CN107291101A - A kind of unmanned plane during flying autocontrol method, storage device and unmanned plane - Google Patents

A kind of unmanned plane during flying autocontrol method, storage device and unmanned plane Download PDF

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Publication number
CN107291101A
CN107291101A CN201710629795.6A CN201710629795A CN107291101A CN 107291101 A CN107291101 A CN 107291101A CN 201710629795 A CN201710629795 A CN 201710629795A CN 107291101 A CN107291101 A CN 107291101A
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course line
new
line
course
current flight
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杨艺
姚雪莲
贝绍轶
赵景波
李波
王汝佳
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Jiangsu University of Technology
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Jiangsu University of Technology
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    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a kind of unmanned plane during flying autocontrol method, storage device and unmanned plane, including：Obtain the way point information and route information of initial route set in advance；Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line；The current flight status information of unmanned plane is gathered in real time；According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；According to the new route information of the current flight status information of unmanned plane and pre-generatmg, according to new course line dynamic generation rule, the end destination coordinate in new course line is calculated；According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is guided.It always can pass through predetermined destination according to the trajectory flight of generation the invention enables the unmanned plane in current flight state, and rationally switch next course line, be accurately performed aerial mission, it is adaptable to the technical field of UAV Flight Control.

Description

A kind of unmanned plane during flying autocontrol method, storage device and unmanned plane
Technical field
The invention belongs to the technical field of UAV Flight Control, and in particular to a kind of unmanned plane during flying side of automatically controlling Method, storage device and unmanned plane.
Background technology
The line of flight of current unmanned plane is determined by the destination of several fixations mostly, i.e., take off it in unmanned plane Before, warp, latitude and the height coordinate information of the destination for process of being flown are fixed.Generally, unmanned plane passes through certain in flight Just next destination can be flown to after one destination according to predetermined course line.But unmanned plane is in actual autonomous flight, due to gps signal Deviation or disturbed by atmosphere outside, or flight control system itself control steady-state error so that nothing It is man-machine to be possible to accurately to fly by target destination, and can not once judge whether unmanned plane passes through predetermined destination, then Navigational logic can not just switch the aerial mission of next destination.In order to solve the above problems, currently existing scheme is typically design one Emergent airline generation method is planted, unmanned plane is returned to predetermined destination with most short distance.This method can cause unmanned plane Energy loss, particularly when deviation continue in the presence of, can cause unmanned plane always the destination turn back flight and can not be switched to Next destination.
The content of the invention
The present invention overcomes the shortcomings of that prior art is present, and technical problem to be solved is：There is provided one kind makes unmanned function The enough trajectory flight according to generation is by predetermined destination and rationally switches the unmanned plane during flying in next course line and automatically controls Method, storage device and unmanned plane.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of unmanned plane during flying autocontrol method, including：Obtain the way point information and boat of initial route set in advance Line information；The way point information of the initial route includes：The longitude and latitude and height coordinate of the destination of initial route, the initial boat The route information of line includes：The course angle of initial route and the length of initial route or radian；Whole piece initial route is divided into Many cross-talk course lines, and the route information per cross-talk course line is obtained, wherein, the course line between the adjacent destination of each two is navigated for a cross-talk Line；The route information in the sub- course line includes：Angle between the type in sub- course line, the course angle in sub- course line, adjacent sub- course line With the length or radian in sub- course line, the type in the sub- course line includes：The sub- course line of straight line and the sub- course line of circular arc；Gather nobody in real time The current flight status information of machine；The current flight status information includes：Flying distance or have shifted towards the number of degrees, current fly It is scanning frequency degree, the type in current flight course line, the course angle in current flight course line, the length in current flight course line or radian, current The end destination coordinate of angle and current flight course line between the line of flight and the new course line of pre-generatmg；According to working as unmanned plane Preceding state of flight information, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new route information includes：The class in new course line The length or radian of type, the course angle in new course line and new course line；According to the current flight status information and pre-generatmg of unmanned plane New route information, according to new course line dynamic generation rule, calculate the end destination coordinate in new course line；According to dynamic generation New route information, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is guided.
