CN107796404A - The localization method and mobile terminal of a kind of aircraft - Google Patents

The localization method and mobile terminal of a kind of aircraft Download PDF

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Publication number
CN107796404A
CN107796404A CN201711004973.2A CN201711004973A CN107796404A CN 107796404 A CN107796404 A CN 107796404A CN 201711004973 A CN201711004973 A CN 201711004973A CN 107796404 A CN107796404 A CN 107796404A
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information
aircraft
mobile terminal
velocity
distance
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CN107796404B (en
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廖永元
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to CN201711004973.2A priority Critical patent/CN107796404B/en
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Priority to PCT/CN2018/085490 priority patent/WO2019080471A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Telephone Function (AREA)
  • Telephonic Communication Services (AREA)
  • Navigation (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The embodiment of the invention discloses a kind of localization method and device of aircraft, including：When mobile terminal, which detects, to be failed with aircraft communication, the state parameter information that aircraft described in the acquisition for mobile terminal is sent for the last time before communication failure, the state parameter information include elevation information, velocity information and the first position information residing for the aircraft；The mobile terminal determines the first range information according to the elevation information and the velocity information；The mobile terminal determines the second place information of the aircraft, the second place information is for characterizing the aircraft in the position of landing point according to first range information and the first position information.By the scheme of the embodiment of the present invention, state parameter information that mobile terminal is sent for the last time according to aircraft before communication failure accurately determines that aircraft in the position of landing point, reduces user and finds scope, improve the success rate that user gives aircraft for change.

Description

The localization method and mobile terminal of a kind of aircraft
Technical field
The present invention relates to vehicle technology, the localization method and mobile terminal of espespecially a kind of aircraft.
Background technology
Aircraft is often due to a variety of causes is out of hand, for example, existing aircraft product, due to relying on wireless telecommunications Control flight, or global position system autonomous flight is relied on, but wireless telecommunications or global position system are some specific Place is highly susceptible to disturb, and existing aircraft does not possess collision prevention function generally, is collided in aircraft and power circuit, or Person produces collision with trees, can all cause aircraft out of hand.And for example, aircraft flies farther out, beyond operator's sometimes During visual line of sight, if manipulation is improper, aircraft may can be out of hand.After aircraft is out of hand, how to determine to fly The landing positions of device, turn into the problem that those skilled in the art actively study.
The content of the invention
The embodiments of the invention provide a kind of localization method of aircraft and mobile terminal, can be accurately positioned aircraft Landing positions, reduce user and find scope, so as to improve the success rate that user gives aircraft for change.
The embodiments of the invention provide a kind of localization method of aircraft, including：
When mobile terminal, which detects, to be failed with aircraft communication, aircraft described in the acquisition for mobile terminal loses in communication Effect before last time send state parameter information, the state parameter information include the aircraft residing for elevation information, Velocity information and first position information；
The mobile terminal determines the first range information according to the elevation information and the velocity information；
The mobile terminal determines the of the aircraft according to first range information and the first position information Two positional informations, the second place information are used to characterize the aircraft in the position of landing point.
Optionally, the state parameter information also includes：The dump energy information of the aircraft；
The mobile terminal determines the of the aircraft according to first range information and the first position information Before two positional informations, methods described also includes：
The mobile terminal judges whether the dump energy is less than or equal to predetermined threshold value；
The mobile terminal determines the of the aircraft according to first range information and the first position information Two positional informations include：
When judging that the dump energy is less than or equal to predetermined threshold value, the mobile terminal is according to first distance Information and the first position information determine the second place information of the aircraft.
Optionally, the mobile terminal determines the first range information according to the elevation information and the velocity information, bag Include：
The mobile terminal determines that first distance is believed according to the elevation information, the velocity information and wind speed information Breath；Wherein, the wind speed information is included according to the first position information acquisition, or the state parameter information State wind speed information.
Optionally, the mobile terminal determines institute according to the elevation information, the velocity information and the wind speed information Stating the first range information includes：
The mobile terminal determines sinking speed information, the sinking speed letter according to the velocity information and wind speed information Breath includes velocity amplitude and direction；
The velocity amplitude of the mobile terminal in the elevation information and the sinking speed information, it is determined that described The first distance value in first range information；
Velocity amplitude of the mobile terminal in the sinking speed information, the velocity amplitude in the velocity information and institute The velocity amplitude in wind speed information is stated, determines the first deviation angle in first range information；Wherein, first deviation angle The angle spent between the direction in the direction in the velocity information and the sinking speed information.
Optionally,
Velocity amplitude of the mobile terminal in elevation information and sinking speed information, is determined in the first range information First distance value includes：
The mobile terminal is according to formulaCalculate the flight time of the aircraft；
The mobile terminal is according to formula S1=vt1Calculate the first distance value in first range information；
Wherein, t1For the flight time, h1For the elevation information, g is acceleration of gravity, and v believes for the sinking speed Velocity amplitude in breath, S1For first distance value；
In velocity amplitude of the mobile terminal in sinking speed information, the velocity amplitude and wind speed information in velocity information Velocity amplitude, determine that the first deviation angle in the first range information includes：
The mobile terminal is according to formulaCalculate first deviation angle；
Wherein, v1For the velocity amplitude in the velocity information, v is the velocity amplitude in the sinking speed information, v2To be described Velocity amplitude in wind speed information, α are first deviation angle.
Optionally, the mobile terminal determines the flight according to first range information and the first position information The second place information of device, including：
The mobile terminal is according to formulaAnd formulaDescribed in calculating Second place information；
Wherein, r1=α-α '；
Wherein, X'1For the longitude in the second place information, X1For the longitude in the first position information, Y'1For the latitude value in the second place information, Y1For the latitude value in the first position information, S1For described first away from From the first distance value in information；W1For the distance value corresponding to unit longitude, W2For distance value corresponding to unit latitude value, r1For the angle between the velocity attitude and horizontal line in the sinking speed information, α ' is the speed in the state parameter information The angle spent between velocity attitude and horizontal line in information, α is first deviation angle.
