CN107357300A - The method and system of sensitizing range are sailed out of for destination object - Google Patents
The method and system of sensitizing range are sailed out of for destination object Download PDFInfo
- Publication number
- CN107357300A CN107357300A CN201710419952.0A CN201710419952A CN107357300A CN 107357300 A CN107357300 A CN 107357300A CN 201710419952 A CN201710419952 A CN 201710419952A CN 107357300 A CN107357300 A CN 107357300A
- Authority
- CN
- China
- Prior art keywords
- coordinate information
- sensitizing range
- current location
- base coordinate
- location area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001235 sensitizing effect Effects 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The present invention discloses a kind of method for sailing out of sensitizing range for destination object, and methods described includes：Obtain the base coordinate information of destination object Current location area；According to the base coordinate information, judge whether the Current location area belongs to default sensitizing range；If so, the destination object, which sails out of, sends visual alarm information in Current location area；The visual alarm information includes：The destination object is in Current location area traveling S tracks；The destination object sails out of the sensitizing range.The present invention to solve how to avoid unmanned plane in flight course often after swarming into unintentionally in the prior art, due to and be unaware of and continue the technical problem of flight.
Description
Technical field
It is more particularly to a kind of to sail out of the method for sensitizing range for destination object and be the invention belongs to technical field of aerospace
System.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the program control system provided for oneself
Not manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, program control system are installed.On ground, naval vessels or
Machine tool remote control station personnel are tracked to it, positioned, being remotely controlled, remote measurement and Digital Transmission by equipment such as radars.Can be in radio
Take off as conventional airplane or launched with booster rocket under remote control, can also take aerial launch to by machine tool and fly.Recovery
When, the mode automatic Landing as conventional airplane landing mission can be used, can also be reclaimed by remote control parachute or block.Can
It is reused several times.It is widely used in aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc..
However, the sensitizing ranges such as some military bases, Civil Aviation Airport, government house both at home and abroad all be present, these are sensitive
Unmanned plane is forbidden to enter interior flight due to some cause specifics in region.And existing unmanned plane, due to and be unaware of which area
The sensitizing range for flight that domain is that no admittance, therefore unmanned plane is often after swarming into unintentionally in flight course, due to not
Know and continue to fly, and then bring some unnecessary troubles or even violate the law.
In consideration of it, how to avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of and after
The technical problem of continuous flight, it is the technical barrier that this area is badly in need of solving.
The content of the invention
The present invention provides a kind of method and system that sensitizing range is sailed out of for destination object, to solve in the prior art
How to avoid unmanned plane in flight course often after swarming into unintentionally, due to and the technology that is unaware of and continues flight ask
Topic.
In a first aspect, the embodiments of the invention provide a kind of method for sailing out of sensitizing range for destination object, the side
Method includes：Obtain the base coordinate information of destination object Current location area；According to the base coordinate information, described work as is judged
Whether front position region belongs to default sensitizing range；If so, the destination object sails out of and sends vision in Current location area
Warning message；The visual alarm information includes：The destination object is in Current location area traveling S tracks；The target pair
As sailing out of the sensitizing range.
Optionally, it is described according to the base coordinate information, judge whether the Current location area belongs to default quick
Sensillary area domain, including：The base coordinate information is pre-processed, the standard corresponding with the base coordinate information is obtained and sits
Mark information；According to the standard coordinate information, judge whether the Current location area belongs to default sensitizing range.
Optionally, it is described that the base coordinate information is pre-processed, obtain corresponding with the base coordinate information
Standard coordinate information include：Obtain the first longitude and latitude numerical value corresponding to the base coordinate information；By first longitude and latitude
The digit of end three after the decimal point of number of degrees value removes, and the numerical value after removal is as the second longitude and latitude numerical value；By second longitude and latitude
Number of degrees value is as the standard coordinate information corresponding with the base coordinate information.
