CN107796404B - Aircraft positioning method and mobile terminal - Google Patents
Aircraft positioning method and mobile terminal Download PDFInfo
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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
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- 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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Abstract
The embodiment of the invention discloses a method and a device for positioning an aircraft, which comprises the following steps: when a mobile terminal detects that communication with an aircraft fails, the mobile terminal acquires state parameter information sent by the aircraft for the last time before the communication fails, wherein the state parameter information comprises altitude information, speed information and first position information of the aircraft; the mobile terminal determines first distance information according to the height information and the speed information; and the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information, wherein the second position information is used for representing the position of the aircraft at a landing point. Through the scheme of the embodiment of the invention, the mobile terminal accurately determines the position of the aircraft at the landing point according to the state parameter information which is sent by the aircraft for the last time before the communication failure, so that the searching range of a user is reduced, and the success rate of the user for finding the aircraft is improved.
Description
Technical Field
The invention relates to the aircraft technology, in particular to an aircraft positioning method and a mobile terminal.
Background
Aircraft often loses control for various reasons, for example, existing aircraft products depend on wireless communication to control flight or rely on a satellite positioning system to autonomously fly, but the wireless communication or the satellite positioning system is very susceptible to interference in some specific places, and the existing aircraft generally does not have a collision avoidance function, so that the aircraft loses control when the aircraft collides with a power line or a tree. As another example, sometimes an aircraft flies far out of the operator's line of sight and if maneuvered improperly, the aircraft may lose control. Determining the landing position of an aircraft after the aircraft loses control is the subject of active research by those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides an aircraft positioning method and a mobile terminal, which can accurately position the landing position of an aircraft and reduce the searching range of a user, thereby improving the success rate of the user for finding the aircraft.
The embodiment of the invention provides a method for positioning an aircraft, which comprises the following steps:
when a mobile terminal detects that communication with an aircraft fails, the mobile terminal acquires state parameter information sent by the aircraft for the last time before the communication fails, wherein the state parameter information comprises altitude information, speed information and first position information of the aircraft;
the mobile terminal determines first distance information according to the height information and the speed information;
and the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information, wherein the second position information is used for representing the position of the aircraft at a landing point.
Optionally, the state parameter information further includes: remaining power information of the aircraft;
before the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information, the method further includes:
the mobile terminal judges whether the residual electric quantity is smaller than or equal to a preset threshold value;
the mobile terminal determining second position information of the aircraft according to the first distance information and the first position information comprises:
and when the residual capacity is judged to be less than or equal to a preset threshold value, the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information.
Optionally, the determining, by the mobile terminal, first distance information according to the altitude information and the speed information includes:
the mobile terminal determines the first distance information according to the height information, the speed information and the wind speed information; wherein the wind speed information is obtained according to the first position information, or the state parameter information includes the wind speed information.
Optionally, the determining, by the mobile terminal, the first distance information according to the altitude information, the speed information, and the wind speed information includes:
the mobile terminal determines landing speed information according to the speed information and the wind speed information, wherein the landing speed information comprises a speed value and a direction;
the mobile terminal determines a first distance value in the first distance information according to the height information and the speed value in the landing speed information;
the mobile terminal determines a first offset angle in the first distance information according to a speed value in the landing speed information, a speed value in the speed information and a speed value in the wind speed information; and the first offset angle is an included angle between the direction in the speed information and the direction in the landing speed information.
Alternatively to this, the first and second parts may,
the mobile terminal determines a first distance value in the first distance information according to the altitude information and the speed value in the landing speed information, and the determining includes:
the mobile terminal is according to the formula
Calculating a time of flight of the aircraft;
the mobile terminal is according to formula S1＝vt1Calculating a first distance value in the first distance information;
wherein, t1Is said time of flight, h1G is the gravity acceleration, v is the speed value in the falling speed information, S1Is the first distance value;
the mobile terminal determines a first offset angle in the first distance information according to the speed value in the landing speed information, the speed value in the speed information and the speed value in the wind speed information, and the determining includes:
the mobile terminal is according to the formula
Calculating the first offset angle;
wherein v is1Is the velocity value in the velocity information, v is the velocity in the landing velocity informationValue, v2For the speed value in the wind speed information, α is the first offset angle.
Optionally, the determining, by the mobile terminal, second location information of the aircraft according to the first distance information and the first location information includes:
the mobile terminal is according to the formula
And formula
Calculating the second position information;
wherein r is1＝α-α'；
Wherein, X'1Is a longitude value, X, in the second location information1Is longitude value, Y 'in the first position information'1As a latitude value, Y, in the second position information1As a latitude value, S, in the first position information1The first distance value in the first distance information is obtained; w1Is a distance value, W, corresponding to a unit longitude value2Is a distance value corresponding to a unit latitude value, r1α' is an angle between the velocity direction in the velocity information in the state parameter information and the horizontal line, and α is the first offset angle.
Optionally, the method further includes:
when the mobile terminal judges that the residual electric quantity is larger than the preset threshold value, the mobile terminal determines second distance information corresponding to the residual electric quantity;
the mobile terminal determines third distance information according to the second distance information and the first distance information;
the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information, and the method comprises the following steps:
and the mobile terminal determines second position information of the aircraft according to the first position information and the third distance information.