Preferably, the new course line dynamic generation rule, is specifically included：If current flight course line is the sub- course line of straight line, newly Course line is the sub- course line of straight line, then as the length-(1.7V in flying distance >=current flight course line2/When g), the end boat in new course line Point coordinates (x, y) is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V is current flight speed, and g accelerates for gravity Degree, (x0, y0) be current flight course line end destination coordinate, γ be new course line course angle, L1For the length in new course line；If Current flight course line is that the sub- course line of straight line, new course line are the sub- course line of circular arc, then when the length in flying distance >=current flight course line During degree-R/2, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)· L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is current The end destination coordinate of the line of flight, β is the course angle in current flight course line, and θ is the central angle in new course line；If current flight navigates Line is that the sub- course line of circular arc, new course line are the sub- course line of straight line, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line When, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V flies to be current Scanning frequency degree, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) navigated for the end in current flight course line Point coordinates, γ is the course angle in new course line, L1For the length in new course line；If current flight course line is the sub- course line of circular arc, new course line For the sub- course line of circular arc, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line, the end destination in new course line is sat Marking (x, y) is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current Flying speed, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end Destination coordinate, β is the course angle in current flight course line, and θ is the central angle in new course line.
Preferably, the Guiding rule being connected between the course line section, is specifically included：If current flight course line is straight line boat Line, new course line are the sub- course line of straight line, when the angle between current flight course line and new course line is 0, after new airline generation, nobody The guidance system of machine is directly switch into the straight course tracking in new course line；If current flight course line is the sub- course line of straight line, new course line For the sub- course line of straight line, when the angle between current flight course line and new course line is not 0, after new airline generation, the system of unmanned plane Guiding systems first switch to course angle control, and when course angle is equal to the course angle in new course line, guidance system switches to new course line again Straight course tracing control；If it is the sub- course line of circular arc, new airline generation that current flight course line, which is the sub- course line of straight line, new course line, Afterwards, the guidance system of unmanned plane switches to the circular arc course line tracing control in new course line at once；If current flight course line is circular arc Course line, new course line are the sub- course line of straight line, after new airline generation, and the guidance system of unmanned plane switches to the straight line boat in new course line at once Line tracing control；If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, unmanned plane Guidance system switch to the circular arc course line tracing control in new course line at once.
Correspondingly, a kind of storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be loaded and held by processor OK：Obtain the way point information and route information of initial route set in advance；The way point information of the initial route includes：Initially The longitude and latitude and height coordinate of the destination in course line, the route information of the initial route include：The course angle of initial route and just Beginning course line length or radian；Whole piece initial route is divided into many cross-talk course lines, and route information of the acquisition per cross-talk course line, Wherein, the course line between the adjacent destination of each two is a cross-talk course line；The route information in the sub- course line includes：The class in sub- course line The length or radian of angle and sub- course line between type, the course angle in sub- course line, adjacent sub- course line, the type bag in the sub- course line Include：The sub- course line of straight line and the sub- course line of circular arc；The current flight status information of unmanned plane is gathered in real time；The current flight state letter Breath includes：Flying distance or have shifted towards the number of degrees, current flight speed, the type in current flight course line, current flight course line Course angle, the length in current flight course line or radian, the angle between the new course line of current flight course line and pre-generatmg and work as The end destination coordinate of the preceding line of flight；According to the current flight status information of unmanned plane, Pre-Evaluation unmanned plane pre-generatmg it is new Route information；The new route information includes：The length or radian of the type in new course line, the course angle in new course line and new course line； According to the new route information of the current flight status information of unmanned plane and pre-generatmg, according to new course line dynamic generation rule, meter Calculate the end destination coordinate in new course line；According to the new route information of dynamic generation, advised according to the guidance being connected between the section of course line Then, the flight to unmanned plane is guided.