Optionally, the presetting method of the sensitizing range includes：Obtain at least three edge coordinate information of sensitizing range；
By at least three edge coordinates information, in a manner of adjacent coordinates are connected two-by-two, a regional graphics are obtained；Wherein, it is described
Regional graphics are polygons；Stored the regional graphics as the sensitizing range.
Optionally, it is described according to the base coordinate information, judge whether the Current location area belongs to default quick
Sensillary area domain includes：Judge whether the base coordinate information falls on the polygon or the interior zone of the polygon；
If so, then judge that the Current location area is sensitizing range.
Second aspect, the embodiment of the present invention additionally provide a kind of system for sailing out of sensitizing range for destination object, including：
Coordinate information acquisition module, for obtaining the base coordinate information of destination object Current location area；Judge module, for foundation
The base coordinate information, judges whether the Current location area belongs to default sensitizing range；Warning message respond module,
For if so, the destination object, which sails out of, sends visual alarm information in Current location area；The visual alarm information includes：
The destination object is in Current location area traveling S tracks；Module is sailed out of, the destination object sails out of the sensitizing range.
Optionally, the judge module includes：First judging submodule, for being located in advance to the base coordinate information
Reason, obtains the standard coordinate information corresponding with the base coordinate information；Second judging submodule, for according to the standard
Coordinate information, judges whether the Current location area belongs to default sensitizing range.
Optionally, first judging submodule includes：First longitude and latitude acquiring unit, for obtaining the base coordinate
The first longitude and latitude numerical value corresponding to information；Second longitude and latitude acquiring unit, for taking the decimal of the first longitude and latitude numerical value
Three bit values after point, as the second longitude and latitude numerical value；Standard coordinate information generating unit, for by the second longitude and latitude numerical value
As the standard coordinate information corresponding with the base coordinate information.
Optionally, the judge module also includes：First subelement, at least three edges for obtaining sensitizing range are sat
Mark information；Second subelement, for by least three edge coordinates information, in a manner of adjacent coordinates are connected two-by-two, obtaining
To a regional graphics；Wherein, the regional graphics are polygons；3rd subelement, for using the regional graphics as described in
Sensitizing range is stored.
Optionally, the judge module is additionally operable to：Judge the base coordinate information whether fall on the polygon or
The interior zone of polygon described in person；If so, then judge that the Current location area is sensitizing range.
The one or more technical schemes provided in the embodiment of the present invention, have at least the following technical effects or advantages：
The method and system for being used for destination object and sailing out of sensitizing range that the application provides, by obtaining unmanned plane present bit
Put the coordinate information in region, and by it to whether belonging to default sensitizing range and judging, if so, then unmanned plane sails out of currently
Position, efficiently avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of and continue to fly
Technical problem.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of the method provided in an embodiment of the present invention that sensitizing range is sailed out of for destination object；And
Fig. 2 is the schematic diagram that GPS map provided in an embodiment of the present invention splits plate；
Fig. 3 is the stream provided in an embodiment of the present invention when obtaining the base coordinate information of Current location area for unmanned plane
Journey schematic diagram；
Fig. 4 is provided in an embodiment of the present invention when obtaining the base coordinate information of Current location area for a controller
Schematic flow sheet；
Fig. 5 is the schematic diagram of the device provided in an embodiment of the present invention that sensitizing range is sailed out of for destination object.
Embodiment
What the embodiment of the present invention carried sails out of the method and system of sensitizing range for a kind of for destination object, by obtaining nothing
The coordinate information of man-machine Current location area, and by it to whether belonging to default sensitizing range and judging, if so, then nobody
Machine sails out of current location, efficiently avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of
And continue the technical problem of flight, the technique effect for having reached effective identification sensitizing range and having controlled unmanned plane to sail out of in time.
Technical scheme in the embodiment of the present invention, general thought are as follows：
A kind of method for sailing out of sensitizing range for destination object, methods described include：Obtain destination object current location
The base coordinate information in region；According to the base coordinate information, judge whether the Current location area belongs to default quick
Sensillary area domain；If so, the destination object, which sails out of, sends visual alarm information in Current location area；The visual alarm packet
Include：The destination object is in Current location area traveling S tracks；The destination object sails out of the sensitizing range.