Optionally, the determining, by the mobile terminal, second distance information corresponding to the remaining power includes:
the mobile terminal is according to formula S2Calculating a second distance value in the second distance information as 10 × Δ S × Q;
wherein S is2Is a second distance value in the second distance information, Q is the remaining capacity of the aircraft when the communication fails,
S4ithe flight distance corresponding to 1 per mill of electric quantity consumed by the aircraft at the ith time from the start of takeoff of the aircraft, and △ Q is the electric quantity consumed from the start of takeoff of the aircraft to the communication failure of the aircraft.
Optionally, the determining, by the mobile terminal, the third distance information according to the second distance information and the first distance information includes:
and the mobile terminal determines the third distance information according to the speed information, the wind speed information, the second distance information and the first distance information.
Optionally, the determining, by the mobile terminal, third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information includes:
the mobile terminal is according to the formula
Calculating a third distance value in the third distance information;
the mobile terminal is according to the formula
Calculating a second offset angle in the third distance information;
wherein S is3Is a third distance value, S, in the third distance information1Is a first distance value, S, in the first distance information2As the second distance informationα "is the second offset angle in the third distance information.
Alternatively to this, the first and second parts may,
the mobile terminal is according to the formula
And formula
Calculating the second position information;
wherein r is2＝α'-α”；
Wherein, X'2Is a longitude value, X, in the second location information1Is longitude value, Y 'in the first position information'2As a latitude value, Y, in the second position information1Is a latitude value, W, in the first position information1Is a distance value, W, corresponding to a unit longitude value2Distance value corresponding to unit latitude value, α' is included angle between speed direction in the speed information and horizontal line, r2An angle between a connecting line between the position at which the aircraft fails to communicate and the position of the landing point and the horizontal line, and α ″ is a second offset angle in the third distance information.
Optionally, the method further includes:
and the mobile terminal displays the position of the landing point of the aircraft on a map according to the second position information of the aircraft.
Optionally, the detecting, by the mobile terminal, that the communication with the aircraft is failed includes:
the mobile terminal does not receive messages periodically sent by the aircraft within preset time, and the mobile terminal determines that the communication failure with the aircraft is detected.
An embodiment of the present invention provides a mobile terminal, including:
the system comprises an acquisition module, a first position information acquisition module and a second position information acquisition module, wherein the acquisition module is used for acquiring state parameter information sent by an aircraft for the last time before communication failure when communication failure with the aircraft is detected, and the state parameter information comprises altitude information, speed information and first position information of the aircraft;
the determining module is used for determining first distance information according to the height information and the speed information; and determining second position information of the aircraft according to the first distance information and the first position information, wherein the second position information is used for representing the position of the aircraft at a landing point.
Optionally, information on a remaining capacity of the aircraft; the positioning device further comprises:
the judging module is used for judging whether the residual electric quantity is smaller than or equal to a preset threshold value or not and sending a judging result to the determining module;
the determining module is specifically configured to:
and when the judgment result is that the residual electric quantity is judged to be less than or equal to a preset threshold value, determining second position information of the aircraft according to the first distance information and the first position information.
Optionally, the determining module is further configured to:
when the judgment result is that the residual electric quantity is larger than the preset threshold value, determining second distance information of the aircraft corresponding to the residual electric quantity;
and determining third distance information according to the second distance information and the first distance information, and determining second position information of the aircraft according to the first position information and the third distance information.
Optionally, the method further includes:
and the display module is used for displaying the position of the landing point of the aircraft on a map according to the second position information of the aircraft.
An embodiment of the invention proposes a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the above-mentioned methods for positioning an aircraft.
The embodiment of the invention provides a mobile terminal, which comprises a processor and a memory, wherein instructions are stored in the memory, and when the instructions are executed by the processor, the positioning method of any one aircraft is realized.
In the embodiment of the application, when a mobile terminal detects that the communication with an aircraft fails, the mobile terminal acquires state parameter information sent by the aircraft for the last time before the communication fails, wherein the state parameter information comprises altitude information, speed information and first position information of the aircraft; the mobile terminal determines first distance information according to the height information and the speed information; and the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information, wherein the second position information is used for representing the position of the aircraft at a landing point. Through the scheme of the embodiment of the invention, the mobile terminal accurately determines the position of the aircraft at the landing point according to the state parameter information which is sent by the aircraft for the last time before the communication failure, so that the searching range of a user is reduced, and the success rate of the user for finding the aircraft is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for positioning an aircraft according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of velocity directions in landing velocity information for an aircraft provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of an aircraft provided in an embodiment of the present invention flying when a remaining capacity is greater than a predetermined threshold;
FIG. 4 is a flowchart of a method for locating an aircraft in example 1 provided by an embodiment of the present invention;
FIG. 5 is a flowchart of a method for locating an aircraft in example 2 provided by an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a module composition of a mobile terminal according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mobile terminal according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
The associated aircraft positioning method generally comprises:
the method comprises the steps that the aircraft obtains Position information of the aircraft in real time in the flying process by a Global Positioning System (GPS), the obtained Position information is reported to a mobile terminal in real time, the mobile terminal stores the Position information of the aircraft, and the aircraft can be retrieved according to the last Position information of the aircraft stored by the mobile terminal after the aircraft is out of control.
