shown in figure 4, the aircraft
Flight control method includes：
S41：Prestore the control program and the numbering being associated with Basic Flight Maneuver of some Basic Flight Maneuvers.Can
To understand ground, the controllable aircraft of control program of each Basic Flight Maneuver performs a Basic Flight Maneuver, and this flies substantially
The control program of action is associated with a numbering, and the control program of corresponding Basic Flight Maneuver can be found according to numbering.
Specifically, Basic Flight Maneuver includes but is not limited to taking off, landing, advancing, retreating, to the left in the present embodiment
Fly, to the right fly, rise, decline, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, it is front
Any one in rocking afterwards, make a return voyage, slowly flying out and slowly flying back.In the present embodiment, the control program of Basic Flight Maneuver
Can be stored in advance on the firmware of aircraft with associated numbering, also can load in the later stage and store.
S42：Flight control instruction is received and parsed through, each flight control instruction includes at least two and Basic Flight Maneuver
Associated numbering, putting in order as the execution sequence between Basic Flight Maneuver between numbering.Due to arbitrary numbering and
Basic Flight Maneuver is associated, and the flight control instruction for receiving includes at least two volumes being associated with Basic Flight Maneuver
Number and numbering between execution sequence so that aircraft receive flight control instruction, aircraft need to be controlled and continuously performed at least
Two Basic Flight Maneuvers.It is to be appreciated that the flight control instruction that aircraft is received is Jing user's confirmation in embodiment 1
Intend flare maneuver instruction, the flight control instruction judges whether can perform through control terminal, to ensure the flight control of aircraft
The safety of system, and the flight path of analog demenstration aircraft in advance so as to which flight effect meets user's request, flight was controlled
Journey is more perfect.
S43：Control with the action corresponding Basic Flight Maneuver of numbering is called according to the execution sequence in flight control instruction
Processing procedure sequence, to control the aircraft flight.As flight control instruction includes that at least two is related to Basic Flight Maneuver
The execution sequence and Basic Flight Maneuver between is numbered in linkage, when aircraft works according to flight control instruction, needs basis to hold
Row order, successively calls the control program of the Basic Flight Maneuver being associated with the action numbering in flight control instruction to perform,
Control process is simple；And when same flight control instruction is received, can continuously call the control of at least two Basic Flight Maneuvers
Processing procedure sequence is simultaneously performed, so that aircraft completes the flight at least two Basic Flight Maneuvers and controls, control process is simple and convenient,
And it is connected more preferable between two Basic Flight Maneuvers.
The flight control method of the aircraft provided by the present embodiment, according to the flight control instruction for receiving, according to holding
Row order is successively called the control program of the corresponding Basic Flight Maneuver of at least two numberings and is performed, to realize at least two
The continuous control of Basic Flight Maneuver, is mutually linked between two Basic Flight Maneuvers, is advantageously used for ensureing the flight of aircraft
Safety, it is to avoid be connected between two Basic Flight Maneuvers and go wrong, causes aircraft that air crash occurs dangerous.
As shown in Table 1, show that numbering is the corresponding Basic Flight Maneuvers of 01-19 and is flown with basic on control terminal
The associated control parameter of action.User can be input into control eventually by the numbering combination in any of above-mentioned Basic Flight Maneuver and after sorting
End, be input into intend flare maneuver instruction, such as can be input in control terminal below numbering：01-03-03-07-07-11-12-15-
16-02.Control terminal judges whether the corresponding Basic Flight Maneuver of aircraft execution numbering is feasible, if executable, makes control
Analog demenstration interface is entered in terminal, demonstrates aircraft simulation and take off -- to advance 1 meter and -- advance 1 meter on -- rising 0.5 meter --
0.5 meter of liter -- quick flashing orange lamp -- the slow flash orange lamp -- flight path of -- rocking back and forth -- landing of rolling；Analog demenstration is completed
Afterwards, user can click on the operation button for confirming to perform with input validation information, you can send corresponding flight control to aircraft and refer to
Order.