It is pointed out that in embodiments of the present invention, the destination object is unmanned plane, but those skilled in the art can
To understand, unmanned plane is only one kind in destination object, in the present invention the unmanned communication van of the destination object, unmanned commander
The electronic equipments such as ship.
By obtaining the coordinate information of unmanned plane Current location area in the above method, and by it to whether belonging to default
Sensitizing range is judged, if so, then unmanned plane sails out of current location, efficiently avoid unmanned plane in flight course often
After swarming into unintentionally, due to and be unaware of and continue flight technical problem.
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
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, expression may have three kinds of passes
System, for example, A and/or B, can be represented：Individualism A, while A and B be present, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
Embodiment one
The embodiment of the present invention one provides a kind of method for sailing out of sensitizing range for destination object, refer to Fig. 1, described
Method includes：
Step S110；Obtain the base coordinate information of destination object Current location area；
Step S120；According to the base coordinate information, judge whether the Current location area belongs to default sensitivity
Region；
Step S130；If so, the destination object sails out of the sensitizing range.
For example, methods described can apply to unmanned plane field, and can also be applied to car, ship etc. has telecommunications
Other smart fields of function.
Specifically, studied according to inventor and find some military bases, Civil Aviation Airport, government both at home and abroad all be present
The sensitizing ranges such as building, these sensitizing ranges forbid unmanned plane to enter interior flight, or forbid vehicle due to some cause specifics
Drive into current, or forbid ship to navigate into current.And existing unmanned plane, car or ship, due to and be unaware of which area
Domain is sensitizing range out-of-bounds, thus in the process of moving unmanned plane, car or ship often after swarming into unintentionally, due to
And be unaware of and continue to move ahead, and then bring some unnecessary troubles or even violate the law.
Based on this, the embodiment of the present invention one provides the method that sensitizing range is sailed out of for destination object, for solution
State technical problem.It should be noted that
Below, the method progress for being used for destination object and sailing out of sensitizing range provided with reference to Fig. 1 the embodiment of the present invention one
It is discussed in detail：
First, step S110 is performed, obtains the base coordinate information of destination object Current location area；
In step S110, base coordinate information can be understood as the actual geographic position of destination object namely unmanned plane
Put coordinate information, the base coordinate information that unmanned plane Current location area is obtained in step S110 be in order to it is default quick
Sensillary area domain is compared.
Then, step S120 is performed, according to the base coordinate information, judges whether the Current location area belongs to pre-
If sensitizing range；
Specifically, in step S120, the presetting method of described sensitizing range can specifically include following process：
Obtain at least three edge coordinate information of sensitizing range；By at least three edge coordinates information, with adjacent coordinates two-by-two
Connected mode, obtain a regional graphics；Wherein, the regional graphics are polygons；Using the regional graphics as described quick
Sensillary area domain is stored.Here can be referring particularly to Fig. 2, in fig. 2, shown polygon, you can be interpreted as implementation of the present invention
Sensitizing range in example.
Further, whether Current location area is belonged to default sensitizing range carry out judgement can include judge described in
Whether base coordinate information falls on the polygon or the interior zone of the polygon；If so, then judge described current
The band of position is sensitizing range.
Finally, step S130 is performed, if so, the destination object sails out of the sensitizing range.
Further instruction is needed, in the step s 120, is whether the base coordinate information for being directed to unmanned plane belongs to
Default sensitizing range judged, and in actual mechanical process, in order to improve matching accuracy, in the embodiment of the present invention also
It may include steps of：
The base coordinate information is pre-processed, obtains the standard coordinate letter corresponding with the base coordinate information
Breath；
According to the standard coordinate information, judge whether the Current location area belongs to default sensitizing range.
