CN108490970A - Predict unmanned plane during flying track approach, device and storage medium - Google Patents

Abstract

The invention discloses a kind of prediction unmanned plane during flying track approach, device and storage medium, the prediction unmanned plane during flying track approach includes：Obtain the planning course line of unmanned plane；Obtain the flare maneuver between the location information and two neighboring destination of each destination in planning course line；Each destination is marked on two-dimensional map according to the latitude and longitude information of location information；Respective gut is drawn according between adjacent destination of the flare maneuver on two-dimensional map.The present invention has the effect of improving the accuracy of prediction flight path.

Description

Method, device and storage medium for predicting UAV flight trajectory

technical field

The invention relates to the field of drone management, in particular to a method, device and storage medium for predicting the flight trajectory of the drone.

Background technique

With more and more applications of drones and more and more integration into society, the functions of drones are also expanding. The application methods of drones usually include delivery, carrying camera equipment for high-altitude shooting. Existing drones typically fly on pre-planned routes. On a map, it is often necessary to estimate the predicted flight path showing the planned route.

However, in the predicted flight path shown in the prior art, it is usually obtained by connecting each flight node with a straight line. Therefore, there is a large deviation between the existing predicted flight path and the real flight path, and the real flight path cannot be displayed more accurately, so that the user cannot obtain an accurate flight path reference.

Contents of the invention

The main purpose of the present invention is to provide a method, device and storage medium for predicting the flight path of an unmanned aerial vehicle, aiming at improving the accuracy of the predicted flight path.

In order to achieve the above object, the present invention proposes a method for predicting the flight trajectory of a UAV, the method for predicting the flight trajectory of a UAV includes:

Obtain the planned route of the drone;

Obtain the position information of each waypoint in the planned route, as well as the flight action between two adjacent waypoints;

Mark each waypoint on the two-dimensional map according to the latitude and longitude information of the location information;

Draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to flight movements.

Optionally, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is point-to-point straight flight;

Draws straight line segments between adjacent waypoints on a 2D map.

Optionally, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is a positive arc flight;

Obtain the circling setting direction and circling setting angle set in the flight action;

Draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint in the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the two adjacent waypoints. The position when the circle setting direction is rotated through the circle setting angle.

Optionally, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is fast waypoint flight;

Obtain multiple adjacent and continuous waypoints passed by the fast waypoint flight;

Draw a cubic Bezier curve on a two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent continuous waypoints, and the corresponding control curvature of each waypoint to be passed through A set of two control points in , determined according to the two waypoints before and after the waypoint.

Optionally, the set of two control points corresponding to each of the waypoints to pass through to control the curvature, determined according to the two waypoints before and after the waypoint includes:

Connect the waypoint to be passed with the previous waypoint to obtain the forward connection;

Connect the waypoint to be passed with the next waypoint to obtain the next connection line;

Connect the middle point of the front line with the middle point of the back line to obtain the middle line;

Offset the middle line along its vertical direction to pass the waypoint to be passed, and use the two ends of the middle line as two control points;

The set of two control points of the cubic Bezier curve is the set of both ends of all the intermediate lines.

The present invention also provides a device for predicting the flight trajectory of a UAV. The device for predicting the flight trajectory of a UAV includes: a memory, a processor, and a predicted UAV that is stored on the memory and can run on the processor. Aircraft flight path program, when the described prediction UAV flight path program is executed by the processor, the following steps are realized:

Obtain the planned route of the drone;

Obtain the position information of each waypoint in the planned route, as well as the flight action between two adjacent waypoints;

Mark each waypoint on the two-dimensional map according to the latitude and longitude information of the location information;

Draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to flight movements.

Optionally, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is point-to-point straight flight;

Draw straight line segments between adjacent waypoints on a 2D map;

When the flight action between adjacent waypoints is a positive arc flight;

Obtain the circling setting direction and circling setting angle set in the flight action;

Draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint in the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the two adjacent waypoints. The position when the circle setting direction is rotated through the circle setting angle.

Optionally, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is fast waypoint flight;

Obtain multiple adjacent and continuous waypoints passed by the fast waypoint flight;

Draw a cubic Bezier curve on a two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent continuous waypoints, and the corresponding control curvature of each waypoint to be passed through A set of two control points in , determined according to the two waypoints before and after this waypoint.