In the related aircraft positioning method, the stored position information is inaccurate, the error is large, and the success rate of finding the aircraft is low.
The technical solutions provided by the embodiments of the present application are exemplarily described below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a method for positioning an aircraft, including:
step 100, when the mobile terminal detects that the communication with the aircraft fails, the mobile terminal acquires the state parameter information sent by the aircraft for the last time before the communication fails.
In this embodiment, the mobile terminal may detect whether communication with the aircraft is disabled by the following method.
Firstly, a two-way communication mechanism is established between the mobile terminal and the aircraft, namely a sender sends a periodic request message to a receiver, and if the sender receives a response message of the receiver within a preset time, the communication with the receiver is determined to be normal; and if the sender does not receive the response message of the receiver within the preset time, determining that the communication with the receiver is invalid.
Similarly, if the receiver receives the request message of the sender within the preset time, the communication with the sender is determined to be normal; and if the receiver does not receive the request message of the sender within the preset time, determining that the communication with the sender is invalid.
The request message may be a heartbeat request, and the response message may be a heartbeat response.
The sender is an aircraft, and the receiver is a mobile terminal; or the sender is a mobile terminal and the receiver is an aircraft.
In this embodiment, the state parameter information may include altitude information, speed information, and first position information where the aircraft is located.
In the embodiment of the present application, the location point characterized by the first location information may be defined as an out-of-control point of the aircraft.
In an optional embodiment, the state parameter information may further include: remaining capacity information of the aircraft.
In this embodiment, the aircraft acquires the state parameter information in real time during the flight process and sends the state parameter information to the mobile terminal for storage. For example, the aircraft includes state parameter information in a request message or a response message sent to the mobile terminal, and the mobile terminal acquires the state parameter information from the received request message or response message; specifically, if the sender is an aircraft, the state parameter information may be carried in a request message sent by the aircraft; if the sender is a mobile terminal, the state parameter information can be carried in a response message sent by the messenger. The aircraft can also independently send the state parameter information to the mobile terminal; the aircraft may also transmit the state parameter information to the mobile terminal in other manners.
And after detecting that the communication with the aircraft is invalid, the mobile terminal acquires the stored last group of state parameter information.
In this embodiment, the mobile terminal may determine, according to the altitude information and the speed information, first distance information of the aircraft between the electricity consumption point and the landing point, where the first distance information may include a first distance value and a first distance direction. The first distance direction may be a straight direction from the charge depletion point to the landing point. The first distance direction may be characterized by an angle, which is not limited herein. Specific implementation manners of determining the first distance information may be referred to in the description of the following embodiments. It should be noted that the charge exhaustion point is the end point of the flight of the aircraft by the power system, that is, the charge in the battery can only support the flight of the aircraft control power system to the end point, and after that, the flight of the aircraft is out of control, that is, the aircraft only depends on the gravity inertia of the aircraft and the environmental influence, such as wind influence, etc., to achieve the state of flight landing.
In some cases, for example, in a case where the remaining capacity of the aircraft at the point of runaway is less than a preset threshold value, the capacity exhaustion point of the aircraft and the position information of the point of runaway of the aircraft may be the same.
Optionally, the mobile terminal may also determine first distance information of the aircraft based on the altitude information, the speed information, and the wind speed information. Here, the state parameter information sent by the aircraft may include wind speed information, and the mobile terminal may acquire the wind speed information by acquiring the state parameter information; or after detecting that the communication with the aircraft is invalid, the mobile terminal may determine the wind speed information corresponding to the first position information according to the first position information of the aircraft in the state parameter information.
Optionally, in a case that the remaining power of the aircraft at the runaway point is greater than the preset threshold, the mobile terminal may determine second distance information from the runaway point to the power exhaustion point, where the second distance information may include a second distance value and a second distance direction, and the second distance value may be calculated based on the remaining power. The second distance direction may refer to a straight direction from the point of runaway to the point of exhaustion of electric charge.
Further, under the condition that the residual capacity of the aircraft at the point of runaway is greater than the preset threshold value, the mobile terminal can calculate third distance information according to the first distance information and the second distance information. For example, the third distance value and the third distance direction of the third distance information are calculated according to the first distance value and the first distance direction, and the second distance value and the second distance direction, respectively, and the calculation method is not limited herein.
And 102, the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information.
In this embodiment, the second location information is used to characterize the location of the aircraft at the landing point. For example, if the first location information includes a longitude value and a latitude value of the aircraft at the point of loss of control, the second location information may include a longitude value and a latitude value of the aircraft at the point of landing. Of course, the second location information may also be determined from other coordinate information included in the first location information.
The following describes a specific implementation of the above-described approach for four different cases, respectively.
First, under the condition that the remaining capacity of the aircraft at the point of runaway is less than or equal to a preset threshold and no wind speed information exists, the mobile terminal may determine first distance information according to altitude information and speed information, and may further determine second position information of the aircraft at the landing point according to the first position information and the first distance information. The no wind speed information may mean that the mobile terminal cannot acquire the wind speed information, or that the acquired wind speed information is not enough to influence the flight of the aircraft.
Specifically, the first distance information may be calculated in the following manner.