And for being pre-processed to the base coordinate information, obtain the mark corresponding with the base coordinate information
Quasi coordinates information may particularly include：
Obtain the first longitude and latitude numerical value corresponding to the base coordinate information；
The digit of end three after the decimal point of the first longitude and latitude numerical value is removed, the numerical value after removal is as the second longitude and latitude
Number of degrees value；
Using the second longitude and latitude numerical value as the standard coordinate information corresponding with the base coordinate information.
Specifically, please continue to refer to Fig. 2, shown in Fig. 2 is in actual applications, map to be cut into N blocks, each is
One GPS accuracy (such as 0.001 degree) namely：
A latitude and longitude coordinates (0.000,0.000), B latitude and longitude coordinates (0.001,0.000), C latitude and longitude coordinates (0.002,
0.000), J latitude and longitude coordinates (0.001,0.001), E latitude and longitude coordinates (0.000,0.001), F latitude and longitude coordinates (0.000,
0.002), G latitude and longitude coordinates (0.000,0.003), K latitude and longitude coordinates (0.002,0.002)
Further, module is established into chained list or file, can be as follows：
File or chained list name or mark
1 0.000,0.000
2 0.001,0.000
3 0.002,0.000
4 0.000,0.001
5 0.001,0.001
6 0.002,0.002
N NX, NY
If the current band of position coordinate information of unmanned plane is (0.0023456,0.0023685), namely base coordinate
Information is (0.0023456,0.0023685), then gets the current band of position coordinate information of unmanned plane by processor
Decimal point after 3 be X (0.002,0.002), X-coordinate is standard coordinate information, is then looked for by X-coordinate in file or chained list
File, that is, have found No. 6 files, illustrate the current band of position of unmanned plane in K modules.After dividing good module, the present invention is implemented
Example is by file corresponding to the no-fly zone longitude and latitude input in respective modules：
Such as：2 in upper figure, and 7 modules are by no-fly zone, the embodiment of the present invention is just the longitude and latitude of the corresponding points of polygon
Coordinate is inputted in the file or chained list of No. 2 modules, and 7 modules also do same operation.
If there is no-fly zone in this module, the embodiment of the present invention is by the way that base coordinate information or standard coordinate are believed
Whether breath is matched with polygon longitude and latitude, namely judge the current band of position of unmanned plane in no-fly zone.
If unmanned plane is being controlled to sail out of no-fly zone.
It is noted that in embodiments of the present invention, it can also be the base that Current location area is obtained by unmanned plane
Plinth coordinate information, the base coordinate information of unmanned plane Current location area can also be obtained by a controller.
Specifically, when for unmanned plane obtain Current location area base coordinate information when, then referring to Fig. 3, including：
Step S210, unmanned plane obtain the base coordinate information in the unmanned plane present position region；
Step S220, the unmanned plane judge whether the Current location area belongs to according to the base coordinate information
Default sensitizing range；
Step S230, if so, the unmanned plane sails out of the sensitizing range.
Further, the unmanned plane judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range, including：The unmanned plane pre-processes to the base coordinate information, obtains and the base coordinate
The corresponding standard coordinate information of information；The unmanned plane judges the Current location area according to the standard coordinate information
Whether default sensitizing range is belonged to.
Further, the unmanned plane pre-processes to the base coordinate information, obtains believing with the base coordinate
Standard coordinate information includes corresponding to manner of breathing：The unmanned plane obtains the first longitude and latitude number of degrees corresponding to the base coordinate information
Value；The unmanned plane removes end three digit after the decimal point of the first longitude and latitude numerical value, and the numerical value after removal is used as the
Two longitude and latitude numerical value；The unmanned plane is using the second longitude and latitude numerical value as the standard corresponding with the base coordinate information
Coordinate information.
Further, the presetting method of the sensitizing range includes：The unmanned plane obtains at least three edges of forbidden zone
Coordinate information；At least three edge coordinates information in a manner of adjacent coordinates are connected two-by-two, is obtained one by the unmanned plane
Regional graphics；Wherein, the regional graphics are polygons；The unmanned plane enters the regional graphics as the sensitizing range
Row storage.
