CN108069045B - Boosting method and device for mooring aircraft and mooring aircraft system - Google Patents

Boosting method and device for mooring aircraft and mooring aircraft system Download PDF

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Publication number
CN108069045B
CN108069045B CN201611027754.1A CN201611027754A CN108069045B CN 108069045 B CN108069045 B CN 108069045B CN 201611027754 A CN201611027754 A CN 201611027754A CN 108069045 B CN108069045 B CN 108069045B
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aircraft
flight
mooring
tethered
horizontal displacement
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CN108069045A (en
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不公告发明人
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Jiangsu Wangzhi UAV Research Institute Co., Ltd
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Jiangsu Wangzhi Uav Research Institute Co Ltd
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Priority to PCT/CN2017/092050 priority patent/WO2018090646A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0866—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted to captive aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

According to the boosting method, the boosting device and the mooring aircraft system of the mooring aircraft, provided by the invention, in the process of controlling the mooring aircraft to execute the flight task, whether horizontal displacement thrust needs to be provided for the mooring aircraft in the flight task is judged according to the current position information and the flight parameters of the mooring aircraft, if so, a control signal is generated according to the current position information and the flight parameters, the mooring aircraft is further controlled to generate the horizontal displacement thrust, the tension of the power supply rope on the mooring aircraft in the horizontal direction is overcome, the mooring aircraft can reach the target position in the flight task by overcoming the tension of the power supply rope in the horizontal direction in the process of executing the flight task, and the capability of the mooring aircraft for executing the flight task is improved.

Description

Boosting method and device for mooring aircraft and mooring aircraft system
Technical Field
The invention relates to the technical field of a mooring aircraft, in particular to a boosting method and a boosting device of the mooring aircraft and a mooring aircraft system.
Background
With the trend of civilization and entertainment of the use of aircrafts or unmanned aerial vehicles, more and more aircrafts or unmanned aerial vehicle products in the market are pursued by consumers. The mooring aircraft is an aircraft comprising an aircraft body, a power supply rope and a ground power supply and control device. One end through the power supply rope links to each other with the aircraft main part, and the other end links to each other with ground power supply and controlling means, and ground power supply and controlling means provide the electric energy for the aircraft main part through the power supply rope. Although the conventional mooring aircraft pulls the power supply rope through the ground power supply and control device to control the flight height and the flight range of the aircraft body, the movement range of the aircraft body of the mooring aircraft is limited due to the horizontal tension of the power supply rope.
Disclosure of Invention
The invention aims to provide a boosting method of a mooring aircraft, which aims to solve the problem that the conventional mooring aircraft cannot reach a target position due to the pulling force of a power supply rope in the horizontal direction when a flight task is executed.
The invention is realized in such a way that the boosting method of the mooring aircraft is connected with a ground power supply and control device through a power supply rope, and comprises the following steps:
controlling the tethered aerial vehicle to perform a flight mission;
judging whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task or not according to the current position information and flight parameters of the mooring aircraft;
if so, generating a control signal according to the current position information and the flight parameters to control the mooring aircraft to generate horizontal displacement thrust, and further overcoming the tension of the power supply rope on the mooring aircraft in the horizontal direction.
Another object of the present invention is to provide a booster device for a tethered aerial vehicle connected to a ground power supply and control device by a power supply cord, the booster device comprising:
the control module is used for controlling the mooring aircraft to execute a flight task;
the judging module is used for judging whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task or not according to the current position information and the flight parameters of the mooring aircraft;
and the horizontal displacement pushing module is used for generating a control signal according to the current position information and the flight parameters when the judgment result of the judgment module is yes, so as to control the mooring aircraft to generate horizontal displacement thrust, and further overcome the tension of the power supply rope on the mooring aircraft in the horizontal direction.
It is a further object of the present invention to provide a tethered aircraft system comprising a tethered aircraft and further comprising a booster for a tethered aircraft as described above.