Correspondingly, the control program of the Basic Flight Maneuver that numbering is 01-19 and associated is prestored in aircraft
Numbering.Aircraft receives the flight of the execution sequence for 01-03-03-07-07-11-12-15-16-02 of control terminal transmission
Control instruction, and the execution sequence by above-mentioned numbering performed automatically：Take off and -- advance 1 meter and -- advance 1 meter on -- rising 0.5 meter --
-- quick flashing orange lamp -- slow flash orange lamp -- -- rocking back and forth -- landing of rolling, to complete the base of one group of independent assortment of 0.5 meter of liter
The flight control of this flare maneuver.
To sum up, user can be based on above-mentioned numbering combination in any so that the combination of the flight control instruction of formation forms more
Sample so as to preferably meet the flight demand for control to aircraft, and flight control process is simple, effectively realize at least
Action linking between two Basic Flight Maneuvers.And, Basic Flight Maneuver can aircraft firmware and control terminal upgrading
It is continuously increased so that aircraft can more meet user's request.
Embodiment 5
Fig. 5 illustrates the theory diagram of the flight control assemblies of the aircraft in the present embodiment.The flight control of the aircraft
Device can be the control terminal that flight control instruction can be sent to aircraft, including but not limited to smart mobile phone, flat board electricity
Brain.As shown in figure 5, the flight control assemblies of the aircraft include：
Motion editing unit 110, the plan flare maneuver for receiving user's input are instructed, each plan flare maneuver instruction bag
Include the execution sequence between at least two Basic Flight Maneuvers and Basic Flight Maneuver.It is to be appreciated that user can be by control
Terminal input includes the plan flare maneuver instruction of the execution sequence of at least two Basic Flight Maneuvers and Basic Flight Maneuver, is used for
Make the aircraft controlled by control terminal continuously perform at least two Basic Flight Maneuvers according to flare maneuver instruction is intended, with
Realize the coherent control at least two Basic Flight Maneuvers.
Specifically, Basic Flight Maneuver includes but is not limited to taking off, landing, advancing, retreating, to the left in the present embodiment
Fly, to the right fly, rise, decline, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, it is front
Any one in rocking afterwards, make a return voyage, slowly flying out and slowly flying back.It is to be appreciated that user can be increased by control terminal
Or Basic Flight Maneuver is deleted, so that the flight control of aircraft is more perfect.
Judge processing unit 120, for judging to intend whether flare maneuver instruction can perform.It is to be appreciated that user passes through
It is feasible that control terminal controls arbitrary Basic Flight Maneuver, and the plan flare maneuver of user input is performed and includes at least two bases
This flare maneuver, if perform the plan flare maneuver instructing, it is possible to there is unreasonable or incorrect part, therefore first need to judge to intend
Whether flare maneuver can perform, to reach fool proof purpose, it is to avoid aircraft is performed when the plan flare maneuver is instructed to be occurred
Failure.There is restriction to its flying height during such as each aircraft flight, if perform intending at least two basic in flare maneuver instruction
Total flying height after flare maneuver exceedes the flying height of its restriction, then air crash or other security incidents occur, because
Whether this plan flare maneuver that need to prejudge user input can perform.
Instruction sending unit 130, for intend flare maneuver instruction it is executable when, the confirmation of receiving user's input,
Flare maneuver instruction will be intended aircraft is sent to as flight control instruction.If it is to be appreciated that intend flare maneuver instruction can hold
OK, executable information can be shown on control terminal.Now, user can be to control terminal input validation information, will be executable
Plan flare maneuver instruction be sent to aircraft as flight control instruction so that aircraft by flight control instruction flight.Its
In, can be communicated by WIFI, 3G network, 4G networks between control terminal and aircraft.