Further, it is described according to the base coordinate information, judge whether the Current location area belongs to default
Sensitizing range includes：The unmanned plane judges whether the base coordinate information is fallen on the polygon or the polygon
Interior zone；If so, then the unmanned plane judges that the Current location area is sensitizing range.
Again specifically, when obtaining the base coordinate information of Current location area for a controller, then referring to Fig. 4, bag
Include：
Step S310, controller obtain the base coordinate information of unmanned plane Current location area；
Step S320, the controller judge whether the Current location area belongs to according to the base coordinate information
Default sensitizing range；
Step S330, if so, the controller controls the unmanned plane to sail out of the sensitizing range.
Further, whether the Current location area is judged according to the base coordinate information described in the controller
Belong to default sensitizing range, including：The controller pre-processes to the base coordinate information, obtains and the basis
The corresponding standard coordinate information of coordinate information；The controller judges the current location according to the standard coordinate information
Whether region belongs to default sensitizing range.
Further, the controller pre-processes to the base coordinate information, obtains believing with the base coordinate
Standard coordinate information includes corresponding to manner of breathing：The controller obtains the first longitude and latitude number of degrees corresponding to the base coordinate information
Value；The controller removes end three digit after the decimal point of the first longitude and latitude numerical value, and the numerical value after removal is used as the
Two longitude and latitude numerical value；The controller is using the second longitude and latitude numerical value as the standard corresponding with the base coordinate information
Coordinate information.
Further, the presetting method of the sensitizing range includes：The controller obtains at least three edges of forbidden zone
Coordinate information；At least three edge coordinates information in a manner of adjacent coordinates are connected two-by-two, is obtained one by the controller
Regional graphics；Wherein, the regional graphics are polygons；The controller enters the regional graphics as the sensitizing range
Row storage.
Further, the controller judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range includes：It is on the polygon or described that the controller judges whether the base coordinate information falls into
The interior zone of polygon；If so, then the controller judges that the Current location area is sensitizing range.
You need to add is that for the non-detailed descriptions of Fig. 3 and Fig. 4, the content described in Fig. 1 is see, here is omitted.
It should be noted that in embodiments of the present invention, when judging that the Current location area is to belong to default sensitivity
After region, in order to inform road surface staff in time, or the unmanned plane of flight is closed on.Now, unmanned plane is also transmittable regards
Feel that warning message, namely unmanned plane travel alarm track in Current location area；The track can be the S type rails of default settings
Mark, or digital 8 tracks；When road surface, staff sees unmanned plane in Current location area traveling S types track, or numeral 8
During track, even if not passing through earth station or communication apparatus then, you can or the unmanned plane enters no-fly region.It is in addition, right
In other unmanned planes adjacent with current unmanned plane；When the image information collecting module of other unmanned planes collects current unmanned plane
S types track, or digital 8 tracks are being travelled, then because the built-in system of other unmanned planes is provided with visual alarm track S types
Track, or digital 8 tracks, then it is to be in no-fly zone that now other unmanned planes, which can learn that current unmanned plane is sailed, other nobody
Machine will not then be further continued for moving forward and directly adjusting flight path and avoid no-fly zone.
In addition, the embodiment of the present invention can also in advance sensitizing range in no-fly grade is set to different no-fly zones, such as institute
Stating sensitizing range includes：The no-fly region of grade one, the no-fly region of grade two, the no-fly region of grade three, the no-fly region of grade four；Its
No-fly grade raises successively.
That is, in the no-fly region of grade one, unmanned plane has a time of departure of 10 minutes, in the no-fly region of grade two, nothing
The man-machine time of departure for having 6 minutes, in the no-fly region of grade three, unmanned plane has the time of departure of 4 minutes, the no-fly region of grade four
In, unmanned plane has the time of departure of 2 minutes., now can also be in sensitizing range when judging that unmanned plane is in sensitizing range
No-fly grade is judged, sets the flying speed of sailing out of of unmanned plane successively according to judged result, and then is targetedly sailed out of
Current sensitizing range.