Firstly, according to the formula
Calculating the flight time of the aircraft;
secondly, according to the formula S1＝v1t1Calculating a first distance value in the first distance information;
wherein, t1Time of flight, i.e. the time of flight of the aircraft from the point of runaway to the point of landing, h1The altitude of the aircraft at the point of loss of control, as altitude information in the state parameter information, g is the acceleration of gravity, v1For the velocity value in the velocity information in the status parameter information, S1Is a first distance value.
Further, according to the formula
And formula
Calculating second position information;
wherein, because of no wind speed information, the flight direction of the aircraft after communication failure is kept unchanged, then r1＝α'；
Wherein, X'1Is the longitude value, X, in the second location information1Is a longitude value, Y 'in the first position information'1As latitude value, Y, in the second position information1As latitude value, S, in the first position information1The first distance value in the first distance information; w1Is a distance value, W, corresponding to a unit longitude value2Is a distance value corresponding to a unit latitude value, r1Is the angle between the first distance direction in the first distance information and the horizontal line, r1The direction from the point of loss of control to the point of landing can be characterized, α 'is the angle between the direction in the speed information and the horizon, α' can be used to characterize the direction of the speed at which the aircraft communication fails.
S above1、W1、W2Has the unit of meter (m), W1、W2May be 111000 meters (m) or 111110m, or, W1Value of (A) and X1Correlation, W2Value of (a) and Y1Correlation, etc., or other equivalent of latitude and longitude versus distance as applied in international standards.
Secondly, the mobile terminal can determine the first distance information according to the altitude information, the speed information and the wind speed information under the condition that the residual electric quantity of the aircraft at the out-of-control point is less than or equal to a preset threshold value and the wind speed information exists; further, the mobile terminal may determine second location information of the aircraft according to the first distance value and the first location information in the first distance information.
Specifically, as shown in fig. 2, the speed information and the wind speed information are two vectors, which respectively include a speed value and a direction, and the landing speed information can be obtained by vector-adding the speed information and the wind speed information.
That is, when the mobile terminal determines the first distance information according to the altitude information, the speed information and the wind speed information, firstly, the mobile terminal determines landing speed information according to the speed information and the wind speed information, wherein the landing speed information comprises a speed value and a direction; secondly, the mobile terminal determines a first distance value in the first distance information according to the height information and the speed value in the landing speed information; and thirdly, the mobile terminal determines a first offset angle in the first distance information according to the speed value in the landing speed information, the speed value in the speed information and the speed value in the wind speed information.
Specifically, the first distance value may be calculated in the following manner.
Firstly, according to the formula
Calculating the flight time of the aircraft;
secondly, according to the formula S1＝vt1Calculating a first distance value in the first distance information;
wherein, t1To time of flight, h1The altitude of the aircraft at the point of loss of control, g is the acceleration of gravity, v is the velocity value in the landing velocity information, S1Is a first distance value.
As shown in fig. 2, determining the first offset angle in the first distance information according to the velocity value in the landing velocity information, the velocity value in the velocity information, and the velocity value in the wind velocity information includes:
according to the formula
Calculating a first offset angle;
wherein v is1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2For the speed value in the wind speed information α is the first offset angle.
The wind speed information may be obtained by the mobile terminal from the network in real time according to the first location information, or the mobile terminal may obtain the wind speed information in other manners.
The wind speed information may also be obtained by the aircraft in real time by using a sensor and sent to the mobile terminal by being included in the state parameter information, or obtained by the aircraft by using other methods.
In this embodiment, according to the formula
And formula
Calculating second position information;
wherein, as shown in fig. 2, the flight direction of the aircraft after communication failure is affected by the wind speed information, then r1＝α-α'；
Wherein, X'1Is the longitude value, X, in the second location information1Is a longitude value, Y 'in the first position information'1As latitude value, Y, in the second position information1As latitude value, S, in the first position information1The first distance value in the first distance information; w1Is a distance value, W, corresponding to a unit longitude value2Is a distance value corresponding to a unit latitude value, r1Is the angle between the direction in the landing velocity information and the horizontal line, r is the same direction of the first distance since the direction of the landing velocity is the same as the direction of the first distance1It can also be understood as the angle, r, between the first distance direction in the first distance information and the horizontal line1The direction from the runaway point to the landing point can be characterized by α', which is the angle between the direction in the speed information and the horizontal line, and α is the first offset angle calculated by the above formula.
And thirdly, under the condition that the residual capacity of the aircraft at the point of runaway is greater than a preset threshold value and no wind speed information exists, the first distance information comprises a first distance value, the second distance information comprises a second distance value, and the third distance information comprises a third distance value.
At this time, the mobile terminal may determine a second distance value in the second distance information corresponding to the remaining power amount;
the mobile terminal determines a first distance value in the first distance information according to the height information and the speed information;
the order of execution of the above two steps is not limited.
The mobile terminal determines a third distance value in third distance information according to a second distance value in the second distance information and a first distance value in the first distance information;
and the mobile terminal determines second position information of the aircraft according to the first position information and the third distance information.
The mobile terminal determines the first distance value in the first distance information according to the altitude information and the speed information, which may refer to the first case and is not described herein again.