Preferably, the new course line dynamic generation rule, is specifically included：If current flight course line is the sub- course line of straight line, newly Course line is the sub- course line of straight line, then as the length-(1.7V in flying distance >=current flight course line2/When g), the end boat in new course line Point coordinates (x, y) is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V is current flight speed, and g accelerates for gravity Degree, (x0, y0) be current flight course line end destination coordinate, γ be new course line course angle, L1For the length in new course line；If Current flight course line is that the sub- course line of straight line, new course line are the sub- course line of circular arc, then when the length in flying distance >=current flight course line During degree-R/2, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)· L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is current The end destination coordinate of the line of flight, β is the course angle in current flight course line, and θ is the central angle in new course line；If current flight navigates Line is that the sub- course line of circular arc, new course line are the sub- course line of straight line, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line When, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V flies to be current Scanning frequency degree, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) navigated for the end in current flight course line Point coordinates, γ is the course angle in new course line, L1For the length in new course line；If current flight course line is the sub- course line of circular arc, new course line For the sub- course line of circular arc, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line, the end destination in new course line is sat Marking (x, y) is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current Flying speed, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end Destination coordinate, β is the course angle in current flight course line, and θ is the central angle in new course line.
Preferably, the Guiding rule being connected between the course line section, is specifically included：If current flight course line is straight line boat Line, new course line are the sub- course line of straight line, when the angle between current flight course line and new course line is 0, after new airline generation, nobody The guidance system of machine is directly switch into the straight course tracking in new course line；If current flight course line is the sub- course line of straight line, new course line For the sub- course line of straight line, when the angle between current flight course line and new course line is not 0, after new airline generation, the system of unmanned plane Guiding systems first switch to course angle control, and when course angle is equal to the course angle in new course line, guidance system switches to new course line again Straight course tracing control；If it is the sub- course line of circular arc, new airline generation that current flight course line, which is the sub- course line of straight line, new course line, Afterwards, the guidance system of unmanned plane switches to the circular arc course line tracing control in new course line at once；If current flight course line is circular arc Course line, new course line are the sub- course line of straight line, after new airline generation, and the guidance system of unmanned plane switches to the straight line boat in new course line at once Line tracing control；If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, unmanned plane Guidance system switch to the circular arc course line tracing control in new course line at once.
Correspondingly, a kind of unmanned plane, including：Processor, is adapted for carrying out each instruction；And storage device, wherein being stored with A plurality of instruction, the instruction is suitable to be loaded and performed by processor：Obtain the way point information and boat of initial route set in advance Line information；The way point information of the initial route includes：The longitude and latitude and height coordinate of the destination of initial route, the initial boat The route information of line includes：The course angle of initial route and the length of initial route or radian；Whole piece initial route is divided into Many cross-talk course lines, and the route information per cross-talk course line is obtained, wherein, the course line between the adjacent destination of each two is navigated for a cross-talk Line；The route information in the sub- course line includes：Angle between the type in sub- course line, the course angle in sub- course line, adjacent sub- course line With the length or radian in sub- course line, the type in the sub- course line includes：The sub- course line of straight line and the sub- course line of circular arc；Gather nobody in real time The current flight status information of machine；The current flight status information includes：Flying distance or have shifted towards the number of degrees, current fly It is scanning frequency degree, the type in current flight course line, the course angle in current flight course line, the length in current flight course line or radian, current The end destination coordinate of angle and current flight course line between the line of flight and the new course line of pre-generatmg；According to working as unmanned plane Preceding state of flight information, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new route information includes：The class in new course line The length or radian of type, the course angle in new course line and new course line；According to the current flight status information and pre-generatmg of unmanned plane New route information, according to new course line dynamic generation rule, calculate the end destination coordinate in new course line；According to dynamic generation New route information, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is guided.
Preferably, the new course line dynamic generation rule, is specifically included：If current flight course line is the sub- course line of straight line, newly Course line is the sub- course line of straight line, then as the length-(1.7V in flying distance >=current flight course line2/When g), the end boat in new course line Point coordinates (x, y) is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V is current flight speed, and g accelerates for gravity Degree, (x0, y0) be current flight course line end destination coordinate, γ be new course line course angle, L1For the length in new course line；If Current flight course line is that the sub- course line of straight line, new course line are the sub- course line of circular arc, then when the length in flying distance >=current flight course line During degree-R/2, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)· L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is current The end destination coordinate of the line of flight, β is the course angle in current flight course line, and θ is the central angle in new course line；If current flight navigates Line is that the sub- course line of circular arc, new course line are the sub- course line of straight line, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line When, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ·L1；Wherein, V flies to be current Scanning frequency degree, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) navigated for the end in current flight course line Point coordinates, γ is the course angle in new course line, L1For the length in new course line；If current flight course line is the sub- course line of circular arc, new course line For the sub- course line of circular arc, then as the central angle-V/R in the number of degrees having shifted towards >=current flight course line, the end destination in new course line is sat Marking (x, y) is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current Flying speed, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end Destination coordinate, β is the course angle in current flight course line, and θ is the central angle in new course line.