The invention provides a boosting method of a mooring aircraft, wherein the mooring aircraft is connected with a ground power supply and control device through a power supply rope, whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task is judged according to current position information and flight parameters of the mooring aircraft in the process of controlling the mooring aircraft to execute the flight task, if yes, a control signal is generated according to the current position information and the flight parameters, the mooring aircraft is further controlled to generate the horizontal displacement thrust, the tension of the power supply rope on the mooring aircraft in the horizontal direction is overcome, the mooring aircraft can reach a target position in the flight task through overcoming the tension of the power supply rope in the horizontal direction in the process of executing the flight task, and the capability of the mooring aircraft for executing the flight task is improved.
Drawings
FIG. 1 is a flow chart of a method of boosting a tethered aircraft provided in accordance with a first embodiment of the present invention;
FIG. 2 is a flow chart of a method of boosting a tethered aircraft provided in accordance with a second embodiment of the present invention;
fig. 3 is a flowchart specifically illustrating step S240 in the boosting method for mooring an aircraft according to the second embodiment of the present invention;
FIG. 4 is a schematic structural view of a booster assembly of a tethered aircraft provided in accordance with a third embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the relationship between the included angle θ and the trigger angle β according to the second embodiment of the present invention;
fig. 6 is a schematic structural diagram of an aircraft according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention aims to provide a boosting method of a mooring aircraft, which aims to solve the problem that the conventional mooring aircraft cannot reach a target position due to the pulling force of a power supply rope in the horizontal direction when a flight task is executed.
The following detailed description of implementations of the invention refers to the accompanying drawings in which:
fig. 1 shows a flowchart of a method for assisting a tethered aircraft provided in the present embodiment, and for convenience of explanation, only the portions related to the present embodiment are shown.
A boosting method of a mooring aircraft, wherein the mooring aircraft is connected with a ground power supply and control device through a power supply rope, and the boosting method comprises the following steps:
s110: controlling the tethered aerial vehicle to perform a flight mission;
s120: judging whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task or not according to the current position information and flight parameters of the mooring aircraft;
s130: if so, generating a control signal according to the current position information and the flight parameters to control the mooring aircraft to generate horizontal displacement thrust, and further overcoming the tension of the power supply rope on the mooring aircraft in the horizontal direction.
In step S110, the ground power supply and control device controls the tethered aircraft to perform a flight mission. Wherein, the flight mission can include: lift off, lower, hover, and park.
In step S120, it is determined whether it is necessary to provide a horizontal displacement thrust for the tethered aircraft during the flight mission according to the current position information and the flight parameters of the tethered aircraft.
It should be noted that the flight parameters include flight trajectory information of the tethered aircraft when performing the flight mission. Step S120 specifically includes: and judging whether to provide horizontal displacement thrust for the mooring aircraft according to the current position information and the flight track information.
It will be appreciated that the horizontal displacement thrust is associated with flight trajectory information describing the displacement thrust in the horizontal direction of the tethered aircraft while performing the flight mission.
In step S130, the horizontal displacement thrust is smaller than the connection force between the power supply rope and the ground power supply and control device, the horizontal displacement thrust is smaller than the connection force between the power supply rope and the mooring aircraft, and the horizontal displacement thrust is smaller than the maximum bearing tension of the power supply rope, i.e., the mooring aircraft does not have the phenomena that the power supply rope is broken, the mooring aircraft is separated from the power supply rope, or the power supply rope is separated from the ground power supply and control device under the horizontal displacement thrust.
Fig. 6 shows a schematic structural view of an aircraft provided by a preferred embodiment of the present invention, and as shown in fig. 6, the method for boosting a tethered aircraft provided by the present embodiment is implemented based on at least one horizontal booster 2 disposed on the tethered aircraft 1.