In the present embodiment, user can intend flare maneuver instruction by the input of motion editing unit 110 on control terminal；It is logical
Cross and judge that processing unit 120 judges to intend whether flare maneuver instruction can perform, to ensure the flight safety of aircraft；It is defeated in user
After entering confirmation, flare maneuver instruction will be intended by instruction sending unit 130 just and flight is sent to as flight control instruction
Device so that the flight control of aircraft is safer, and can continuously perform at least two Basic Flight Maneuvers.Due to intending flare maneuver
Instruction includes at least two Basic Flight Maneuvers with execution sequence so that the control of the flight control assemblies of the aircraft
Journey and achievable full automation, can complete various aerobatics.
Embodiment 6
Fig. 6 illustrates the theory diagram of the flight control assemblies of the aircraft in the present embodiment.The flight control of the aircraft
Device can be the control terminal that flight control instruction can be sent to aircraft, including but not limited to smart mobile phone, flat board electricity
Brain.As shown in fig. 6, the flight control assemblies of the aircraft include：
Action numbered cell 140, for being numbered to Basic Flight Maneuver, at least two numbering of input forms action volume
Number combination.Wherein, Basic Flight Maneuver include but is not limited to the present embodiment in take off, land, advancing, retreating, to the left fly, to
It is right fly, rise, declining, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, rock back and forth
Any one in shaking, make a return voyage, slowly flying out and slowly flying back.As shown in Table 1, Basic Flight Maneuver is numbered, so that
Each Basic Flight Maneuver is associated with unique numbering, can find corresponding Basic Flight Maneuver based on numbering so that by
The action numbering combination that at least two numberings are formed can correspond at least two Basic Flight Maneuvers.
Motion editing unit 110, the plan flare maneuver for receiving user's input are instructed, each plan flare maneuver instruction bag
Include the execution sequence between at least two Basic Flight Maneuvers and Basic Flight Maneuver.It is to be appreciated that user can be by control
Terminal input includes the plan flare maneuver instruction of the execution sequence of at least two Basic Flight Maneuvers and Basic Flight Maneuver, is used for
Make the aircraft controlled by control terminal continuously perform at least two Basic Flight Maneuvers according to flare maneuver instruction is intended, with
Realize the coherent control at least two Basic Flight Maneuvers.Motion editing unit 110 is specifically included：
The first information shows subelement 111, at least two Basic Flight Maneuvers and and base are shown on display interface
The associated numbering of this flare maneuver.As shown in Table 1, can show that at least two fly substantially on the display interface of control terminal
The numbering that action is made and is associated with Basic Flight Maneuver, so that user can be appreciated that the corresponding Basic Flight Maneuver of each numbering,
Input will make aircraft perform corresponding at least two numbering of Basic Flight Maneuver to form action numbering combination.
Second presentation of information subelement 112, checks information command for receiving user's input, shows on display interface
The control parameter of Basic Flight Maneuver.It is to be appreciated that user shows Basic Flight Maneuver on the display interface of terminal control
With associated numbering, when user need to understand each Basic Flight Maneuver, can user click on display interface in numbering or base
This flare maneuver, checks information command to be input into, and the control ginseng of Basic Flight Maneuver is shown on the display interface of control terminal
Number.The control parameter contributes to the performance that user understands Basic Flight Maneuver, such as clicks on numbering 05, that is, shows that aircraft is flown to the left
1 meter of this control parameter, so that user understands the performance that the Basic Flight Maneuver being associated is numbered with which, is better achieved to flying
The Based Intelligent Control of row device.It is to be appreciated that when numbering or Basic Flight Maneuver that user is clicked in display interface are checked with being input into
During information command, the points for attention of the Basic Flight Maneuver are may also display, such as not can perform under which flight environment of vehicle.
It is to be appreciated that the numbering that is associated with Basic Flight Maneuver of each group of Basic Flight Maneuver and control parameter can
Being that system is self-defined and be stored on the firmware of control terminal, it is also possible to voluntarily arranged by user as needed, so that user
Aircraft can be controlled by control terminal and perform more Basic Flight Maneuvers so as to which function is more perfect.
Instruction input subelement 113, for the action numbering combination that receive user is sequentially inputted, to form plan flare maneuver
Instruction.Each flare maneuver of intending instructs the execution sequence included between at least two Basic Flight Maneuvers and Basic Flight Maneuver.