Optionally, this method also includes：
When the mobile terminal judges that the dump energy is more than the predetermined threshold value, the mobile terminal determine with Second distance information corresponding to the dump energy；
The mobile terminal determines the 3rd range information according to the second distance information and first range information；
The mobile terminal determines the of the aircraft according to first range information and the first position information Two positional informations, including：
The mobile terminal determines the of the aircraft according to the first position information and the 3rd range information Two positional informations.
Optionally, the mobile terminal determines that second distance information corresponding with the dump energy includes：
The mobile terminal is according to formula S2=10 × Δ S × Q calculates the second distance value in the second distance information；
Wherein, S2For the second distance value in the second distance information, Q is the residue when aircraft communication fails Electricity,S4iFor being taken off since the aircraft, the aircraft ith consumes 1 ‰ Flying distance corresponding to electricity, △ Q be since the aircraft the electricity that consumes when flying to aircraft communication failure Amount.
Optionally, the mobile terminal determines the 3rd range information bag according to second distance information and the first range information Include：
The mobile terminal is according to the velocity information, wind speed information, the second distance information and first distance Information determines the 3rd range information.
Optionally, the mobile terminal is believed according to the velocity information, wind speed information, second distance information and the first distance Breath determines that the 3rd range information includes：
The mobile terminal is according to formulaCalculate the 3rd distance The 3rd distance value in information；
The mobile terminal is according to formulaCalculate in the 3rd range information Second deviation angle；
Wherein, S3For the 3rd distance value in the 3rd range information, S1For first in first range information away from From value, S2For the second distance value in the second distance information, α " is the second deviation angle in the 3rd range information.
Optionally,
The mobile terminal is according to formulaAnd formulaCalculate institute State second place information；
Wherein, r2=α '-α "；
Wherein, X'2For the longitude in the second place information, X1For the longitude in the first position information, Y'2For the latitude value in the second place information, Y1For the latitude value in the first position information, W1For unit longitude Corresponding distance value, W2For distance value corresponding to unit latitude value, α ' is velocity attitude and level in the velocity information Angle between line, r2Position when being failed for the aircraft communication and the line between the position of landing point with it is horizontal Angle, α " are the second deviation angle in the 3rd range information.
Optionally, this method also includes：
The mobile terminal shows the land of the aircraft according to the second place information of the aircraft on map Position where point.
Optionally, the mobile terminal detects includes with aircraft communication failure：
The mobile terminal does not receive the message that aircraft is periodically sent in preset time, it is determined that detecting and institute State aircraft communication failure.
The embodiment of the present invention proposes a kind of mobile terminal, including：
Acquisition module, for when detect failed with aircraft communication when, obtain the aircraft before communication failure most The state parameter information once sent afterwards, the state parameter information include elevation information, the speed letter residing for the aircraft Breath and first position information；
Determining module, for determining the first range information according to the elevation information and the velocity information；According to described First range information and the first position information determine the second place information of the aircraft, and the second place information is used In the sign aircraft in the position of landing point.
Optionally, the dump energy information of the aircraft；The positioner also includes：
Judge module, for judging whether the dump energy is less than or equal to predetermined threshold value, it will determine that result is sent to The determining module；
The determining module is specifically used for：
When the judged result for judge that the dump energy is less than or equal to predetermined threshold value when, according to described first away from From the second place information that information and the first position information determine the aircraft.
Optionally, the determining module is additionally operable to：
When the judged result is to judge that the dump energy is more than the predetermined threshold value, the aircraft is determined Second distance information corresponding with the dump energy；
3rd range information is determined according to the second distance information and first range information, according to described first Confidence ceases the second place information that the aircraft is determined with the 3rd range information.
Optionally, in addition to：
Display module, for the second place information according to the aircraft, shown on map the aircraft Position where drop point.
The embodiment of the present invention proposes a kind of computer-readable recording medium, and the computer-readable recording medium storage has Computer program, the computer program realize the step of the localization method of any one above-mentioned aircraft when being executed by processor Suddenly.
The embodiment of the present invention proposes a kind of mobile terminal, including processor and memory, is stored with the memory Instruction, when the instruction is by the computing device, realize the localization method of any one above-mentioned aircraft.
In the embodiment of the present application, when mobile terminal, which detects, to be failed with aircraft communication, the acquisition for mobile terminal institute The state parameter information that aircraft is sent for the last time before communication failure is stated, the state parameter information includes the aircraft Residing elevation information, velocity information and first position information；The mobile terminal is according to the elevation information and the speed Information determines the first range information；Mobile terminal is according to first range information and the first position information, it is determined that described The second place information of aircraft, the second place information are used to characterize the aircraft in the position of landing point.Pass through this The scheme of inventive embodiments, the state parameter information that mobile terminal is sent for the last time according to aircraft before communication failure are accurate Aircraft is determined in the position of landing point, reduce user and find scope, improve the success rate that user gives aircraft for change.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the localization method of aircraft provided in an embodiment of the present invention；
Fig. 2 is the velocity attitude schematic diagram in the sinking speed information of aircraft provided in an embodiment of the present invention；
Fig. 3 is the signal that aircraft provided in an embodiment of the present invention flies in the case where dump energy is more than predetermined threshold value Figure；
Fig. 4 is the flow chart of the localization method of aircraft in example 1 provided in an embodiment of the present invention；
Fig. 5 is the flow chart of the localization method of aircraft in example 2 provided in an embodiment of the present invention；
Fig. 6 is a kind of module composition schematic diagram of mobile terminal provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of mobile terminal provided in an embodiment of the present invention.
Embodiment
Embodiments of the invention are illustrated below in conjunction with accompanying drawing.