Specifically, when judging whether horizontal displacement thrust needs to be provided for the captive aircraft in a flight task according to the current position information and the flight parameters of the captive aircraft 1, the current position information and the flight track information of the captive aircraft 1 are determined, the flight orientation of the captive aircraft on the horizontal plane is adjusted according to the flight track information, so that the direction of the horizontal displacement thrust provided by the horizontal thrusters 2 points to a target position, and then the horizontal displacement thrust is provided for the captive aircraft by the horizontal thrusters 2, so that the captive aircraft 1 flies to the target position.
As another possible implementation manner of the present embodiment, the present embodiment provides a method for boosting a tethered aircraft based on a plurality of horizontal thrusters disposed on the tethered aircraft.
Specifically, when it is judged that the horizontal displacement thrust needs to be provided for the tethered aircraft in the flight mission according to the control signal, the current position information and the flight track information of the tethered aircraft are determined, one or more horizontal thrusters are selected according to the current position information and the flight track information of the tethered aircraft, so that the direction of the horizontal displacement thrust provided by the one or more horizontal thrusters points to the target position, and then the one or more horizontal thrusters provide the resultant force of the horizontal displacement thrust for the tethered aircraft, so that the tethered aircraft flies to the target position.
Taking the case that the mooring air vehicle is provided with four-direction horizontal thrusters, the four-direction horizontal thrusters are respectively used for providing horizontal displacement thrust in the east direction, the west direction, the south direction and the north direction for the mooring air vehicle, and the four-direction horizontal thrusters are respectively a first horizontal thruster, a second horizontal thruster, a third horizontal thruster and a fourth horizontal thruster.
When the horizontal displacement thrust is needed to be provided for the mooring aircraft in the flight mission according to the control signal, the target position of the mooring aircraft on the horizontal plane is determined according to the control signal, for example, the mooring aircraft needs to advance horizontally in the east direction by 0.5 meter when the mooring aircraft reaches the target displacement, the first horizontal booster is selected according to the target position, and the first horizontal booster is controlled to provide the horizontal displacement thrust which advances horizontally by 0.5 meter for the mooring aircraft, so that the mooring aircraft flies to the target position.
For another example, reaching the target displacement requires the tethered aerial vehicle to travel horizontally 0.3 meters northeast, select the first and fourth horizontal thrusters based on the target position, and control the first and fourth horizontal thrusters to provide a resultant horizontal force to the tethered aerial vehicle, the resultant horizontal force enabling the tethered aerial vehicle to travel horizontally 0.3 meters northeast so that the tethered aerial vehicle flies to the target position.
In this embodiment, in the process of controlling the mooring aircraft to execute the flight task, whether horizontal displacement thrust needs to be provided for the mooring aircraft in the flight task is judged according to the current position information and the flight parameters of the mooring aircraft, if yes, a control signal is generated according to the current position information and the flight parameters, the mooring aircraft is further controlled to generate the horizontal displacement thrust, the tension of the power supply rope on the mooring aircraft in the horizontal direction is overcome, and the mooring aircraft can overcome the tension of the power supply rope on the horizontal direction in the process of executing the flight task.
A second embodiment is proposed on the basis of the above-described embodiment.
Fig. 2 is a flowchart illustrating a method of boosting a tethered aircraft provided in this embodiment, and for convenience of explanation, only the portions related to this embodiment are shown.
A boosting method of a tethered aircraft, the boosting method comprising the steps of:
s210: controlling the tethered aerial vehicle to perform a flight mission;
s220: setting a trigger angle beta for providing horizontal displacement thrust to the mooring aircraft in the flight mission;
s230: judging whether horizontal displacement thrust is provided for the mooring aircraft or not according to the current position information and the flight track information;
s240: if so, generating a control signal according to the current position information and the flight parameters to control the mooring aircraft to generate horizontal displacement thrust, and further overcoming the tension of the power supply rope on the mooring aircraft in the horizontal direction.
In step S220, the trigger angle β is a threshold angle that triggers the provision of horizontal displacement thrust to the tethered aerial vehicle during the mission. The method can be specifically set according to flight missions in practical application.