Based on same inventive concept, the embodiment of the present invention additionally provides system corresponding with method in embodiment one, sees reality
Apply example two.
Embodiment two
The embodiment of the present invention two provides a kind of system, refer to Fig. 5, and the system includes：
Coordinate information acquisition module 1100, for obtaining the base coordinate information of destination object Current location area；Judge
Module 1200, for according to the base coordinate information, judging whether the Current location area belongs to default sensitizing range；
Module 1300 is sailed out of, for if so, the destination object sails out of the sensitizing range.
Further, the judge module 1200 includes：First judging submodule, for entering to the base coordinate information
Row pretreatment, obtains the standard coordinate information corresponding with the base coordinate information；Second judging submodule, for according to institute
Standard coordinate information is stated, judges whether the Current location area belongs to default sensitizing range.
Further, first judging submodule includes：
First longitude and latitude acquiring unit, for obtaining the first longitude and latitude numerical value corresponding to the base coordinate information；
Second longitude and latitude acquiring unit, three bit values after the decimal point for taking the first longitude and latitude numerical value, as
Two longitude and latitude numerical value；
Standard coordinate information generating unit, for using the second longitude and latitude numerical value as with the base coordinate information phase
Corresponding standard coordinate information.
Further, the judge module also includes：
First subelement, for obtaining at least three edge coordinate information of sensitizing range；
Second subelement, for by least three edge coordinates information, in a manner of adjacent coordinates are connected two-by-two, obtaining
To a regional graphics；Wherein, the regional graphics are polygons；
3rd subelement, for being stored the regional graphics as the sensitizing range.
Further, the judge module is additionally operable to：
Judge whether the base coordinate information falls on the polygon or the interior zone of the polygon；
If so, then judge that the Current location area is sensitizing range.
By the system that the embodiment of the present invention two is introduced, it is used by the method for the implementation embodiment of the present invention one
System, so the method introduced based on the embodiment of the present invention one, the affiliated personnel in this area can understand the concrete structure of the system
And deformation, so will not be repeated here.System belongs to the present invention and is intended to used by the method for every embodiment of the present invention one
The scope of protection.
Based on same inventive concept, the embodiment of the present invention additionally provides equipment corresponding with method in embodiment one, sees reality
Apply example three.
Embodiment three
The embodiment of the present invention three provides a kind of equipment for no-fly zone to be identified；The equipment includes：
Alignment system, for obtaining the base coordinate information in unmanned plane present position region；
Memory, for storing default no-fly zone coordinate information；
Processor, for the base coordinate information and the no-fly zone coordinate information to be contrasted, judge the base
The present position region is no-fly zone corresponding to plinth coordinate information；
Controller, for controlling the unmanned plane to send visual alarm information in Current location area；The visual alarm
Information includes：The controller controls the unmanned plane in Current location area traveling S tracks.
Optionally, the equipment also includes：Encoder, for described current corresponding to the base coordinate information when judging
When position region is no-fly zone, alarm signal is generated；Data transmission interface, for the alarm signal to be transmitted to the external world
Terminal.
Optionally, the equipment also includes：Network transmission module, for the alarm signal to be transmitted to extraneous terminal.
Optionally, the equipment also includes：Power module, the power module be the alignment system, the memory,
The processor, the encoder, the network transmission module and/or the data transmission interface are powered.
Based on the equipment, the embodiment of the present invention three additionally provides a kind of method for no-fly zone to be identified, described
Method includes：
Obtain the base coordinate information in unmanned plane present position region；
Store default no-fly zone coordinate information；
The base coordinate information and the no-fly zone coordinate information are contrasted, judge the base coordinate information institute
The corresponding present position region is no-fly zone；
The unmanned plane is controlled to send visual alarm information in Current location area；The visual alarm information includes：Institute
State controller and control the unmanned plane in Current location area traveling S tracks.