Preferably, the Guiding rule being connected between the course line section, is specifically included：If current flight course line is straight line boat Line, new course line are the sub- course line of straight line, when the angle between current flight course line and new course line is 0, after new airline generation, nobody The guidance system of machine is directly switch into the straight course tracking in new course line；If current flight course line is the sub- course line of straight line, new course line For the sub- course line of straight line, when the angle between current flight course line and new course line is not 0, after new airline generation, the system of unmanned plane Guiding systems first switch to course angle control, and when course angle is equal to the course angle in new course line, guidance system switches to new course line again Straight course tracing control；If it is the sub- course line of circular arc, new airline generation that current flight course line, which is the sub- course line of straight line, new course line, Afterwards, the guidance system of unmanned plane switches to the circular arc course line tracing control in new course line at once；If current flight course line is circular arc Course line, new course line are the sub- course line of straight line, after new airline generation, and the guidance system of unmanned plane switches to the straight line boat in new course line at once Line tracing control；If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, unmanned plane Guidance system switch to the circular arc course line tracing control in new course line at once.
The present invention has the advantages that compared with prior art：
1st, the way point information and route information of the invention by gathering initial route set in advance, using destination as boundary Point, is divided into sub- course line of the multi-segment type for circular arc or straight line by whole piece initial route, obtains the route information per cross-talk course line, When unmanned plane during flying, the current state of flight of collection unmanned plane in real time estimates out will generate new according to the state of flight Route information, the new route information using current flight state and pre-generatmg is dynamically raw according to given new course line as prior information Into rule, the horizontal lateral line of flight is dynamically generated, according to the new route information of dynamic generation, is connected according between the section of course line Guiding rule, the flight to unmanned plane guides.Before new course line dynamic generation, the shape of unmanned plane has been taken into full account State and the flight performance that have evaluated unmanned plane in advance, hence in so that the unmanned plane in current flight state always can be according to life Into trajectory flight pass through predetermined destination, and rationally switch next course line, be accurately performed aerial mission.
2nd, in the present invention, the linking between each sub- course line of dynamic generation uses arc track, passes through unmanned plane true Determine the circular arc flight of radius, it is to avoid the course line in two different courses occur when being mutually connected larger flight lateral deviation away from the problem of.
Brief description of the drawings
The present invention will be further described in detail below in conjunction with the accompanying drawings；
Fig. 1 is a kind of flow chart of unmanned plane during flying autocontrol method provided in an embodiment of the present invention；
Fig. 2A is course angle schematic diagram when initial route provided in an embodiment of the present invention is straight line；
Fig. 2 B are course angle schematic diagram when initial route provided in an embodiment of the present invention is circular arc；
Fig. 3 A are the signal of the angle between current flight course line when new course line provided in an embodiment of the present invention is straight line Figure；
Fig. 3 B are the signal of the angle between current flight course line when new course line provided in an embodiment of the present invention is circular arc Figure；
Fig. 4 is a kind of structural representation of unmanned plane during flying automatic control system provided in an embodiment of the present invention；
In figure：101 be acquisition module, and 102 be division module, and 103 be acquisition module, and 104 be evaluation module, and 105 be meter Module is calculated, 106 be guide module processed.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is A part of embodiment of the present invention, rather than whole embodiments；Based on the embodiment in the present invention, ordinary skill people The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The invention provides a kind of unmanned plane during flying autocontrol method, this method includes：
Obtain the way point information and route information of initial route set in advance；The way point information bag of the initial route Include：The longitude and latitude and height coordinate of the destination of initial route, the route information of the initial route include：The course of initial route Angle and the length or radian of initial route.