In step S230, the flight trajectory information includes at least one target position information, where the target position information is used to describe a dwell or flight position of the tethered aircraft relative to an origin, which is a projected point of a flight starting point of the tethered aircraft on a horizontal plane during the execution of the flight mission.
Fig. 3 shows a specific flowchart of step S240 in the boosting method for mooring an aircraft provided in this embodiment, and as shown in fig. 3, step S240 includes the following steps:
s241: determining a target position according to the target position information;
s242: acquiring a connecting line between the projection point of the starting point position on the horizontal plane and the target position and an included angle theta between the connecting line and the vertical direction;
s243: and when the included angle theta is larger than or equal to the triggering angle beta, judging that horizontal displacement thrust needs to be provided for the mooring aircraft in the flight task.
In step S241, the target position is relative to the flight starting point of the tethered aircraft, and is the park or flight position of the tethered aircraft other than the flight starting point of the tethered aircraft.
In step S242, the projection point of the starting point position on the horizontal plane is a point of the tethered aircraft perpendicular to the horizontal plane. One connecting line of the included angle theta is in the vertical direction, and the other connecting line is a connecting line between a projection point of the starting point position on the horizontal plane and the target position.
In step S243, the included angle θ is greater than or equal to the trigger angle β, which means that after the target position is shifted from the starting position in the vertical direction, the included angle θ formed by respectively making a straight line from the target position and the starting position to a projection point of the starting position on the horizontal plane is greater than or equal to the trigger angle β.
In the present embodiment, the comparison result of the included angle θ and the trigger angle β is used as a judgment condition for judging whether the horizontal displacement thrust needs to be provided for the tethered aircraft during the flight mission. And when the included angle theta is larger than or equal to the triggering angle beta, judging that the horizontal displacement thrust needs to be provided for the mooring aircraft in the flight mission.
Fig. 5 shows the relationship between the included angle θ and the trigger angle β in the present embodiment. Taking point a as a starting point position and a point in the vertical direction, point O as a projection point of the starting point position on the horizontal plane, point C as a target position, point B as a trigger position as an example, the included angle θ is an angle of ═ COA, and the included angle β is an angle of ═ BOA. And a virtual line segment CO is a connecting line between a projection point O of the starting position A on the horizontal plane and the target position C, the included angle between the connecting line and the vertical direction is theta, and the included angle theta is larger than the triggering angle beta, so that the situation that the horizontal displacement thrust needs to be provided for the mooring aircraft in the flight task is judged.
The boosting method of the mooring aircraft provided by the embodiment is characterized in that in the process of controlling the mooring aircraft to execute the flight task, whether horizontal displacement thrust needs to be provided for the mooring aircraft in the flight task is judged according to the current position information and the flight parameters of the mooring aircraft, if yes, a control signal is generated according to the current position information and the flight parameters, the mooring aircraft is further controlled to generate the horizontal displacement thrust, the tension of a power supply rope on the mooring aircraft in the horizontal direction is overcome, the mooring aircraft can reach a target position in the flight task by overcoming the tension of the power supply rope in the horizontal direction in the process of executing the flight task, and the capability of the mooring aircraft in executing the flight task is improved.
Corresponding to the above embodiments, a third embodiment is proposed.
Fig. 4 is a schematic structural view of a booster of a tethered aircraft provided in the present embodiment, and for convenience of explanation, only the parts related to the present embodiment are shown.
A booster assembly 100 for a tethered aircraft, the booster assembly 100 comprising:
and the control module 110 is used for controlling the tethered aircraft to execute flight tasks.
Wherein, the ground power supply and control device controls the mooring aircraft to execute flight tasks. Wherein, the flight mission can include: lift off, lower, hover, and park.
And the judging module 120 is configured to judge whether horizontal displacement thrust needs to be provided for the tethered aircraft in a flight task according to the current position information and the flight parameters of the tethered aircraft.