The localization method of related aircraft generally comprises：
Aircraft is obtained using global positioning system (GPS, Global Position System) in real time in flight course The location of aircraft information is taken, and the positional information real-time report of acquisition to mobile terminal, mobile terminal are preserved into flight The positional information of device, after aircraft is out of hand, the positional information of last of the aircraft preserved according to mobile terminal is just Aircraft can be given for change.
In the localization method of related aircraft, the positional information of preservation is inaccurate, and error is larger, give for change aircraft into Power is relatively low.
The technical scheme that the embodiment of the present application is provided exemplarily is introduced below in conjunction with the accompanying drawings.
Referring to Fig. 1, the embodiment of the present invention proposes a kind of localization method of aircraft, including：
Step 100, when mobile terminal is detected and failed with aircraft communication, acquisition for mobile terminal aircraft communication lose The state parameter information that last time is sent before effect.
In the present embodiment, mobile terminal can detect whether to fail with aircraft communication using following methods.
First, bi-directional communication mechanism is established between mobile terminal and aircraft, i.e. sending direction recipient sends periodically Request message, if sender receives the response message of recipient in preset time, it is determined that being communicated with recipient normally；If hair The side of sending does not receive the response message of recipient in preset time, it is determined that with recipient's communication failure.
Equally, if recipient receives the request message of sender in preset time, it is determined that communicated just with sender Often；If recipient does not receive the request message of sender in preset time, it is determined that with sender's communication failure.
Above-mentioned request message can be heartbeat request, and response message can be heartbeat response.
Wherein, sender is aircraft, and recipient is mobile terminal；Or sender is mobile terminal, recipient is winged Row device.
In the present embodiment, state parameter information can be including the elevation information residing for aircraft, velocity information and first Confidence ceases.
In the embodiment of the present application, the location point that can be characterized first position information is defined as the point out of control of aircraft.
In an optional embodiment, state parameter information can also include：The dump energy information of aircraft.
In the present embodiment, aircraft obtains state parameter information and is sent to mobile terminal progress in real time in flight course Preserve.For example, aircraft includes state parameter information in the request message or response message sent to mobile terminal, it is mobile whole End obtains state parameter information from the request message or response message received；Specifically, if sender is aircraft, state Parameter information can be carried in the request message that aircraft is sent；If sender is mobile terminal, state parameter information can be with Carry in the response message that Fetion device is sent.State parameter information can also be individually sent to mobile terminal by aircraft；Fly State parameter information can also be sent to mobile terminal by row device using other modes.
Mobile terminal is being detected with after aircraft communication failure, obtaining last group of state parameter information of preservation.
Step 101, mobile terminal determine the first range information according to elevation information and velocity information.
In the present embodiment, mobile terminal can be determined according to elevation information and velocity information aircraft electricity exhaust a little with The first range information between landing point, first range information can include the first distance value and the first range direction.Wherein, First range direction can refer to that electricity is exhausted a little to the rectilinear direction of landing point.First range direction can by angle come Characterize, not limit herein.Determine that the specific implementation of the first range information can be found in the description in following embodiments.Need Illustrate, electricity exhausts the terminal that dynamical system flight is a little relied on for aircraft, that is to say, that the electricity in battery only can Flying vehicles control dynamical system is supported to fly to the terminal, and after this, the flight of aircraft is out of control, i.e., aircraft only relies on The gravity inertial and environment of aircraft influence, such as windage etc., realize the state of flight landing.
In some cases, for example, aircraft is in the case where the dump energy of point out of control is less than predetermined threshold value, aircraft The positional information that exhausts a little with the point out of control of aircraft of electricity can be with identical.
Alternatively, mobile terminal can also determine the first of aircraft according to elevation information, velocity information and wind speed information Range information.Here, the state parameter information that aircraft is sent can include wind speed information, mobile terminal can be by obtaining shape State parameter information obtains wind speed information；Or mobile terminal detect with aircraft communication fail after, can be according to state The first position information of aircraft in parameter information, determine wind speed information corresponding to the first position information.
Alternatively, in the case that dump energy of the aircraft at out of control is more than predetermined threshold value, mobile terminal can be true Fixed point out of control to electricity exhausts second distance information a little, and the second distance information can include second distance value and second distance Direction, the second distance value can be based on dump energy and calculate.The second distance direction can refer to that point out of control to electricity exhausts The rectilinear direction of point.
Further, in the case that dump energy of the aircraft at out of control is more than predetermined threshold value, mobile terminal can be with According to the first range information and second distance information, the 3rd range information is calculated.Such as respectively according to the first distance value and One range direction, and second distance value and second distance direction, calculate the 3rd distance value and the 3rd of the 3rd range information Range direction, calculation not limit herein.
Step 102, mobile terminal determine the second confidence of aircraft according to the first range information and first position information Breath.
In the present embodiment, second place information is used to characterize aircraft in the position of landing point.Exemplarily, if first Confidence breath includes longitude and latitude value of the aircraft in point out of control, and second place information can include aircraft in landing point Longitude and latitude value.Certainly, second place information can also be other coordinate informations included according to first position information Determine.
The specific implementation of aforesaid way is described respectively below for four kinds of different situations.
The first, aircraft is less than or equal to predetermined threshold value, and the situation without wind speed information in the dump energy of point out of control Under, mobile terminal can determine the first range information according to elevation information and velocity information, and then can be believed according to first position Breath and the first range information determine second place information of the aircraft in landing point.Wherein, no wind speed information can refer to move Terminal can not obtain wind speed information, or the wind speed information obtained is not enough to influence aircraft flight.
Specifically, the first range information can be calculated in the following ways.
First, according to formulaThe flight time of calculating aircraft；
Secondly, according to formula S1=v1t1Calculate the first distance value in the first range information；
Wherein, t1For the flight time, i.e., aircraft is from point out of control to the flight time of landing point, h1It is aircraft out of control The height of point, such as the elevation information in state parameter information, g is acceleration of gravity, v1For the speed letter in state parameter information Velocity amplitude in breath, S1For the first distance value.