In the present embodiment, the execution sequence between Basic Flight Maneuver is putting in order for respectively numbering in action numbering combination.
Numbering modification subelement 114, for by adding numbering and/or deleting numbering, to change action numbering combination.Can
To understand ground, after user input one intends flare maneuver instruction, by increasing numbering and/or numbering can be changed, to realize to dynamic
Make the modification of numbering combination, form new plan flare maneuver instruction.
Judge processing unit 120, for judging to intend whether flare maneuver instruction can perform.It is to be appreciated that user passes through
It is feasible that control terminal controls arbitrary Basic Flight Maneuver, and the plan flare maneuver of user input is performed and includes at least two bases
This flare maneuver, if perform the plan flare maneuver instructing, it is possible to there is unreasonable or incorrect part, therefore first need to judge to intend
Whether flare maneuver can perform, to reach fool proof purpose, it is to avoid aircraft is performed when the plan flare maneuver is instructed to be occurred
Failure.There is restriction to its flying height during such as each aircraft flight, if perform intending at least two basic in flare maneuver instruction
Total flying height after flare maneuver exceedes the flying height of its restriction, then air crash or other security incidents occur, because
Whether this plan flare maneuver that need to prejudge user input can perform.Judge that processing unit 120 is specifically included：
Parameter judgment sub-unit 121, for whether judging the control parameter sum for performing at least two Basic Flight Maneuvers
More than the parameter threshold of relevant parameter.If 20 numberings of user input are 07 plan flare maneuver instruction, 20 numberings are judged
Whether the control parameter sum (such as flying height sum) of the Basic Flight Maneuver (" flying ") for 07 exceedes aircraft flight
The parameter threshold (such as the fly able maximum height of aircraft) of height.
First performs process subelement 122, for corresponding parameter threshold when more than aircraft flight, then assert and intends flying
Row action command not can perform, and show non-executable information, so that user re-enters plan flare maneuver instruction, to avoid flight
Device is performed when the not executable plan flare maneuver is instructed there are the safety problems such as air crash.
Second performs process subelement 123, for corresponding parameter threshold when less than aircraft flight, then assert and intends
Flare maneuver instruction is executable, shows executable information.If it is to be appreciated that control terminal shows executable information, illustrating
Failure is less likely to occur when performing flare maneuver according to the instruction of the plan flare maneuver of user input for aircraft, can be advantageously used for protection
The flight safety of aircraft.
Analog demenstration unit 150, for can perform in plan flare maneuver instruction, analog demenstration aircraft execution plan is flown dynamic
The flight path that work is instructed.I.e. on the display interface of control terminal, analog demenstration aircraft is performed and intends flying for flare maneuver instruction
Row track, so that user understands aircraft and performs the reached flight effect of plan flare maneuver instruction, if user is to flight effect
It is satisfied, then can input validation information；If user is dissatisfied to flight effect, plan flare maneuver instruction can be re-entered, to keep away
Exempt from blindness layout and intend flare maneuver instruction, the safety of aircraft flight can be ensured to a certain extent.
Instruction sending unit 130, for the confirmation of receiving user's input, will intend flare maneuver instruction as flight control
Instruction processed is sent to aircraft.It is to be appreciated that when user checks that aircraft performs plan flare maneuver instruction on control terminal
During flight path, if the flight path is user being wanted, input validation information, control terminal receive user input
After confirmation, flare maneuver instruction will be intended and aircraft is sent to as flight control instruction, so that aircraft is by flight control
Instruction flight.Wherein, can be communicated by WIFI, 3G network, 4G networks between control terminal and aircraft.