It should be noted that the flight parameters include flight trajectory information of the tethered aircraft when performing the flight mission. The determining module 120 is specifically configured to determine whether to provide horizontal displacement thrust for the tethered aircraft according to the current position information and the flight trajectory information.
And the horizontal displacement pushing module 130 is configured to generate a control signal according to the current position information and the flight parameter when the determination result of the determining module 120 is yes, so as to control the tethered aircraft to generate a horizontal displacement thrust, and further overcome a horizontal pulling force of the power supply rope on the tethered aircraft.
The horizontal displacement thrust is smaller than the connecting force between the power supply rope and the ground power supply and control device, the horizontal displacement thrust is smaller than the connecting force between the power supply rope and the mooring aircraft, and the horizontal displacement thrust is smaller than the maximum bearing tension of the power supply rope, so that the mooring aircraft cannot be pulled off by the power supply rope under the horizontal displacement thrust, and the mooring aircraft is separated from the power supply rope or the power supply rope is separated from the ground power supply and control device.
In other embodiments of the present invention, the boosting device 100 further includes:
and a trigger angle setting module 140 for setting a trigger angle β for providing horizontal displacement thrust to the tethered aircraft during the mission.
Wherein the triggering angle beta is a threshold angle for triggering the provision of horizontal displacement thrust to the tethered aircraft during the mission. The method can be specifically set according to flight missions in practical application.
It should be noted that the flight path information includes at least one target position information, and the target position information is used to describe a dwell or flight position of the tethered aircraft relative to an origin point, which is a projection point of a flight starting point of the tethered aircraft on a horizontal plane during the execution of a flight mission.
The horizontal displacement push module 130 further includes: a target position acquisition unit 131, an angle acquisition unit 132, and a determination unit 133.
A target position obtaining unit 131, configured to determine a target position according to the target position information.
Wherein the target position is relative to the origin of flight of the tethered aircraft and is the park or flight position of the tethered aircraft other than the origin of flight of the tethered aircraft.
An included angle obtaining unit 132, configured to obtain a connection line between the projection point of the starting point position on the horizontal plane and the target position, and an included angle θ between the connection line and the vertical direction. The projection point of the starting point position on the horizontal plane is a point of the mooring aircraft perpendicular to the horizontal plane, one connecting line of the included angle theta is in the vertical direction, and the other connecting line is a connecting line between the projection point of the starting point position on the horizontal plane and the target position.
And the determination unit 133 is configured to determine that the horizontal displacement thrust needs to be provided for the tethered aircraft during the flight mission when the included angle θ is greater than or equal to the trigger angle β.
The included angle theta is greater than or equal to the trigger angle beta, and means that after the target position deviates from the starting position in the vertical direction, the included angle theta formed by respectively making a straight line from the target position and the starting position to a projection point of the starting position on a horizontal plane is greater than or equal to the trigger angle beta.
Embodiments of the present invention also provide a tethered aircraft system comprising a tethered aircraft, the tethered aircraft system further comprising a booster arrangement 100 for the tethered aircraft in the embodiments described above.
Since the implementation scheme and the working principle of the tethered aircraft system in this embodiment related to the present invention have been described in detail in the above embodiments, detailed description thereof is omitted here.
According to the boosting method and the boosting device for the tethered aircraft, provided by the invention, in the process of controlling the tethered aircraft to execute the flight task, whether horizontal displacement thrust needs to be provided for the tethered aircraft in the flight task is judged according to the current position information and the flight parameters of the tethered aircraft, and if so, a control signal is generated according to the current position information and the flight parameters, so that the tethered aircraft is controlled to generate the horizontal displacement thrust, the tension of the power supply rope on the tethered aircraft in the horizontal direction is overcome, the tethered aircraft can reach the target position in the flight task by overcoming the tension of the power supply rope in the horizontal direction in the process of executing the flight task, and the capability of the tethered aircraft to execute the flight task is improved.