And then according to formulaAnd formulaCalculate second confidence Breath；
Wherein, because without wind speed information, the heading after aircraft communication failure keeps constant, then r1=α '；
Wherein, X'1For the longitude in the information of the second place, X1For the longitude in the information of first position, Y'1For second Latitude value in positional information, Y1For the latitude value in the information of first position, S1For the first distance value in the first range information； W1For the distance value corresponding to unit longitude, W2For distance value, r corresponding to unit latitude value1For in the first range information Angle between one range direction and horizontal line, r1Can be to characterize point out of control to the direction of landing point, α ' is velocity information In direction and horizontal line between angle, α ' can to characterize aircraft communication failure when speed direction.
Above-mentioned S1、W1、W2Unit be rice (m), W1、W2Can be 111000 meters (m) or 111110m, or, W1Value With X1Correlation, W2Value and Y1The longitude and latitude and the scaled value of distance applied in correlation etc., or other international standards.
Second, aircraft is less than or equal to predetermined threshold value in the dump energy of point out of control, and has the situation of wind speed information Under, mobile terminal can determine first range information according to the elevation information, the velocity information and wind speed information；Enter One step, mobile terminal can determine the of aircraft according to the first distance value in the first range information and first position information Two positional informations.
Specifically, as shown in Fig. 2 because velocity information and wind speed information are two vectors, include respectively velocity amplitude and Direction, velocity information and wind speed information are subjected to vector addition and can obtain sinking speed information.
That is, when mobile terminal determines the first range information according to elevation information, velocity information and wind speed information, it is first First, mobile terminal determines sinking speed information according to velocity information and wind speed information, the sinking speed information include velocity amplitude and Direction；Secondly, velocity amplitude of the mobile terminal in elevation information and sinking speed information, the in the first range information is determined One distance value；Again, velocity amplitude of the mobile terminal in sinking speed information, the velocity amplitude in velocity information and wind speed information In velocity amplitude, determine the first deviation angle in the first range information.
Specifically, the first distance value can be calculated in the following ways.
First, according to formulaThe flight time of calculating aircraft；
Secondly, according to formula S1=vt1Calculate the first distance value in the first range information；
Wherein, t1For flight time, h1It is aircraft in the height of point out of control, g is acceleration of gravity, and v is sinking speed letter Velocity amplitude in breath, S1For the first distance value.
Wherein, as shown in Fig. 2 velocity amplitude and wind speed letter in velocity amplitude, velocity information in sinking speed information Velocity amplitude in breath, determine that the first deviation angle in the first range information includes：
According to formulaCalculate the first deviation angle；
Wherein, v1For the velocity amplitude in velocity information, v is the velocity amplitude in sinking speed information, v2For in wind speed information Velocity amplitude, α are the first deviation angle.
Wherein, wind speed information can be mobile terminal obtained in real time from network according to first position information or Mobile terminal is obtained using other modes, and the embodiment of the present invention is not construed as limiting to specific acquisition pattern, specific acquisition pattern Without in the protection domain for limiting the embodiment of the present invention.
Wind speed information can also be that aircraft is obtained in real time using sensor, and be sent to included in state parameter information Mobile terminal or aircraft are obtained using other modes, and the embodiment of the present invention is not construed as limiting to specific acquisition pattern, Specific acquisition pattern is without in the protection domain for limiting the embodiment of the present invention.
In the present embodiment, according to formulaAnd formulaCalculate second Positional information；
Wherein, as shown in Fig. 2 the heading after aircraft communication failure is influenceed by wind speed information, then, r1= α-α'；
Wherein, X'1For the longitude in the information of the second place, X1For the longitude in the information of first position, Y'1For second Latitude value in positional information, Y1For the latitude value in the information of first position, S1For the first distance value in the first range information； W1For the distance value corresponding to unit longitude, W2For distance value, r corresponding to unit latitude value1For the side in sinking speed information To the angle between horizontal line, because the direction of sinking speed is identical with the direction of the first distance, r1It can be appreciated that the The angle between the first range direction and horizontal line in one range information, r1Can be characterizing point out of control to the side of landing point To α ' is the angle between direction and horizontal line in velocity information, and α is the first deviation angle that above-mentioned formula calculates.
The third, aircraft is more than predetermined threshold value in the dump energy of point out of control, and without wind speed information in the case of, first Range information includes the first distance value, and second distance information includes second distance value, and the 3rd range information includes the 3rd distance value.
Now, mobile terminal can determine the second distance value in second distance information corresponding with dump energy；
Mobile terminal determines the first distance value in the first range information according to elevation information and velocity information；
The execution sequence of above-mentioned two step not limits.
The first distance value in second distance value and the first range information of the mobile terminal in second distance information is true The 3rd distance value in fixed 3rd range information；
Mobile terminal determines the second place information of aircraft according to first position information and the 3rd range information.
Wherein, mobile terminal determines that the first distance value in the first range information can be with according to elevation information and velocity information With reference to the first situation, repeat no more here.
Wherein, mobile terminal determines the second distance value bag in aircraft second distance information corresponding with dump energy Include：
Mobile terminal is according to formula S2=10 × Δ S × Q calculates the second distance value in second distance information；
Wherein, S2For the second distance value in second distance information,S4iFor since aircraft Take off beginning, the flying distance corresponding to the electricity of aircraft ith consumption 1 ‰, △ Q be since the aircraft fly to flight The electricity consumed during device communication failure, Q are dump energy when aircraft communication fails.