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two Course line between adjacent destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, sub- course line The length or radian of angle and sub- course line between course angle, adjacent sub- course line, the type in the sub- course line include：Straight line boat Line and the sub- course line of circular arc.
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance Or the number of degrees, current flight speed, the type in current flight course line, the course angle in current flight course line, the current flight having shifted towards Navigate the end of angle and current flight course line between the new course line of the length or radian in course line, current flight course line and pre-generatmg Point coordinates.
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new boat Line information includes：The length or radian of the type in new course line, the course angle in new course line and new course line.
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, according to new course line dynamic generation Rule, calculates the end destination coordinate in new course line.
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane Guided.
In the specific implementation, the course angle of initial route is defined below：If initial route is straight line, initial route Course angle is the angle clockwise of the straight line and direct north, as shown in Figure 2 A；If initial route is circular arc, initial route Course angle for circular arc distal point tangent line and direct north angle clockwise, as shown in Figure 2 B.
In the specific implementation, the course angle in new course line, it should meet following relation：Course angle=the current flight in new course line The course angle in course line+new angle between course line and current flight course line, wherein, if new course line is straight line, above-mentioned angle is Current flight course line is to the angle in new course line, and it is counterclockwise negative just to be clockwise；If new course line is circular arc, above-mentioned angle is Current flight course line to new course line distal point tangent line angle, clockwise for just, be counterclockwise it is negative, as shown in Figure 3.
In the specific implementation, if new course line is straight line, the length in new course line is last away from current flight course line for new way point The distance at end；If new course line is circular arc, the radian in new course line is angle of the current flight course line to new course line distal point tangent line, Clockwise for just, counterclockwise is negative.
In the specific implementation, the reason for by whole plot of route for straight line and circular arc two types, be in order to avoid generation Irregular course line, influences the control to unmanned plane during flying.
The present embodiment is by gathering the way point information and route information of initial route set in advance, using destination as boundary Point, is divided into sub- course line of the multi-segment type for circular arc or straight line by whole piece initial route, obtains the route information per cross-talk course line, When unmanned plane during flying, the current state of flight of collection unmanned plane in real time estimates out will generate new according to the state of flight Route information, the new route information using current flight state and pre-generatmg is dynamically raw according to given new course line as prior information Into rule, the horizontal lateral line of flight is dynamically generated, according to the new route information of dynamic generation, is connected according between the section of course line Guiding rule, the flight to unmanned plane guides.Before new course line dynamic generation, the shape of unmanned plane has been taken into full account State and the flight performance that have evaluated unmanned plane in advance, hence in so that the unmanned plane in current flight state always can be according to life Into trajectory flight pass through predetermined destination, and rationally switch next course line, be accurately performed aerial mission.
Specifically, the new course line dynamic generation rule, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies The length in row course line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies During length-the R/2 in row course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end destination coordinate, β be current flight course line course angle, θ be new course line central angle.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) For the end destination coordinate in current flight course line, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+ cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the rank in current flight course line and new course line Connect the arc radius of section, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is The central angle in new course line.
In the specific implementation, the size of joining section arc radius is relevant with the flying speed that unmanned plane is current, R= tan30°·g/V2, wherein, V is current flight speed, and g is acceleration of gravity.
In the present embodiment, the linking between each sub- course line of dynamic generation uses arc track, passes through unmanned plane true Determine the circular arc flight of radius, it is to avoid the course line in two different courses occur when being mutually connected larger flight lateral deviation away from the problem of.
Specifically, the Guiding rule being connected between the course line section, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats course angle etc. When the course angle in new course line, guidance system switches to the straight course tracing control in new course line again.