In the flight control assemblies of aircraft provided by the present invention, user can be basic by action numbered cell 140 pairs
Flare maneuver is numbered.Meanwhile, then flare maneuver instruction is intended by the input of motion editing unit 110, the plan flare maneuver refers to
Order includes action numbering combination, and user need to only be input at least two numberings and form action numbering combination, you can complete at least two
The control of individual Basic Flight Maneuver, control process is simple and achievable full automation, and easily realizes that two basic flights are dynamic
Being mutually linked between work.By the 110 editor's action numbering combination of motion editing unit can independent assortment Basic Flight Maneuver, from
And showing that the flight directive of countless style is combined, aircraft is automatically performed corresponding action in order, and user can be special heartily
The heart is appreciated aircraft and completes the multiple flare maneuvers of continuouss, without the need for controlling manually, user can learn each other to compare with it is glad
Reward, as multiple fundamental notes can create inexhaustible beautiful music, to flying machine increase more playing methods and
Enjoyment.By judging that processing unit 120 judges to intend whether flare maneuver instruction can perform, flight peace is ensured on certain procedures
Entirely.Under the premise of plan flare maneuver instruction is executable, is performed by 150 analog demenstration aircraft of analog demenstration unit and intend flight
The flight path of action command, so that user understands the flight path of aircraft in advance, is more conducive to realize flying aircraft
Row control.After user input confirmation, flare maneuver instruction will be intended by instruction sending unit 130 just and be used as flight control
Instruction is sent to aircraft, to control aircraft flight.It is to be appreciated that the flight control of the aircraft that provided of the present embodiment
Device, controls can the flight of aircraft safer, convenient and intelligent, and controllable aircraft to continuously perform at least two basic
Flare maneuver, is mutually linked between two Basic Flight Maneuvers.
Embodiment 7
Fig. 7 illustrates the theory diagram of the flight control assemblies of the aircraft in the present embodiment.The flight control of the aircraft
Device can be provided on aircraft being used for the control system for controlling aircraft work.In the present embodiment, aircraft can be
Amusement type unmanned plane.As shown in fig. 7, the flight control assemblies of the aircraft include：
Program storage unit (PSU) 210, for prestoring the control program of some Basic Flight Maneuvers.It is to be appreciated that every
The controllable aircraft of the control program of one Basic Flight Maneuver performs a Basic Flight Maneuver.Wherein, Basic Flight Maneuver includes
But be not limited to taking off, landing, advancing, retreating in the present embodiment, fly to the left, fly to the right, rise, declining, it is clockwise, reverse, it is fast
Orange lamp, slow flash orange lamp are dodged, quick flashing green light, slow flash green light, rolled, rocked back and forth, making a return voyage, slowly flying out and slowly flying back
Any one.In the present embodiment, the control program of Basic Flight Maneuver can be stored in advance on the firmware of aircraft, also can after
Phase loads and stores.
Instruction reception unit 220, for receiving and parsing through flight control instruction, each flight control instruction includes at least two
Execution sequence between individual Basic Flight Maneuver and Basic Flight Maneuver.It is to be appreciated that the flight control that aircraft is received
Instruction is that the plan flare maneuver of Jing user's confirmation in embodiment 1 is instructed, and the flight control instruction judges whether through control terminal
Executable, to ensure the safety of the flight control of aircraft, flight control process is more perfect.
Control unit 230 is performed, for the control of Basic Flight Maneuver is called according to the execution sequence in flight control instruction
Processing procedure sequence, to control aircraft flight.It is to be appreciated that according to the execution sequence in flight control instruction, successively caller
In memory element 210, in flight control instruction, the control program of at least two Basic Flight Maneuvers is performed, and control process is simple；And
When same flight control instruction is received, can continuously call the control program of at least two Basic Flight Maneuvers and perform, with
Make aircraft complete the flight at least two Basic Flight Maneuvers to control, control process is simple and convenient, and two fly substantially
Between action is made, linking is more preferable.
The flight control assemblies of the aircraft provided by the present embodiment, according to the flight control instruction for receiving, according to holding
Row order is successively called the control program of at least two Basic Flight Maneuvers and is performed, dynamic at least two basic flights to realize
The continuous control of work, is mutually linked between two Basic Flight Maneuvers, without the need for the linking for controlling two Basic Flight Maneuvers manually,
It is advantageously used for ensureing the flight safety of aircraft, it is to avoid be connected between two Basic Flight Maneuvers and go wrong, cause aircraft
Generation air crash is dangerous.