The mobile terminal determines a second distance value in second distance information corresponding to the aircraft and the residual electric quantity, and the second distance value comprises the following steps:
mobile terminal according to formula S2Calculating a second distance value in the second distance information as 10 × Δ S × Q;
wherein S is2For the second distance value in the second distance information,
S4i△ Q is the electric quantity consumed from the start of the takeoff of the aircraft to the communication failure of the aircraft, and Q is the residual electric quantity when the communication failure of the aircraft occurs.
Wherein S is4iThe electric quantity can be obtained by the aircraft in real time based on monitoring during the flight process and transmitted to the mobile terminal in real time, for example, the aircraft calculates S according to the position of consuming 1 per thousand electric quantity for the (i-1) th time and the position of consuming 1 per thousand electric quantity for the (i) th time4iWill S4iThe state parameter information is sent to the mobile terminal; for another example, the aircraft sends the state parameter information to the mobile terminal when the ith time consuming 1% of electric quantity is included in the state parameter information, and the mobile terminal calculates the S according to the position of the (i-1) th time consuming 1% of electric quantity and the position of the (i) th time consuming 1% of electric quantity4iOf course, the mobile terminal may also be obtained in other manners, which are not described herein again, and the specific implementation means is not used to limit the protection scope of the embodiment of the present invention.
The first distance information may be represented as a first distance vector, the second distance information may be represented as a second distance vector, and a third distance value and a third distance direction in the third distance information may be determined according to the first distance vector and the second distance vector.
Wherein the mobile terminal determining the second position information of the aircraft according to the third distance value in the first position information and the third distance information comprises:
according to the formula
And formula
Calculating third position information;
wherein r is2＝α'；
Wherein, X'2As a longitude value, X, in the third location information1Is a longitude value, Y 'in the first position information'2As latitude value, Y, in the third position information1As latitude value, S, in the first position information3Is the third distance value, S1Is a first distance value, S, in the first distance information2For a second distance value, W, in the second distance information1Is a distance value, W, corresponding to a unit longitude value2Distance value corresponding to unit latitude value, α 'is included angle between speed value of landing speed information and horizontal line, α' can be used for representing direction of landing speed, r2Is the angle, r, between the third distance direction in the third distance information and the horizontal line2A third distance, i.e., the direction from the point of loss of control (i.e., the location where communication failed) to the point of landing, can be characterized.
Fourthly, the residual capacity of the aircraft at the point of runaway is larger than the preset threshold value and under the condition of wind speed information.
At this time, the mobile terminal determines a second distance value in second distance information corresponding to the remaining power;
the mobile terminal determines a first distance value in the first distance information according to the height information, the speed information and the wind speed information;
the mobile terminal determines third distance information according to the speed information, the wind speed information, a second distance value in the second distance information and a first distance value in the first distance information;
and the mobile terminal determines second position information of the aircraft according to the first position information and the third distance information.
The mobile terminal determines the first distance value in the first distance information according to the altitude information, the speed information, and the wind speed information, which may refer to the second case and is not described herein again.
The third case may be referred to by the mobile terminal for determining the second distance value in the second distance information corresponding to the remaining power, and details are not repeated here.
Wherein, as shown in fig. 3, when considering the influence of the wind speed information on the flying speed of the aircraft, there is a certain angle between the flying direction based on the remaining power when the aircraft communication fails and the flying direction based on the inertia when the aircraft power is exhausted due to the influence of the wind speed information, and therefore,
the mobile terminal can be according to the formula
Calculating a third distance value in the third distance information, wherein the third distance value is the distance between the position of the aircraft when the communication fails and the position of the landing point; wherein,
wherein S is3For a third distance value, S, in the third distance information1Is a first distance value, S, in the first distance information2For a second distance value, v, in the second distance information1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2The value of the speed in the wind speed information α is the first offset angle in the first distance information.
According to the formula
A second offset angle is calculated.
Wherein, according to the formula
And formula
Calculating third position information;
wherein, when the influence of the wind speed is considered,
wherein, X'2As a longitude value, X, in the third location information1Is a longitude value, Y 'in the first position information'2As latitude value, Y, in the third position information1As latitude value, S, in the first position information3Is the third distance value, S1Is a first distance value, S, in the first distance information2For a second distance value, W, in the second distance information1Is a distance value, W, corresponding to a unit longitude value2Distance value corresponding to unit latitude value, α' is the included angle between the speed value of landing speed information and horizontal line, r2Is the angle r between the horizontal and the line between the position of the aircraft at the time of communication failure and the position of the landing point2And α' is a second offset angle in the third distance information, wherein the second offset angle is an included angle between the direction in the speed information and a connecting line between the position when the aircraft fails to communicate and the position of the landing point.
In an optional embodiment, the method further comprises:
and displaying the position of the landing point of the aircraft on the map according to the second position information of the aircraft or the third position information of the aircraft.
In an alternative embodiment, the position of the aircraft at the time of communication failure and the position of the landing point may also be displayed on a map, and a connection line between the position of the aircraft at the time of communication failure and the position of the landing point, that is, a flight route after the aircraft communication failure, may also be displayed on the map.
Specific implementations of the above-described method are described in detail below by specific examples.
Example 1
Referring to fig. 4, the method may include:
and step 400, the mobile terminal detects that the communication with the aircraft fails, and acquires the state parameter information sent by the aircraft for the last time before the communication fails.
In this step, the state parameter information includes altitude information, speed information, first position information, and remaining power information of the aircraft.