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the system of unmanned plane Guiding systems switch to the straight course tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
Present invention also offers a kind of unmanned plane during flying automatic control system, including：
Acquisition module 101：Way point information and route information for obtaining initial route set in advance；The initial boat The way point information of line includes：The longitude and latitude and height coordinate of the destination of initial route, the route information of the initial route include： The course angle of initial route and the length of initial route or radian；
Division module 102：For whole piece initial route to be divided into many cross-talk course lines, and obtain the course line per cross-talk course line Information, wherein, the course line between the adjacent destination of each two is a cross-talk course line；The route information in the sub- course line includes：Son boat The length or radian of angle and sub- course line between the type of line, the course angle in sub- course line, adjacent sub- course line, the sub- course line Type includes：The sub- course line of straight line and the sub- course line of circular arc；
Acquisition module 103：Current flight status information for gathering unmanned plane in real time；The current flight status information Including：Flying distance or have shifted towards the number of degrees, current flight speed, the type in current flight course line, current flight course line Angle between the new course line of course angle, the length in current flight course line or radian, current flight course line and pre-generatmg and current The end destination coordinate of the line of flight；
Evaluation module 104：For the current flight status information according to unmanned plane, the new boat of Pre-Evaluation unmanned plane pre-generatmg Line information；The new route information includes：The length or radian of the type in new course line, the course angle in new course line and new course line；
Computing module 105：For the current flight status information and the new route information of pre-generatmg according to unmanned plane, press According to new course line dynamic generation rule, the end destination coordinate in new course line is calculated；
Guide module 106 processed：For the new route information according to dynamic generation, advised according to the guidance being connected between the section of course line Then, the flight to unmanned plane is guided.
Present invention also offers a kind of storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be added by processor Carry and perform：
Obtain the way point information and route information of initial route set in advance；The way point information bag of the initial route Include：The longitude and latitude and height coordinate of the destination of initial route, the route information of the initial route include：The course of initial route Angle and the length or radian of initial route.
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two Course line between adjacent destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, sub- course line The length or radian of angle and sub- course line between course angle, adjacent sub- course line, the type in the sub- course line include：Straight line boat Line and the sub- course line of circular arc.
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance Or the number of degrees, current flight speed, the type in current flight course line, the course angle in current flight course line, the current flight having shifted towards Navigate the end of angle and current flight course line between the new course line of the length or radian in course line, current flight course line and pre-generatmg Point coordinates.
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new boat Line information includes：The length or radian of the type in new course line, the course angle in new course line and new course line.
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, according to new course line dynamic generation Rule, calculates the end destination coordinate in new course line.
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane Guided.
Specifically, the new course line dynamic generation rule, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies The length in row course line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies During length-the R/2 in row course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end destination coordinate, β be current flight course line course angle, θ be new course line central angle.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) For the end destination coordinate in current flight course line, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+ cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the rank in current flight course line and new course line Connect the arc radius of section, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is The central angle in new course line.
Specifically, the Guiding rule being connected between the course line section, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats course angle etc. When the course angle in new course line, guidance system switches to the straight course tracing control in new course line again.
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the system of unmanned plane Guiding systems switch to the straight course tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
Present invention also offers a kind of unmanned plane, it may include：
Processor, is adapted for carrying out each instruction；And
Storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be loaded and performed by processor：
Obtain the way point information and route information of initial route set in advance；The way point information bag of the initial route Include：The longitude and latitude and height coordinate of the destination of initial route, the route information of the initial route include：The course of initial route Angle and the length or radian of initial route.
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two Course line between adjacent destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, sub- course line The length or radian of angle and sub- course line between course angle, adjacent sub- course line, the type in the sub- course line include：Straight line boat Line and the sub- course line of circular arc.
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance Or the number of degrees, current flight speed, the type in current flight course line, the course angle in current flight course line, the current flight having shifted towards Navigate the end of angle and current flight course line between the new course line of the length or radian in course line, current flight course line and pre-generatmg Point coordinates.
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new boat Line information includes：The length or radian of the type in new course line, the course angle in new course line and new course line.
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, according to new course line dynamic generation Rule, calculates the end destination coordinate in new course line.
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane Guided.
Specifically, the new course line dynamic generation rule, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies The length in row course line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flies During length-the R/2 in row course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be current flight course line end destination coordinate, β be current flight course line course angle, θ be new course line central angle.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cos γ·L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) For the end destination coordinate in current flight course line, γ is the course angle in new course line, L1For the length in new course line.