Those of ordinary skill in the art will understand that: the steps or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the above method embodiments, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. A boosting method of a mooring aerial vehicle, wherein the mooring aerial vehicle is connected with a ground power supply and control device through a power supply rope, and is characterized in that at least one horizontal booster is arranged on the mooring aerial vehicle, and the boosting method comprises the following steps:
controlling the tethered aerial vehicle to perform a flight mission; wherein the flight mission comprises: lifting, descending, hovering and residing;
setting a trigger angle beta for providing horizontal displacement thrust to the mooring aircraft in the flight mission;
judging whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task according to the current position information and the flight parameters of the mooring aircraft, and the method comprises the following steps: determining a target position according to the target position information; acquiring a connecting line between a projection point of the flight starting point position information on a horizontal plane and the target position and an included angle theta between the connecting line and the vertical direction; when the included angle theta is larger than or equal to the triggering angle beta, judging that horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task;
if so, generating a control signal according to the current position information and the flight parameters to control the mooring aircraft to generate horizontal displacement thrust, further overcoming the tension of the power supply rope on the mooring aircraft in the horizontal direction, and reaching the target position in the flight task.
2. The method according to claim 1, wherein the flight parameters include flight trajectory information of the tethered aircraft during the execution of the flight mission, and the step of determining whether the tethered aircraft needs to be provided with the horizontal displacement thrust during the flight mission according to the current position information of the tethered aircraft and the flight parameters specifically includes:
and judging whether to provide horizontal displacement thrust for the mooring aircraft according to the current position information and the flight track information.
3. The method of boosting a tethered aircraft of claim 2 wherein said flight trajectory information comprises at least one target location information.
4. A booster assembly for a tethered aerial vehicle connected to a ground power and control unit by a power cord and having at least one horizontal booster disposed thereon, the booster assembly comprising:
the control module is used for controlling the mooring aircraft to execute a flight task; wherein the flight mission comprises: lifting, descending, hovering and residing;
the trigger angle setting module is used for setting a trigger angle beta for providing horizontal displacement thrust to the mooring aircraft in a flight task;
the judging module is used for judging whether horizontal displacement thrust needs to be provided for the mooring aircraft in a flight task or not according to the current position information and the flight parameters of the mooring aircraft;
the horizontal displacement pushing module is used for generating a control signal according to the current position information and the flight parameters to control the mooring aircraft to generate horizontal displacement thrust when the judgment result of the judging module is yes, so that the tension of the power supply rope on the mooring aircraft in the horizontal direction is overcome;
the judging module further comprises:
the target position acquiring unit is used for determining a target position according to the target position information;
the included angle acquisition unit is used for acquiring a connecting line between a projection point of the flight starting point position information on a horizontal plane and the target position and an included angle theta between the connecting line and the vertical direction;
and the judging unit is used for judging that horizontal displacement thrust needs to be provided for the mooring aircraft in the flight mission when the included angle theta is larger than or equal to the triggering angle beta, and the mooring aircraft reaches the target position in the flight mission.
5. The booster device of claim 4, wherein the flight parameters include flight trajectory information of the tethered aircraft during the execution of the flight mission, and the determining module is specifically configured to determine whether to provide horizontal displacement thrust to the tethered aircraft according to the current position information and the flight trajectory information.
6. The booster of a tethered aircraft of claim 5 wherein said flight trajectory information comprises at least one target location information.
7. A tethered aircraft system comprising a tethered aircraft, characterized in that it further comprises a booster of a tethered aircraft according to any of claims 4 to 6.
CN201611027754.1A 2016-11-17 2016-11-17 Boosting method and device for mooring aircraft and mooring aircraft system Active CN108069045B (en)

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CN201611027754.1A CN108069045B (en) 2016-11-17 2016-11-17 Boosting method and device for mooring aircraft and mooring aircraft system
PCT/CN2017/092050 WO2018090646A1 (en) 2016-11-17 2017-07-06 Boosting method and boosting device for tethering aircraft, and tethering aircraft system

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