And step 403, the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information.
In this step, the second position information is used to characterize the position of the aircraft at the landing point.
And step 404, the mobile terminal displays the position of the landing point of the aircraft on the map according to the second position information.
And step 405, the mobile terminal determines second distance information of the aircraft corresponding to the residual electric quantity.
In this step, the second position information is used to characterize the position of the aircraft at the landing point.
And step 408, the mobile terminal displays the position of the landing point of the aircraft on the map according to the second position information.
Example 2
Referring to fig. 5, the method includes:
and 500, detecting that the communication with the aircraft is invalid by the mobile terminal, and acquiring the state parameter information sent by the aircraft for the last time before the communication is invalid.
In this step, the state parameter information includes altitude information, speed information, first position information, and remaining power information of the aircraft.
Step 502, the mobile terminal determines first distance information according to the altitude information, the speed information and the wind speed information.
In this step, the second position information is used to characterize the position of the aircraft at the landing point.
And step 504, the mobile terminal displays the position of the landing point of the aircraft on the map according to the second position information.
And 505, the mobile terminal determines second distance information corresponding to the residual electric quantity of the aircraft.
And step 507, the mobile terminal determines third distance information according to the speed information, the wind speed information, the second distance information and the first distance information, and determines second position information of the aircraft according to the first position information and the third distance information.
In this step, the second position information is used to characterize the position of the aircraft at the landing point.
And step 508, the mobile terminal displays the position of the landing point of the aircraft on the map according to the second position information.
Through the embodiment, the mobile terminal accurately determines the position of the aircraft at the landing point according to the state parameter information sent by the aircraft for the last time before the communication failure, so that the searching range of a user is reduced, and the success rate of the user for finding the aircraft is improved.
Referring to fig. 6, an embodiment of the present invention further provides a mobile terminal, including:
the acquiring module 601 is configured to acquire state parameter information sent by an aircraft for the last time before communication failure when communication failure with the aircraft is detected, where the state parameter information includes altitude information, speed information, and first position information of the aircraft;
a determining module 602, configured to determine first distance information according to the altitude information and the speed information; second position information of the aircraft is determined according to the first distance information and the first position information, and the second position information is used for representing the position of the aircraft at the landing point.
Optionally, remaining capacity information of the aircraft; the positioning device further comprises:
the judging module 603 is configured to judge whether the remaining power is less than or equal to a preset threshold, and send a judgment result to the determining module;
the determining module 602 is specifically configured to:
and when the judgment result is that the residual capacity is judged to be less than or equal to a preset threshold value, continuing to execute the step of determining second position information of the aircraft according to the first distance information and the first position information.
Optionally, the determining module 602 is specifically configured to determine the first distance information according to the altitude information and the speed information by using the following method:
determining first distance information according to the height information, the speed information and the wind speed information; the wind speed information is obtained according to the first position information, or the state parameter information comprises wind speed information.
Optionally, the determining module 602 is specifically configured to determine the first distance information according to the altitude information, the speed information, and the wind speed information by using the following method:
determining landing speed information according to the speed information and the wind speed information, wherein the landing speed information comprises a speed value and a direction;
determining a first distance value in the first distance information according to the height information and the speed value in the landing speed information;
determining a first offset angle in the first distance information according to the speed value in the landing speed information, the speed value in the speed information and the speed value in the wind speed information; and the first offset angle is an included angle between the direction in the speed information and the direction in the landing speed information.
Optionally, the determining module 602 is specifically configured to determine the second location information by using the following method:
according to the formula
And formula
Calculating second position information;
wherein r is1＝α-α'；
Wherein, X'1Is the longitude value, X, in the second location information1Is a longitude value, Y 'in the first position information'1As latitude value, Y, in the second position information1As latitude value, S, in the first position information1The first distance value in the first distance information; w1Is a distance value, W, corresponding to a unit longitude value2Is a distance value corresponding to a unit latitude value, r1Is the angle between the direction in the landing velocity information and the horizontal line, r is the same direction of the first distance since the direction of the landing velocity is the same as the direction of the first distance1It can also be understood as the angle, r, between the first distance direction in the first distance information and the horizontal line1The direction from the runaway point to the landing point can be characterized by α', which is the angle between the direction in the speed information and the horizontal line, and α is the first offset angle calculated by the above formula.
Optionally, the determining module 602 is specifically configured to determine the first distance value in the first distance information according to the height information and the speed value in the landing speed information in the following manner:
according to the formula
Calculating the flight time of the aircraft based on inertia flight;
according to formula S1＝v1t1Calculating a first distance value in the first distance information;
wherein, t1To time of flight, h1The altitude of the aircraft at the point of loss of control, as altitude information in the state parameter information, g is the acceleration of gravity, v1For the velocity values in the landing velocity information, S1Is a first distance value;
the determining module 602 is specifically configured to determine the first offset angle in the first distance information according to the speed value in the landing speed information, the speed value in the speed information, and the speed value in the wind speed information by using the following methods:
according to the formula
Calculating a first offset angle;
wherein v is1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2For the speed value in the wind speed information α is the first offset angle.