Optionally, methods described also includes：Generate alarm signal.
It is corresponding with embodiment one and two by the equipment that the embodiment of the present invention three is introduced, so will not be repeated here.
Non- detailed portion see embodiment one and two.
You need to add is that：
In inventive embodiments, common GPS chip (GPS such as UBLOX 6m 7m M8n)；CPU processor (all controls
Device, including FPGA etc.)；Memory (binary data can be preserved can be memory such as：RAM, FIFO, memory bar, TF,
Flash, SD card etc.)；Data-interface (can be with self-defined, such as：Serial ports, SPI, I2C, CAN etc., can also multiple interfaces simultaneously it is defeated
Go out, IO and serial ports etc.)；Here it is to be drawn in CPU processor, memory, data-interface on one piece of PCB with GPS module, synthesis one
The individual sensor assembly with no-fly zone data GPS；CPU processor and any one sensor or master controller can also be drawn
Together (such as：Fly control).This module can also add any equipment or sensor (such as above again：Add 4G modules, magnetic force
Meter, attitude transducer etc.).
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The system for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of system, the instruction system realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (10)
- A kind of 1. method for sailing out of sensitizing range for destination object, it is characterised in that methods described includes：Obtain the base coordinate information of destination object Current location area；According to the base coordinate information, judge whether the Current location area belongs to default sensitizing range；If so, the destination object, which sails out of, sends visual alarm information in Current location area；The visual alarm information includes： The destination object is in Current location area traveling S tracks；The destination object sails out of the sensitizing range.
- 2. the method as described in claim 1, it is characterised in that it is described according to the base coordinate information, judge described current Whether the band of position belongs to default sensitizing range, including：The base coordinate information is pre-processed, obtains the standard coordinate information corresponding with the base coordinate information；According to the standard coordinate information, judge whether the Current location area belongs to default sensitizing range.
- 3. method as claimed in claim 2, it is characterised in that it is described that the base coordinate information is pre-processed, obtain The standard coordinate information corresponding with the base coordinate information includes：Obtain the first longitude and latitude numerical value corresponding to the base coordinate information；The digit of end three after the decimal point of the first longitude and latitude numerical value is removed, the numerical value after removal is as the second longitude and latitude number of degrees Value；Using the second longitude and latitude numerical value as the standard coordinate information corresponding with the base coordinate information.
- 4. the method as described in claim 1, it is characterised in that the presetting method of the sensitizing range includes：Obtain at least three edge coordinate information of sensitizing range；By at least three edge coordinates information, in a manner of adjacent coordinates are connected two-by-two, a regional graphics are obtained；Wherein, The regional graphics are polygons；Stored the regional graphics as the sensitizing range.
- 5. method as claimed in claim 4, it is characterised in that it is described according to the base coordinate information, judge described current Whether the band of position, which belongs to default sensitizing range, includes：Judge whether the base coordinate information falls on the polygon or the interior zone of the polygon；If so, then judge that the Current location area is sensitizing range.
- A kind of 6. system for sailing out of sensitizing range for destination object, it is characterised in that including：Coordinate information acquisition module, for obtaining the base coordinate information of destination object Current location area；Judge module, for according to the base coordinate information, judging whether the Current location area belongs to default sensitivity Region；Warning message respond module, for if so, the destination object, which sails out of, sends visual alarm information in Current location area； The visual alarm information includes：The destination object is in Current location area traveling S tracks；Module is sailed out of, the destination object sails out of the sensitizing range.
- 7. system as claimed in claim 6, it is characterised in that the judge module includes：First judging submodule, for being pre-processed to the base coordinate information, obtain and the base coordinate information phase Corresponding standard coordinate information；Second judging submodule, for according to the standard coordinate information, judging whether the Current location area belongs to default Sensitizing range.