Wherein, S4iIt can be obtained in real time based on the monitoring to electricity in flight course by aircraft, and real-time Transmission is given Mobile terminal, for example, aircraft consumes the position of 1 ‰ electricity according to the position and ith of the electricity of (i-1) secondary consumption 1 ‰ Put and calculate S4i, by S4iMobile terminal is sent to included in state parameter information；And for example, ith is consumed 1 ‰ by aircraft The time of electricity is included in state parameter information and is sent to mobile terminal, and mobile terminal is according to the electricity of (i-1) secondary consumption 1 ‰ The position of the electricity of the position of amount and ith consumption 1 ‰ calculates S4i, certainly, mobile terminal can also use other modes to obtain, Here repeat no more, concrete implementation means are without in the protection domain for limiting the embodiment of the present invention.
Wherein, the first range information can be expressed as the first distance vector, second distance information can be expressed as second away from From vector, according to the first distance vector and second distance vector, it may be determined that the 3rd distance value in the 3rd range information and Three range directions.
Wherein, threeth distance value of the mobile terminal in the first position information and the 3rd range information determines The second place information of the aircraft includes：
According to formulaAnd formulaCalculate the 3rd positional information；
Wherein, r2=α '；
Wherein, X'2For the longitude in the 3rd positional information, X1For the longitude in the information of first position, Y'2For the 3rd Latitude value in positional information, Y1For the latitude value in the information of first position, S3For the 3rd distance value, S1For the first range information In the first distance value, S2For the second distance value in second distance information, W1For the distance value corresponding to unit longitude, W2 For distance value corresponding to unit latitude value, α ' is the angle between the velocity amplitude and horizontal line of sinking speed information, and α ' can be used In the direction for characterizing sinking speed；r2For the 3rd range direction in the 3rd range information and horizontal angle, r2It can characterize 3rd distance, i.e. point out of control when communication failure (position) namely are to the direction of landing point.
4th kind, aircraft is more than predetermined threshold value in the dump energy of point out of control, and in the case of having wind speed information.
Now, mobile terminal determines the second distance value in second distance information corresponding with dump energy；
Mobile terminal determines the first distance in the first range information according to elevation information, velocity information and wind speed information Value；
Second distance value and first distance letter of the mobile terminal in velocity information, wind speed information, second distance information The first distance value in breath determines the 3rd range information；
Mobile terminal determines the second place information of aircraft according to first position information and the 3rd range information.
Wherein, mobile terminal determines first in the first range information according to elevation information, velocity information and wind speed information Distance value may be referred to second of situation, repeat no more here.
Wherein, the second distance value that mobile terminal determines in corresponding with dump energy second distance information may be referred to the Three kinds of situations, are repeated no more here.
Wherein, as shown in figure 3, when considering influence of the wind speed information to the flying speed of aircraft, due to wind speed information Influence, the flight based on inertia when heading based on dump energy and aircraft electricity exhaust when aircraft communication fails Certain angle between direction be present, therefore,
Mobile terminal can be according to formulaCalculate the 3rd range information In the 3rd distance value, the 3rd distance value is the distance between position of the position and landing point when aircraft communication fails；Its In,
Wherein, S3For the 3rd distance value in the 3rd range information, S1For the first distance value in the first range information, S2 For the second distance value in second distance information, v1For the velocity amplitude in velocity information, v is the speed in sinking speed information Value, v2For the velocity amplitude in wind speed information, α is the first deviation angle in the first range information.
And according to formulaCalculate the second deviation angle.
Wherein, according to formulaAnd formulaCalculate the 3rd position letter Breath；
Wherein, when considering the influence of wind speed,
Wherein, X'2For the longitude in the 3rd positional information, X1For the longitude in the information of first position, Y'2For the 3rd Latitude value in positional information, Y1For the latitude value in the information of first position, S3For the 3rd distance value, S1For the first range information In the first distance value, S2For the second distance value in second distance information, W1For the distance value corresponding to unit longitude, W2 For distance value corresponding to unit latitude value, angles of the α ' between the velocity amplitude and horizontal line of sinking speed information, r2For flight Position during device communication failure and the line between the position of landing point and horizontal angle, r2It can be used for characterizing point out of control To the direction of landing point, α " is the second deviation angle in the 3rd range information；Wherein, the second deviation angle is in velocity information Direction and aircraft communication fail when position and landing point position between line between angle.
In an optional embodiment, this method also includes：
According to the second place information of aircraft or the 3rd positional information of aircraft, shown on map aircraft Drop point position.
Position that can also be when showing aircraft communication failure on map in an optional embodiment and landing point The position at place, can also shown on map aircraft communication failure when position and landing point where position between company Flight path after the failure of line, i.e. aircraft communication.
Describe the specific implementation of the above method in detail below by specific example.
Example 1
Referring to Fig. 4, this method can include：
Step 400, mobile terminal detect to fail with aircraft communication, obtains aircraft last time before communication failure The state parameter information of transmission.
In this step, state parameter information include aircraft residing for elevation information, velocity information, first position information and Dump energy information.
Step 401, mobile terminal judge whether dump energy is less than or equal to predetermined threshold value, if it is, performing step 402~step 404；If it is not, then perform step 405~step 408.
Step 402, mobile terminal determine the first range information according to elevation information and velocity information.
Step 403, mobile terminal determine the second confidence of aircraft according to the first range information and first position information Breath.
In this step, second place information is used to characterize aircraft in the position of landing point.
The position of step 404, mobile terminal according to where second place information shows the landing point of aircraft on map.
Step 405, mobile terminal determine the second distance information corresponding with dump energy of aircraft.
Step 406, mobile terminal determine the first range information according to elevation information and velocity information.
Step 407, mobile terminal determine that the 3rd distance is believed according to velocity information, second distance information and the first range information Breath, the second place information of aircraft is determined according to first position information and the 3rd range information.
In this step, second place information is used to characterize aircraft in the position of landing point.
The position of step 408, mobile terminal according to where second place information shows the landing point of aircraft on map.
Example 2
Referring to Fig. 5, this method includes：
Step 500, mobile terminal detect to fail with aircraft communication, obtains aircraft last time before communication failure The state parameter information of transmission.