Optionally, the determining module 602 is further configured to:
when the judgment result is that the residual electric quantity is larger than the preset threshold value, determining second distance information of the aircraft corresponding to the residual electric quantity;
and determining third distance information according to the second distance information and the first distance information, and determining second position information of the aircraft according to the first position information and the third distance information.
Optionally, the determining module is specifically configured to determine second distance information corresponding to the remaining power of the aircraft by using the following method:
according to formula S2Calculating a second distance value in the second distance information as 10 × Δ S × Q;
wherein S is2For the second distance value in the second distance information,
S4i△ Q is the electric quantity consumed from the start of the takeoff of the aircraft to the communication failure of the aircraft, and Q is the residual electric quantity when the communication failure of the aircraft occurs.
Optionally, the determining module 602 is specifically configured to determine the third distance information according to the second distance information and the first distance information by using the following method:
and determining third distance information according to the speed information, the wind speed information, the second distance information and the first distance information.
Optionally, the determining module 602 is specifically configured to determine the third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information by using the following method:
according to the formula
Calculating a third distance value in the third distance information; wherein,
according to the formula
Calculating a second offset angle in the third distance information;
wherein S is3For a third distance value, S, in the third distance information1Is a first distance value, S, in the first distance information2For a second distance value, v, in the second distance information1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2α is the first offset angle in the first distance information, α' is the speed value in the wind speed informationA second offset angle in the third distance information.
Optionally, the determining module 602 is specifically configured to calculate the second position information by using the following method:
according to the formula
And formula
Calculating second position information;
wherein r is2＝α'-α”；
Wherein, X'2Is the longitude value, X, in the second location information1Is a longitude value, Y 'in the first position information'2As latitude value, Y, in the second position information1As latitude value, S, in the first position information3For a third distance value, S, in the third distance information1Is a first distance value, S, in the first distance information2For a second distance value, W, in the second distance information1Is a distance value, W, corresponding to a unit longitude value2Distance value corresponding to unit latitude value, α' is the included angle between the speed value of landing speed information and horizontal line, r2Is the angle r between the horizontal and the line between the position of the aircraft at the time of communication failure and the position of the landing point2And α' is a second offset angle in the third distance information, wherein the second offset angle is an included angle between the direction in the speed information and a connecting line between the position when the aircraft fails to communicate and the position of the landing point.
Optionally, the method further includes:
and a display module 604, configured to display, on the map, a location where the landing point of the aircraft is located according to the second location information of the aircraft.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of any one of the above-mentioned methods for positioning an aircraft.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a mobile terminal according to an embodiment of the present disclosure. The mobile terminal may include a processor 71 and a memory 72.
The Memory 72 includes at least one type of readable storage medium, which includes a flash Memory, a hard disk, a multimedia Card, a Card-type Memory (e.g., a Secure Digital Memory Card (SD Card) or a Data Register (DX) Memory), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Programmable Read-Only Memory (PROM-Only Memory), a magnetic Memory, a magnetic disk, an optical disk, and the like.
The processor 71 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip.
The memory stores instructions that, when executed by the processor, implement any of the above-described methods for locating an aircraft.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be apparent to persons skilled in the relevant art that various modifications and variations can be made in the form and details of the invention without departing from the spirit and scope of the invention as disclosed.
Claims (15)
1. A method of locating an aircraft, comprising:
when a mobile terminal detects that communication with an aircraft fails, the mobile terminal acquires state parameter information sent by the aircraft for the last time before the communication fails, wherein the state parameter information comprises altitude information, speed information, remaining power information and first position information of the aircraft;
the mobile terminal determines first distance information according to the height information and the speed information;
the mobile terminal judges whether the residual electric quantity is smaller than or equal to a preset threshold value;
when the residual electric quantity is judged to be smaller than or equal to a preset threshold value, the mobile terminal determines second position information of the aircraft according to the first distance information and the first position information;
when the mobile terminal judges that the residual electric quantity is larger than the preset threshold value, the mobile terminal determines second distance information corresponding to the residual electric quantity;
the mobile terminal determines third distance information according to the second distance information and the first distance information;
the mobile terminal determines second position information of the aircraft according to the first position information and the third distance information;
the second location information is used to characterize a location of the aircraft at a landing point.
2. The method of claim 1, wherein the mobile terminal determines first distance information according to the altitude information and the speed information, and comprises:
the mobile terminal determines the first distance information according to the height information, the speed information and the wind speed information; wherein the wind speed information is obtained according to the first position information, or the state parameter information includes the wind speed information.
3. The method of claim 2, wherein the mobile terminal determining the first distance information according to the altitude information, the speed information, and the wind speed information comprises:
the mobile terminal determines landing speed information according to the speed information and the wind speed information, wherein the landing speed information comprises a speed value and a direction;
the mobile terminal determines a first distance value in the first distance information according to the height information and the speed value in the landing speed information;
the mobile terminal determines a first offset angle in the first distance information according to a speed value in the landing speed information, a speed value in the speed information and a speed value in the wind speed information; and the first offset angle is an included angle between the direction in the speed information and the direction in the landing speed information.