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees having shifted towards >=current During central angle-the V/R of the line of flight, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+ cos(β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the rank in current flight course line and new course line Connect the arc radius of section, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is The central angle in new course line.
Specifically, the Guiding rule being connected between the course line section, specifically may include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line.
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when current flight course line and new course line Between angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats course angle etc. When the course angle in new course line, guidance system switches to the straight course tracing control in new course line again.
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the system of unmanned plane Guiding systems switch to the straight course tracing control in new course line at once.
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the system of unmanned plane Guiding systems switch to the circular arc course line tracing control in new course line at once.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (9)

1. a kind of unmanned plane during flying autocontrol method, it is characterised in that：Including：
Obtain the way point information and route information of initial route set in advance；The way point information of the initial route includes：Just Beginning course line destination longitude and latitude and height coordinate, the route information of the initial route includes：The course angle of initial route and The length or radian of initial route；
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two is adjacent Course line between destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, the course in sub- course line The length or radian of angle and sub- course line between angle, adjacent sub- course line, the type in the sub- course line include：The sub- course line of straight line and The sub- course line of circular arc；
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance or The number of degrees of steering, current flight speed, the type in current flight course line, the course angle in current flight course line, current flight course line Length or radian, current flight course line and pre-generatmg new course line between angle and the end destination in current flight course line sit Mark；
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new course line letter Breath includes：The length or radian of the type in new course line, the course angle in new course line and new course line；
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, advised according to new course line dynamic generation Then, the end destination coordinate in new course line is calculated；
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is carried out Guidance.
2. a kind of unmanned plane during flying autocontrol method according to claim 1, it is characterised in that：The new course line dynamic Create-rule, is specifically included：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat The length of line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is The course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat During length-the R/2 of line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/ 2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be The end destination coordinate in current flight course line, β is the course angle in current flight course line, and θ is the central angle in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is to work as The end destination coordinate of the preceding line of flight, γ is the course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the joining section in current flight course line and new course line Arc radius, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is new boat The central angle of line.
3. a kind of unmanned plane during flying autocontrol method according to claim 1, it is characterised in that：Between the course line section The Guiding rule of linking, is specifically included：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats that course angle is equal to new During the course angle in course line, guidance system switches to the straight course tracing control in new course line again；
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the guidance system of unmanned plane System switches to the straight course tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once.
4. a kind of storage device, wherein a plurality of instruction that is stored with, it is characterised in that：The instruction is suitable to be loaded and held by processor OK：
Obtain the way point information and route information of initial route set in advance；The way point information of the initial route includes：Just Beginning course line destination longitude and latitude and height coordinate, the route information of the initial route includes：The course angle of initial route and The length or radian of initial route；
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two is adjacent Course line between destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, the course in sub- course line The length or radian of angle and sub- course line between angle, adjacent sub- course line, the type in the sub- course line include：The sub- course line of straight line and The sub- course line of circular arc；
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance or The number of degrees of steering, current flight speed, the type in current flight course line, the course angle in current flight course line, current flight course line Length or radian, current flight course line and pre-generatmg new course line between angle and the end destination in current flight course line sit Mark；
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new course line letter Breath includes：The length or radian of the type in new course line, the course angle in new course line and new course line；
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, advised according to new course line dynamic generation Then, the end destination coordinate in new course line is calculated；
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is carried out Guidance.
5. a kind of storage device according to claim 4, it is characterised in that：The new course line dynamic generation rule, specifically Including：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat The length of line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is The course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat During length-the R/2 of line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/ 2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be The end destination coordinate in current flight course line, β is the course angle in current flight course line, and θ is the central angle in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is to work as The end destination coordinate of the preceding line of flight, γ is the course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the joining section in current flight course line and new course line Arc radius, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is new boat The central angle of line.
6. a kind of storage device according to claim 4, it is characterised in that：The guidance rule being connected between the course line section Then, specifically include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats that course angle is equal to new During the course angle in course line, guidance system switches to the straight course tracing control in new course line again；
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the guidance system of unmanned plane System switches to the straight course tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once.