Embodiment 8：
Fig. 8 illustrates the theory diagram of the flight control assemblies of the aircraft in the present embodiment.The flight control of the aircraft
Device can be provided on aircraft being used for the control system for controlling aircraft work.In the present embodiment, aircraft can be
Amusement type unmanned plane.As shown in figure 8, the flight control assemblies of the aircraft include：
Program storage unit (PSU) 210, for prestoring the control program of some Basic Flight Maneuvers and dynamic with basic flight
Make associated numbering.It is to be appreciated that the controllable aircraft of the control program of each Basic Flight Maneuver performs one and flies substantially
Action is made, and the control program of the Basic Flight Maneuver is associated with a numbering, can find basic accordingly flight according to numbering
The control program of action.
Specifically, Basic Flight Maneuver includes but is not limited to taking off, landing, advancing, retreating, to the left in the present embodiment
Fly, to the right fly, rise, decline, it is clockwise, reverse, quick flashing orange lamp, slow flash orange lamp, quick flashing green light, slow flash green light, roll, it is front
Any one in rocking afterwards, make a return voyage, slowly flying out and slowly flying back.In the present embodiment, the control program of Basic Flight Maneuver
Can be stored in advance on the firmware of aircraft with associated numbering, also can load in the later stage and store.
Instruction reception unit 220, for receiving and parsing through flight control instruction, each flight control instruction includes at least two
The individual numbering being associated with Basic Flight Maneuver, putting in order as the execution sequence between Basic Flight Maneuver between numbering.
Due to it is arbitrary numbering be associated with a Basic Flight Maneuver, the flight control instruction for receiving include at least two with fly substantially
The execution sequence between associated numbering and numbering is made in action so that the flight control instruction that aircraft is received, and need to control to fly
Row device continuously performs at least two Basic Flight Maneuvers.It is to be appreciated that the flight control instruction that aircraft is received is to implement
The plan flare maneuver instruction that Jing user confirms in example 1, the flight control instruction judge whether can perform through control terminal, to protect
The safety of the flight control of card aircraft, and the flight path of analog demenstration aircraft in advance so as to which flight effect meets use
Family demand, flight control process are more perfect.
Control unit 230 is performed, it is corresponding with numbering basic for being called according to the execution sequence in flight control instruction
The control program of flare maneuver, to control the aircraft flight.Due to flight control instruction include at least two with it is basic
Flare maneuver is associated the execution sequence between numbering and Basic Flight Maneuver, when aircraft works according to flight control instruction,
The control program of the Basic Flight Maneuver being associated with the numbering in flight control instruction according to execution sequence, need to be successively called to hold
OK, control process is simple；And at least two Basic Flight Maneuvers can be continuously called when same flight control instruction is received
Control program is simultaneously performed, so that aircraft completes the flight at least two Basic Flight Maneuvers and controls, control process is simply square
Just, and between two Basic Flight Maneuvers it is connected more preferable.
The flight control assemblies of the aircraft provided by the present embodiment, are received and parsed through by instruction reception unit 220 winged
Row control instruction, to determine the numbering and its execution sequence of Basic Flight Maneuver；Perform control unit 230 according to execution sequence from
The control program of the corresponding Basic Flight Maneuver of at least two numberings is successively called in program storage unit (PSU) 210 and is performed, with reality
The now continuous control at least two Basic Flight Maneuvers, is mutually linked between two Basic Flight Maneuvers, is advantageously used for ensureing
The flight safety of aircraft, it is to avoid be connected between two Basic Flight Maneuvers and go wrong, causes aircraft that air crash occurs dangerous.
The present invention is illustrated by several specific embodiments, it will be appreciated by those skilled in the art that, without departing from
In the case of the scope of the invention, various conversion and equivalent substitute can also be carried out to the present invention.In addition, being directed to particular condition or tool
Body situation, can make various modifications, without deviating from the scope of the present invention to the present invention.Therefore, the present invention is not limited to disclosed
Specific embodiment, and whole embodiments for falling within the scope of the appended claims should be included.