4. The method of claim 3,
the mobile terminal determines a first distance value in the first distance information according to the altitude information and the speed value in the landing speed information, and the determining includes:
the mobile terminal is according to the formula
Calculating a time of flight of the aircraft;
the mobile terminal is according to formula S1＝vt1Calculating a first distance value in the first distance information;
wherein, t1Is said time of flight, h1G is the gravity acceleration, v is the speed value in the falling speed information, S1Is the first distance value;
the mobile terminal determines a first offset angle in the first distance information according to the speed value in the landing speed information, the speed value in the speed information and the speed value in the wind speed information, and the determining includes:
the mobile terminal is according to the formula
Calculating the first offset angle;
wherein v is1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2For the speed value in the wind speed information, α is the first offset angle.
5. The method of claim 4, wherein the mobile terminal determining second location information for the aircraft based on the first distance information and the first location information comprises:
the mobile terminal is according to the formula
And formula
Calculating the second position information;
wherein r is1＝α-α'；
Wherein, X'1Is a longitude value, X, in the second location information1Is longitude value, Y 'in the first position information'1As a latitude value, Y, in the second position information1As a latitude value, S, in the first position information1The first distance value in the first distance information is obtained; w1Is a distance value, W, corresponding to a unit longitude value2Is a distance value corresponding to a unit latitude value, r1α' is an angle between the velocity direction in the velocity information in the state parameter information and the horizontal line, and α is the first offset angle.
6. The method of claim 1, wherein the determining, by the mobile terminal, second distance information corresponding to the remaining power amount comprises:
the mobile terminal is according to formula S2Calculating a second distance value in the second distance information as 10 × Δ S × Q;
wherein S is2Is a second distance value in the second distance information, Q is the remaining capacity of the aircraft when the communication fails,
S4ithe flight distance corresponding to 1 per mill of electric quantity consumed by the aircraft at the ith time from the start of takeoff of the aircraft, and △ Q is the electric quantity consumed from the start of takeoff of the aircraft to the communication failure of the aircraft.
7. The method of claim 1, wherein the mobile terminal determining third distance information according to the second distance information and the first distance information comprises:
and the mobile terminal determines the third distance information according to the speed information, the wind speed information, the second distance information and the first distance information.
8. The method of claim 7, wherein the mobile terminal determining third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information comprises:
the mobile terminal is according to the formula
Calculating a third distance value in the third distance information;
the mobile terminal is according to the formula
Calculating a second offset angle in the third distance information;
wherein S is3Is a third distance value, S, in the third distance information1Is a first distance value, S, in the first distance information2For the second distance value in the second distance information, α' is the second offset angle in the third distance information, α is the first offset angle,
wherein v is1Is the velocity value in the velocity information, v is the velocity value in the landing velocity information, v2As the speed in the wind speed informationAnd the falling speed information is determined by the mobile terminal according to the speed information and the wind speed information, and the falling speed information comprises a speed value and a direction.
9. The method of claim 8,
the mobile terminal is according to the formula
And formula
Calculating the second position information;
wherein r is2＝α'-α”；
Wherein, X'2Is a longitude value, X, in the second location information1Is longitude value, Y 'in the first position information'2As a latitude value, Y, in the second position information1Is a latitude value, W, in the first position information1Is a distance value, W, corresponding to a unit longitude value2Distance value corresponding to unit latitude value, α' is included angle between speed direction in the speed information and horizontal line, r2An angle between a connecting line between the position at which the aircraft fails to communicate and the position of the landing point and the horizontal line, and α ″ is a second offset angle in the third distance information.
10. The method according to any one of claims 1-9, further comprising:
and the mobile terminal displays the position of the landing point of the aircraft on a map according to the second position information of the aircraft.
11. The method of any of claims 1-9, wherein the mobile terminal detecting a communication failure with the aircraft comprises:
the mobile terminal does not receive messages periodically sent by the aircraft within preset time, and the mobile terminal determines that the communication failure with the aircraft is detected.
12. A mobile terminal, comprising:
the system comprises an acquisition module, a first position module and a second position module, wherein the acquisition module is used for acquiring state parameter information sent by an aircraft for the last time before communication failure when communication failure with the aircraft is detected, and the state parameter information comprises altitude information, speed information, residual electric quantity information and first position information of the aircraft;
the determining module is used for determining first distance information according to the height information and the speed information; determining second position information of the aircraft according to the first distance information and the first position information, wherein the second position information is used for representing the position of the aircraft at a landing point;
the judging module is used for judging whether the residual electric quantity is smaller than or equal to a preset threshold value or not and sending a judging result to the determining module;
the determining module is specifically configured to:
when the judgment result is that the residual electric quantity is judged to be smaller than or equal to a preset threshold value, determining second position information of the aircraft according to the first distance information and the first position information;
when the judgment result is that the residual electric quantity is larger than the preset threshold value, determining second distance information of the aircraft corresponding to the residual electric quantity;
and determining third distance information according to the second distance information and the first distance information, and determining second position information of the aircraft according to the first position information and the third distance information.
13. The mobile terminal of claim 12, further comprising:
and the display module is used for displaying the position of the landing point of the aircraft on a map according to the second position information of the aircraft.
14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for locating an aircraft according to any one of claims 1 to 11.
15. A mobile terminal comprising a processor and a memory, said memory having stored therein instructions, wherein said instructions, when executed by said processor, implement a method for positioning an aircraft according to any one of claims 1 to 11.
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Address after: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Patentee after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Patentee before: AUTEL ROBOTICS Co.,Ltd. |
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