In this step, state parameter information include aircraft residing for elevation information, velocity information, first position information and Dump energy information.
Step 501, mobile terminal judge whether dump energy is less than or equal to predetermined threshold value, if it is, performing step 502~step 504；If it is not, then perform step 505~step 508.
Step 502, mobile terminal determine the first range information according to elevation information, velocity information and wind speed information.
Step 503, mobile terminal determine the second confidence of aircraft according to the first range information and first position information Breath.
In this step, second place information is used to characterize aircraft in the position of landing point.
The position of step 504, mobile terminal according to where second place information shows the landing point of aircraft on map.
Step 505, mobile terminal determine the second distance information corresponding with dump energy of aircraft.
Step 506, mobile terminal determine the first range information according to elevation information, velocity information and wind speed information.
Step 507, mobile terminal determine according to velocity information, wind speed information, second distance information and the first range information 3rd range information, the second place information of aircraft is determined according to first position information and the 3rd range information.
In this step, second place information is used to characterize aircraft in the position of landing point.
The position of step 508, mobile terminal according to where second place information shows the landing point of aircraft on map.
By above-described embodiment, the state parameter that mobile terminal is sent for the last time according to aircraft before communication failure is believed Breath accurately determines aircraft in the position of landing point, reduces user and finds scope, improves user and give aircraft for change Success rate.
Referring to Fig. 6, the embodiment of the present invention also proposed a kind of mobile terminal, including：
Acquisition module 601, for when detect failed with aircraft communication when, it is last before communication failure to obtain aircraft The state parameter information once sent, state parameter information include the elevation information residing for aircraft, velocity information and first Confidence ceases；
Determining module 602, for determining the first range information according to elevation information and velocity information；Believed according to the first distance Breath and first position information determine the second place information of aircraft, and second place information is used to characterize aircraft in landing point Position.
Optionally, the dump energy information of aircraft；Positioner also includes：
Judge module 603, for judging whether dump energy is less than or equal to predetermined threshold value, it will determine that result is sent to really Cover half block；
Determining module 602 is specifically used for：
When judged result for judge that dump energy is less than or equal to predetermined threshold value when, continue executing with according to described first away from The step of second place information of the aircraft being determined from information and the first position information.
Optionally, determining module 602 is specifically used for realizing in the following ways according to elevation information and velocity information determination First range information：
First range information is determined according to elevation information, velocity information and wind speed information；Wherein, wind speed information is according to What one positional information obtained, or state parameter information includes wind speed information.
Optionally, determining module 602 is specifically used for realizing in the following ways according to elevation information, velocity information and wind speed Information determines the first range information：
Sinking speed information is determined according to velocity information and wind speed information, the sinking speed information includes velocity amplitude and side To；
According to the velocity amplitude in elevation information and sinking speed information, the first distance value in the first range information is determined；
The velocity amplitude in the velocity amplitude and wind speed information in velocity amplitude, velocity information in sinking speed information, really The first deviation angle in fixed first range information；Wherein, the first deviation angle is the direction in velocity information and sinking speed The angle between direction in information.
Optionally, determining module 602, which is specifically used for realizing in the following ways, determines second place information：
According to formulaAnd formulaCalculate second place information；
Wherein, r1=α-α '；
Wherein, X'1For the longitude in the information of the second place, X1For the longitude in the information of first position, Y'1For second Latitude value in positional information, Y1For the latitude value in the information of first position, S1For the first distance value in the first range information； W1For the distance value corresponding to unit longitude, W2For distance value, r corresponding to unit latitude value1For the side in sinking speed information To the angle between horizontal line, because the direction of sinking speed is identical with the direction of the first distance, r1It can be appreciated that the The angle between the first range direction and horizontal line in one range information, r1Can be characterizing point out of control to the side of landing point To α ' is the angle between direction and horizontal line in velocity information, and α is the first deviation angle that above-mentioned formula calculates.
Optionally, determining module 602 is specifically used for realizing in the following ways according to elevation information and sinking speed information In velocity amplitude, determine the first distance value in the first range information：
According to formulaFlight time of the calculating aircraft based on coasting flight；
According to formula S1=v1t1Calculate the first distance value in the first range information；
Wherein, t1For flight time, h1For aircraft point out of control height, such as the elevation information in state parameter information, G is acceleration of gravity, v1For the velocity amplitude in sinking speed information, S1For the first distance value；
Determining module 602 is specifically used for realizing velocity amplitude, speed letter in sinking speed information in the following ways The velocity amplitude in velocity amplitude and wind speed information in breath, determine the first deviation angle in the first range information：
According to formulaCalculate the first deviation angle；
Wherein, v1For the velocity amplitude in velocity information, v is the velocity amplitude in sinking speed information, v2For in wind speed information Velocity amplitude, α are the first deviation angle.
Optionally, determining module 602 is additionally operable to：
When the judged result is to judge that the dump energy is more than the predetermined threshold value, the aircraft is determined Second distance information corresponding with the dump energy；
3rd range information is determined according to the second distance information and first range information, according to described first Confidence ceases the second place information that the aircraft is determined with the 3rd range information.
Optionally, determining module, which is specifically used for realizing in the following ways, determines aircraft corresponding with dump energy second Range information：
According to formula S2=10 × Δ S × Q calculates the second distance value in second distance information；
Wherein, S2For the second distance value in second distance information,S4iFor since aircraft Take off beginning, the flying distance corresponding to the electricity of aircraft ith consumption 1 ‰, △ Q be since the aircraft fly to flight The electricity consumed during device communication failure, Q are dump energy when aircraft communication fails.
Optionally, determining module 602 is specifically used for realizing in the following ways according to second distance information and the first distance Information determines the 3rd range information：
3rd range information is determined according to velocity information, wind speed information, second distance information and the first range information.