Claims (20)
1. a kind of flight control method of aircraft, it is characterised in that include：
Receiving user's input plan flare maneuver instruction, it is each plan flare maneuver instruction include at least two Basic Flight Maneuvers with
Execution sequence between the Basic Flight Maneuver；
Judge whether the plan flare maneuver instruction can perform；
If the plan flare maneuver instruction is executable, the confirmation of receiving user's input, by the plan flare maneuver instruction
Aircraft is sent to as flight control instruction.
2. the flight control method of aircraft according to claim 1, it is characterised in that also include：Substantially fly to described
Action is numbered, and at least two numbering of input forms action numbering combination.
3. the flight control method of aircraft according to claim 2, it is characterised in that the plan of the receiving user's input
Flare maneuver is instructed, including：
The numbering for Basic Flight Maneuver described at least two being shown on display interface and being associated with the Basic Flight Maneuver；
The action numbering combination that receive user is sequentially inputted, to form the plan flare maneuver instruction.
4. the flight control method of aircraft according to claim 3, it is characterised in that between the Basic Flight Maneuver
Execution sequence be that each numbering puts in order in action numbering combination.
5. the flight control method of aircraft according to claim 3, it is characterised in that the plan of the receiving user's input
Flare maneuver is instructed, and is also included：By adding numbering and/or deleting numbering, to change the action numbering combination.
6. the flight control method of aircraft according to claim 3, it is characterised in that the plan of the receiving user's input
Flare maneuver is instructed, and is also included：Receiving user's input checks information command,
The control parameter of the Basic Flight Maneuver is shown on the display interface.
7. the flight control method of aircraft according to claim 6, it is characterised in that the judgement is described, and to intend flight dynamic
Instruct and whether can perform, including：
Judge whether the control parameter sum for performing Basic Flight Maneuver described at least two exceedes the parameter threshold of relevant parameter；
If exceeding, assert that the plan flare maneuver instruction not can perform, show executable information；
If being less than, assert that the plan flare maneuver instruction is executable, show non-executable information.
8. the flight control method of aircraft according to claim 1, it is characterised in that in the plan flare maneuver instruction
After executable, also include：Analog demenstration aircraft performs the flight path for intending flare maneuver instruction.
9. a kind of flight control method, it is characterised in that include：
Prestore the control program of some Basic Flight Maneuvers；
Flight control instruction is received, each flight control instruction includes at least two Basic Flight Maneuvers and described flies substantially
Execution sequence between action work；
The control program of the Basic Flight Maneuver is called according to the execution sequence in the flight control instruction, to control flight
Device flies.
10. the flight control method of aircraft according to claim 9, it is characterised in that also include：
Prestore the control program and the numbering being associated with the Basic Flight Maneuver of some Basic Flight Maneuvers；
The flight control instruction is received and parsed through, each flight control instruction includes at least two with the basic flight
The associated numbering of action, putting in order as the execution sequence between the Basic Flight Maneuver between the numbering；
Control with the action corresponding Basic Flight Maneuver of numbering is called according to the execution sequence in the flight control instruction
Processing procedure sequence, to control the aircraft flight.
11. a kind of flight control assemblies of aircraft, it is characterised in that include：
Motion editing unit, the plan flare maneuver for receiving user's input are instructed, and each plan flare maneuver instruction is including at least
Execution sequence between two Basic Flight Maneuvers and the Basic Flight Maneuver；
Judge processing unit, for judging whether the plan flare maneuver instruction can perform；
Instruction sending unit, for when the plan flare maneuver instruction is executable, then the confirmation of receiving user's input, incites somebody to action
The plan flare maneuver instruction is sent to aircraft as flight control instruction.
The flight control method of 12. aircraft according to claim 11, it is characterised in that also including action List of Documents
Unit, for being numbered to the Basic Flight Maneuver, at least two numbering of input forms action numbering combination.