7. a kind of unmanned plane, it is characterised in that：Including：
Processor, is adapted for carrying out each instruction；And
Storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be loaded and performed by processor：
Obtain the way point information and route information of initial route set in advance；The way point information of the initial route includes：Just Beginning course line destination longitude and latitude and height coordinate, the route information of the initial route includes：The course angle of initial route and The length or radian of initial route；
Whole piece initial route is divided into many cross-talk course lines, and obtains the route information per cross-talk course line, wherein, each two is adjacent Course line between destination is a cross-talk course line；The route information in the sub- course line includes：The type in sub- course line, the course in sub- course line The length or radian of angle and sub- course line between angle, adjacent sub- course line, the type in the sub- course line include：The sub- course line of straight line and The sub- course line of circular arc；
The current flight status information of unmanned plane is gathered in real time；The current flight status information includes：Flying distance or The number of degrees of steering, current flight speed, the type in current flight course line, the course angle in current flight course line, current flight course line Length or radian, current flight course line and pre-generatmg new course line between angle and the end destination in current flight course line sit Mark；
According to the current flight status information of unmanned plane, the new route information of Pre-Evaluation unmanned plane pre-generatmg；The new course line letter Breath includes：The length or radian of the type in new course line, the course angle in new course line and new course line；
According to the new route information of the current flight status information of unmanned plane and pre-generatmg, advised according to new course line dynamic generation Then, the end destination coordinate in new course line is calculated；
According to the new route information of dynamic generation, according to the Guiding rule being connected between the section of course line, the flight to unmanned plane is carried out Guidance.
8. a kind of unmanned plane according to claim 7, it is characterised in that：The new course line dynamic generation rule, specific bag Include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat The length of line-(1.7V2/When g), the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and g is acceleration of gravity, (x0, y0) be current flight course line end destination coordinate, γ is The course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of straight line, new course line, when flying distance >=current flight boat During length-the R/2 of line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos(β+θ/ 2)·L2, L2=θ/180 ° R；Wherein, R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) be The end destination coordinate in current flight course line, β is the course angle in current flight course line, and θ is the central angle in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sinγ·L1, y=y0+cosγ· L1；Wherein, V is current flight speed, and R is current flight course line and the arc radius of the joining section in new course line, (x0, y0) it is to work as The end destination coordinate of the preceding line of flight, γ is the course angle in new course line, L1For the length in new course line；
If it is the sub- course line of circular arc that current flight course line, which is the sub- course line of circular arc, new course line, when the number of degrees >=current flight having shifted towards During central angle-the V/R in course line, the end destination coordinate (x, y) in new course line is：X=x0+sin(β+θ/2)·L2, y=y0+cos (β+θ/2)·L2, L2=θ/180 ° R；Wherein, V is current flight speed, and R is the joining section in current flight course line and new course line Arc radius, (x0, y0) be current flight course line end destination coordinate, β is the course angle in current flight course line, and θ is new boat The central angle of line.
9. a kind of unmanned plane according to claim 7, it is characterised in that：The Guiding rule being connected between the course line section, Specifically include：
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being 0, after new airline generation, the guidance system of unmanned plane is directly switch into the straight course tracking in new course line；
If it is the sub- course line of straight line that current flight course line, which is the sub- course line of straight line, new course line, when between current flight course line and new course line Angle when being not 0, after new airline generation, the guidance system of unmanned plane first switches to course angle control, treats that course angle is equal to new During the course angle in course line, guidance system switches to the straight course tracing control in new course line again；
If current flight course line is the sub- course line of straight line, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of straight line, new airline generation after, the guidance system of unmanned plane System switches to the straight course tracing control in new course line at once；
If current flight course line is the sub- course line of circular arc, new course line be the sub- course line of circular arc, new airline generation after, the guidance system of unmanned plane System switches to the circular arc course line tracing control in new course line at once.
CN201710629795.6A 2017-07-28 2017-07-28 A kind of unmanned plane during flying autocontrol method, storage device and unmanned plane Pending CN107291101A (en)

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Application publication date: 20171024