Optionally, determining module 602 is specifically used for realizing in the following ways according to velocity information, wind speed information, second Range information and the first range information determine the 3rd range information：
According to formulaCalculate the 3rd distance in the 3rd range information Value；Wherein,
According to formulaCalculate the second deviation angle in the 3rd range information；
Wherein, S3For the 3rd distance value in the 3rd range information, S1For the first distance value in the first range information, S2 For the second distance value in second distance information, v1For the velocity amplitude in velocity information, v is the speed in sinking speed information Value, v2For the velocity amplitude in wind speed information, α is the first deviation angle in the first range information, and α " is that the described 3rd distance is believed The second deviation angle in breath.
Optionally, determining module 602, which is specifically used for realizing in the following ways, calculates second place information：
According to formulaAnd formulaCalculate second place information；
Wherein, r2=α '-α "；
Wherein, X'2For the longitude in the information of the second place, X1For the longitude in the information of first position, Y'2For second Latitude value in positional information, Y1For the latitude value in the information of first position, S3For the 3rd distance value in the 3rd range information, S1For the first distance value in the first range information, S2For the second distance value in second distance information, W1For unit longitude institute Corresponding distance value, W2For distance value corresponding to unit latitude value, α ' is between the velocity amplitude and horizontal line of sinking speed information Angle, r2Position when being failed for aircraft communication and the line between the position of landing point and horizontal angle, r2Can be with For characterizing point out of control to the direction of landing point, α " is the second deviation angle in the 3rd range information；Wherein, the second deviation angle Spend for the direction in velocity information and aircraft communication failure when position and landing point position between line between folder Angle.
Optionally, in addition to：
Display module 604, for the second place information according to aircraft, the landing point institute of aircraft is shown on map Position.
The embodiment of the present invention also proposed a kind of computer-readable recording medium, be stored thereon with computer program, described The step of localization method of any one above-mentioned aircraft is realized when computer program is executed by processor.
Referring to Fig. 7, Fig. 7 is a kind of structural representation for mobile terminal that the embodiment of the present application provides.The mobile terminal Processor 71 and memory 72 can be included.
Wherein, memory 72 comprises at least a type of readable storage medium storing program for executing, and readable storage medium storing program for executing includes flash memory, hard Disk, multimedia card, card-type memory are (for example, safe digital card (SD card, Secure Digital Memory Card) or data Register (DX, Data Register) memory etc.), it is random access storage device (RAM, Random Access Memory), quiet State random access storage device (SRAM, Static Random Access Memory), read-only storage (ROM, Read Only Memory), Electrically Erasable Read Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), programmable read only memory (PROM, Programmable Read-Only Memory), magnetic deposits Reservoir, disk, CD etc..
Processor 71 can be central processing unit (CPU, Central Processing Unit), controller, microcontroller Device, microprocessor or other data processing chips etc..
Instruction is stored with above-mentioned memory, when it is described instruction by the computing device when, realize it is above-mentioned any one The localization method of aircraft.
Although disclosed herein embodiment as above, described content be only readily appreciate the present invention and use Embodiment, it is not limited to the present invention.Technical staff in any art of the present invention, taken off not departing from the present invention On the premise of the spirit and scope of dew, any modification and change can be carried out in the form and details of implementation.

Claims (19)

  1. A kind of 1. localization method of aircraft, it is characterised in that including：
    When mobile terminal, which detects, to be failed with aircraft communication, aircraft is before communication failure described in the acquisition for mobile terminal The state parameter information that last time is sent, the state parameter information include the elevation information residing for the aircraft, speed Information and first position information；
    The mobile terminal determines the first range information according to the elevation information and the velocity information；
    The mobile terminal determines the second of the aircraft according to first range information and the first position information Confidence ceases, and the second place information is used to characterize the aircraft in the position of landing point.
  2. 2. according to the method for claim 1, the state parameter information also includes：The dump energy letter of the aircraft Breath；
    The mobile terminal determines the second of the aircraft according to first range information and the first position information Before confidence breath, methods described also includes：
    The mobile terminal judges whether the dump energy is less than or equal to predetermined threshold value；
    The mobile terminal determines the second of the aircraft according to first range information and the first position information Confidence breath includes：
    When judging that the dump energy is less than or equal to predetermined threshold value, the mobile terminal is according to first range information The second place information of the aircraft is determined with the first position information.
  3. 3. according to the method for claim 2, it is characterised in that the mobile terminal is according to the elevation information and the speed Degree information determines the first range information, including：
    The mobile terminal determines first range information according to the elevation information, the velocity information and wind speed information； Wherein, the wind speed information be according to the first position information acquisition, or the state parameter information include it is described Wind speed information.
  4. 4. according to the method for claim 3, it is characterised in that the mobile terminal is according to the elevation information, the speed Degree information and the wind speed information determine that first range information includes：
    The mobile terminal determines sinking speed information, the sinking speed packet according to the velocity information and wind speed information Include velocity amplitude and direction；
    The velocity amplitude of the mobile terminal in the elevation information and the sinking speed information, determines described first The first distance value in range information；
    Velocity amplitude of the mobile terminal in the sinking speed information, the velocity amplitude in the velocity information and the wind Velocity amplitude in fast information, determine the first deviation angle in first range information；Wherein, first deviation angle is The angle between the direction in direction and the sinking speed information in the velocity information.
  5. 5. according to the method for claim 4, it is characterised in that
    Velocity amplitude of the mobile terminal in elevation information and sinking speed information, determines first in the first range information Distance value includes：
    The mobile terminal is according to formulaCalculate the flight time of the aircraft；
    The mobile terminal is according to formula S1=vt1Calculate the first distance value in first range information；
    Wherein, t1For the flight time, h1For the elevation information, g is acceleration of gravity, and v is in the sinking speed information Velocity amplitude, S1For first distance value；
    Velocity amplitude of the mobile terminal in sinking speed information, the speed in the velocity amplitude and wind speed information in velocity information Angle value, determine that the first deviation angle in the first range information includes：
    The mobile terminal is according to formulaCalculate first deviation angle；
    Wherein, v1For the velocity amplitude in the velocity information, v is the velocity amplitude in the sinking speed information, v2For the wind speed Velocity amplitude in information, α are first deviation angle.