- 8. system as claimed in claim 7, it is characterised in that first judging submodule includes：First longitude and latitude acquiring unit, for obtaining the first longitude and latitude numerical value corresponding to the base coordinate information；Second longitude and latitude acquiring unit, three bit values after the decimal point for taking the first longitude and latitude numerical value, as the second warp Latitude numerical value；Standard coordinate information generating unit, for using the second longitude and latitude numerical value as corresponding with the base coordinate information Standard coordinate information.
- 9. system as claimed in claim 8, it is characterised in that the judge module also includes：First subelement, for obtaining at least three edge coordinate information of sensitizing range；Second subelement, for by least three edge coordinates information, in a manner of adjacent coordinates are connected two-by-two, obtaining one Regional graphics；Wherein, the regional graphics are polygons；3rd subelement, for being stored the regional graphics as the sensitizing range.
- 10. system as claimed in claim 6, it is characterised in that the judge module is additionally operable to：Judge whether the base coordinate information falls on the polygon or the interior zone of the polygon；If so, then judge that the Current location area is sensitizing range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710419952.0A CN107357300A (en) | 2017-06-06 | 2017-06-06 | The method and system of sensitizing range are sailed out of for destination object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710419952.0A CN107357300A (en) | 2017-06-06 | 2017-06-06 | The method and system of sensitizing range are sailed out of for destination object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107357300A true CN107357300A (en) | 2017-11-17 |
Family
ID=60272230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710419952.0A Pending CN107357300A (en) | 2017-06-06 | 2017-06-06 | The method and system of sensitizing range are sailed out of for destination object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107357300A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105717945A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle capable of automatically avoiding collision |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
-
2017
- 2017-06-06 CN CN201710419952.0A patent/CN107357300A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105717945A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle capable of automatically avoiding collision |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104029825B (en) | On-the-spot actual situation coupling Unmanned Aircraft Systems (UAS) | |
| EP3125213B1 (en) | Onboard aircraft systems and methods to identify moving landing platforms | |
| CN104808675A (en) | Intelligent terminal-based somatosensory flight operation and control system and terminal equipment | |
| US20170096237A1 (en) | Tactile and peripheral vision combined modality hover drift cueing | |
| CN104908959B (en) | System and method for identifying runway positioning during intersection takeoff | |
| CN103377565A (en) | Systems and methods for improving runway awareness with takeoff and landing performance data | |
| CN104115081A (en) | Wind calculation system using constant bank angle turn | |
| CN105511491B (en) | A kind of unmanned plane device for driving away and method | |
| Frew et al. | Flight demonstrations of self-directed collaborative navigation of small unmanned aircraft | |
| CN113110598A (en) | Unmanned aerial vehicle control method and system | |
| Sherman et al. | Cooperative search and rescue using autonomous unmanned aerial vehicles | |
| CN102706350A (en) | Method for indicating yaw navigation of airplane | |
| CN107300869B (en) | Flight monitoring method and device | |
| Morais et al. | Trajectory and Guidance Mode for autonomously landing an UAV on a naval platform using a vision approach | |
| CN110853410B (en) | Monitoring unit and monitoring method for airborne synthetic view guidance system | |
| CN107356253A (en) | For the method and system that no-fly zone is identified | |
| CN107291091A (en) | The method and device of sensitizing range is sailed out of for destination object | |
| EP3736538A1 (en) | Navigation performance in urban air vehicles | |
| CN107357300A (en) | The method and system of sensitizing range are sailed out of for destination object | |
| CN107357299A (en) | For the method and apparatus that no-fly zone is identified | |
| CN107123316A (en) | The method and system of sensitizing range are sailed out of for unmanned plane | |
| CN107300926A (en) | Unmanned plane is sailed out of to the method and device of sensitizing range | |
| CN107168353A (en) | Unmanned plane is sailed out of to the method and system of sensitizing range | |
| CN107316502A (en) | The method and device of sensitizing range is sailed out of for unmanned plane | |
| RU2614194C1 (en) | Complex system of preparation, navigation, and control of aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |
|
| RJ01 | Rejection of invention patent application after publication |