The flight control assemblies of 13. aircraft according to claim 12, it is characterised in that the motion editing unit bag
Include：
The first information shows subelement, for show on the display interface Basic Flight Maneuver described at least two and with the base
The associated numbering of this flare maneuver；
Instruction input subelement, for the action numbering combination of receiving user's input, to form the plan flare maneuver instruction.
The flight control assemblies of 14. aircraft according to claim 13, it is characterised in that the Basic Flight Maneuver it
Between execution sequence be that each numbering puts in order in action numbering combination.
The flight control assemblies of 15. aircraft according to claim 13, it is characterised in that also single including numbering modification
Unit, for by adding numbering and/or deleting numbering, to change the action numbering combination.
The flight control assemblies of 16. aircraft according to claim 13, it is characterised in that the motion editing unit is also
Including：Second presentation of information subelement, checks information command for receiving user's input；Institute is shown on the display interface
State the control parameter of Basic Flight Maneuver.
The flight control assemblies of 17. aircraft according to claim 16, it is characterised in that the judgement processing unit bag
Include：
Parameter judgment sub-unit, for judging whether the control parameter sum for performing Basic Flight Maneuver described at least two exceedes
The parameter threshold of relevant parameter；
First performs process subelement, for when more than parameter threshold, assert that the plan flare maneuver instruction not can perform, aobvious
Show executable information；
Second performs process subelement, executable for when less than parameter threshold, then assert the plan flare maneuver instruction,
Show non-executable information.
The flight control assemblies of 18. aircraft according to claim 11, it is characterised in that also including analog demenstration list
Unit, for, flight path that the analog demenstration aircraft execution plan flare maneuver instruct executable in plan flare maneuver instruction.
19. a kind of flight control assemblies of aircraft, it is characterised in that include：
Program storage unit (PSU), for prestoring the control program of some Basic Flight Maneuvers；
Instruction reception unit, for receiving flight control instruction, each flight control instruction includes that at least two fly substantially
Action is made and the execution sequence between the Basic Flight Maneuver；
Control unit is performed, for the control of the Basic Flight Maneuver is called according to the execution sequence in the flight control instruction
Processing procedure sequence, to control aircraft flight.
The flight control assemblies of 20. aircraft according to claim 19, it is characterised in that also include：
Program storage unit (PSU), for prestore some Basic Flight Maneuvers control program and with the Basic Flight Maneuver phase
The numbering of association；
Instruction reception unit, for receiving and parsing through the flight control instruction, each flight control instruction is included at least
Two numberings being associated with the Basic Flight Maneuver, being put in order between the action numbering move for the basic flight
Execution sequence between work；
Control unit is performed, it is corresponding with action numbering for being called according to the execution sequence in the flight control instruction
The control program of Basic Flight Maneuver, to control the aircraft flight.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610559821.8A CN106598061A (en) | 2016-07-15 | 2016-07-15 | Aircraft flight control method and apparatus |
| PCT/CN2016/098546 WO2018010291A1 (en) | 2016-07-15 | 2016-09-09 | Method and apparatus for controlling flight of aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610559821.8A CN106598061A (en) | 2016-07-15 | 2016-07-15 | Aircraft flight control method and apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106598061A true CN106598061A (en) | 2017-04-26 |
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| CN201610559821.8A Pending CN106598061A (en) | 2016-07-15 | 2016-07-15 | Aircraft flight control method and apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196585A (en) * | 2018-03-09 | 2018-06-22 | 深圳臻迪信息技术有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system |
| CN108989195A (en) * | 2018-05-31 | 2018-12-11 | 南京南瑞继保电气有限公司 | Monitoring system and method when a kind of scheduling mysorethorn |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598061A (en) * | 2016-07-15 | 2017-04-26 | 深圳曼塔智能科技有限公司 | Aircraft flight control method and apparatus |
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| Publication number | Publication date |
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| WO2018010291A1 (en) | 2018-01-18 |
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