  6. 6. according to the method for claim 5, it is characterised in that the mobile terminal is according to first range information and institute The second place information that first position information determines the aircraft is stated, including：
    The mobile terminal is according to formulaAnd formulaCalculate described second Positional information；
    Wherein, r1=α-α '；
    Wherein, X '1For the longitude in the second place information, X1For the longitude in the first position information, Y '1For Latitude value in the second place information, Y1For the latitude value in the first position information, S1For first range information In the first distance value；W1For the distance value corresponding to unit longitude, W2For distance value, r corresponding to unit latitude value1For institute The angle between the velocity attitude and horizontal line in sinking speed information is stated, α ' is the velocity information in the state parameter information In velocity attitude and horizontal line between angle, α is first deviation angle.
  7. 7. according to the method for claim 2, it is characterised in that this method also includes：
    When the mobile terminal judges that the dump energy is more than the predetermined threshold value, the mobile terminal determine with it is described Second distance information corresponding to dump energy；
    The mobile terminal determines the 3rd range information according to the second distance information and first range information；
    The mobile terminal determines the second of the aircraft according to first range information and the first position information Confidence ceases, including：
    The mobile terminal determines the second of the aircraft according to the first position information and the 3rd range information Confidence ceases.
  8. 8. according to the method for claim 7, it is characterised in that the mobile terminal determines corresponding with the dump energy Second distance information includes：
    The mobile terminal is according to formula S2=10 × Δ S × Q calculates the second distance value in the second distance information；
    Wherein, S2For the second distance value in the second distance information, Q is the dump energy when aircraft communication fails,S4iFor being taken off since the aircraft, the aircraft ith consumes 1 ‰ electricity institute Corresponding flying distance, Δ Q be since the aircraft the electricity that consumes when flying to aircraft communication failure.
  9. 9. according to the method for claim 7, it is characterised in that the mobile terminal according to second distance information and first away from Determine that the 3rd range information includes from information：
    The mobile terminal is according to the velocity information, wind speed information, the second distance information and first range information Determine the 3rd range information.
  10. 10. according to the method for claim 9, it is characterised in that the mobile terminal is believed according to the velocity information, wind speed Breath, second distance information and the first range information determine that the 3rd range information includes：
    The mobile terminal is according to formulaCalculate the 3rd range information In the 3rd distance value；
    The mobile terminal is according to formulaCalculate second in the 3rd range information Deviation angle；
    Wherein, S3For the 3rd distance value in the 3rd range information, S1For the first distance in first range information Value, S2For the second distance value in the second distance information, α " is the second deviation angle in the 3rd range information.
  11. 11. according to the method for claim 10, it is characterised in that
    The mobile terminal is according to formulaAnd formulaCalculate described second Positional information；
    Wherein, r2=α '-α "；
    Wherein, X '2For the longitude in the second place information, X1For the longitude in the first position information, Y '2For Latitude value in the second place information, Y1For the latitude value in the first position information, W1For corresponding to unit longitude Distance value, W2 is distance value corresponding to unit latitude value, and α ' is between velocity attitude and horizontal line in the velocity information Angle, r2Position when being failed for the aircraft communication and the line between the position of landing point and horizontal angle, α " is the second deviation angle in the 3rd range information.
  12. 12. according to the method described in claim any one of 1-11, it is characterised in that this method also includes：
    The mobile terminal shows the landing point institute of the aircraft according to the second place information of the aircraft on map Position.
  13. 13. according to the method described in claim any one of 1-11, it is characterised in that the mobile terminal detects and aircraft Communication failure includes：
    The mobile terminal does not receive the message that aircraft is periodically sent in preset time, flies it is determined that detecting with described Row device communication failure.
  14. A kind of 14. mobile terminal, it is characterised in that including：
    Acquisition module, for when detect failed with aircraft communication when, obtain the aircraft before communication failure last The state parameter information of secondary transmission, the state parameter information include the aircraft residing for elevation information, velocity information and First position information；
    Determining module, for determining the first range information according to the elevation information and the velocity information；According to described first Range information and the first position information determine the second place information of the aircraft, and the second place information is used for table The aircraft is levied in the position of landing point.
  15. 15. mobile terminal according to claim 14, it is characterised in that the dump energy information of the aircraft；It is described Positioner also includes：
    Judge module, for judging whether the dump energy is less than or equal to predetermined threshold value, it is described to will determine that result is sent to Determining module；
    The determining module is specifically used for：
    When the judged result is to judge that the dump energy is less than or equal to predetermined threshold value, believed according to the described first distance Breath and the first position information determine the second place information of the aircraft.
  16. 16. mobile terminal according to claim 15, it is characterised in that the determining module is additionally operable to：
    When the judged result when judging that the dump energy is more than the predetermined threshold value, to determine the aircraft and institute State second distance information corresponding to dump energy；
    3rd range information is determined according to the second distance information and first range information, believed according to the first position Breath and the 3rd range information determine the second place information of the aircraft.
  17. 17. according to the mobile terminal described in any one of claim 14~16, it is characterised in that also include：
    Display module, for the second place information according to the aircraft, the landing point of the aircraft is shown on map The position at place.
  18. 18. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, and its feature exists In the positioning of aircraft of the realization as described in claim 1~13 any one when the computer program is executed by processor The step of method.
  19. 19. a kind of mobile terminal, including processor and memory, instruction is stored with the memory, it is characterised in that work as institute When stating instruction by the computing device, the localization method of the aircraft as described in claim 1~13 any one is realized.
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