Optionally, the set of two control points corresponding to each of the waypoints to pass through to control the curvature, determined according to the two waypoints before and after the waypoint includes:

Connect the waypoint to be passed with the previous waypoint to obtain the forward connection;

Connect the waypoint to be passed with the next waypoint to obtain the next connection line;

Connect the middle point of the front line with the middle point of the back line to obtain the middle line;

Offset the middle line along its vertical direction to pass the waypoint to be passed, and use the two ends of the middle line as two control points;

The set of two control points of the cubic Bezier curve is the set of both ends of all the intermediate lines.

The present invention also provides a storage medium for a computer, the storage medium stores a program for predicting the flight trajectory of the UAV, and when the program for predicting the flight trajectory of the UAV is executed by a processor, the steps of the above-mentioned method are realized .

The method for predicting the flight trajectory of the UAV provided by the present invention obtains the planned route of the UAV; then, obtains the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints; Then mark each waypoint on the two-dimensional map according to the latitude and longitude information of the position information; finally, draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action. In this way, it is possible to accurately describe the waypoints that the drone will pass through on the two-dimensional map, and accurately describe the flight path of how to fly from one waypoint to the next waypoint, so that the predicted overall flight path is more similar to the actual flight path. In order to achieve the effect of enabling the user to obtain a more accurate predicted path.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is the flow chart of the first embodiment of the method for predicting the flight trajectory of the unmanned aerial vehicle of the present invention;

Fig. 2 is the flow chart of the second embodiment of the method for predicting the flight path of the unmanned aerial vehicle of the present invention;

Fig. 3 is an example diagram of the method for predicting the flight path of the unmanned aerial vehicle shown in Fig. 2;

Fig. 4 is the flowchart of the third embodiment of the method for predicting the flight path of the UAV in the present invention;

Fig. 5 is an example diagram of the method for predicting the flight path of the unmanned aerial vehicle shown in Fig. 4;

Fig. 6 is the flowchart of the fourth embodiment of the method for predicting the flight path of the UAV in the present invention;

Fig. 7 is the first example diagram of the method for predicting the flight path of the unmanned aerial vehicle shown in Fig. 6;

Fig. 8 is the second example diagram of the method for predicting the flight trajectory of the unmanned aerial vehicle shown in Fig. 6

Fig. 9 is a flow chart of the fifth embodiment of the method for predicting the flight trajectory of the UAV according to the present invention

Fig. 10 is a diagram of a first example of applying the method for predicting the flight trajectory of a UAV shown in Fig. 9 .

Fig. 11 is the second example diagram of the method for predicting the flight trajectory of the unmanned aerial vehicle shown in Fig. 9

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Embodiment one

FIG. 1 is a schematic flowchart of a first embodiment of a method for predicting a flight trajectory of a UAV according to the present invention. The method for predicting the flight trajectory of the unmanned aerial vehicle includes:

Step S101, obtaining the planned route of the drone;

Step S102, obtaining the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints;

Step S103, marking each waypoint on the two-dimensional map according to the latitude and longitude information of the location information;

Step S104, drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action.

In this embodiment, first obtain the planned route of the UAV; then, obtain the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints; then according to the latitude and longitude information of the position information in Each waypoint is marked on the two-dimensional map; finally, corresponding connection lines are drawn between adjacent waypoints on the two-dimensional map according to the flight action.

In this embodiment, firstly, the planned route of the drone is obtained. Specifically, there are various types of UAVs, such as fixed-wing UAVs, folding-wing UAVs or multi-rotor UAVs. These UAVs can pre-plan the route, so that the UAV can fly along the planned route. In order to enable the planned route to avoid some obstacles and reach midway supply points and other factors, usually the planned route will not be a straight line, but will appear as a plurality of waypoints arranged in sequence. That is, the UAV usually needs to fly along a zigzag or curved flight path.

In this embodiment, after the planned route of the drone is obtained, the position information of each waypoint in the planned route and the flight action between two adjacent waypoints are obtained. Specifically, the planned route includes multiple waypoints, and each waypoint has location information. Wherein, the location information includes latitude, longitude and altitude. These latitude, longitude and altitude are satellite positioning data, which are used to guide the drone to fly. When the drone is flying, it will receive satellite positioning signals in real time for its own positioning.

During the route planning, there may be situations such as midway rest or positioning and replenishment due to the pairing. Therefore, it is necessary to define the flight action between two adjacent waypoints. For example, the flight action may be a straight line flight, a circle flight, a fast waypoint flight of a fast-passing style, and the like. Therefore, it is necessary to obtain the flight action between two adjacent waypoints, so as to draw the predicted flight path according to the flight action.

In this embodiment, after obtaining the location information of each waypoint in the planned route and the flight action between two adjacent waypoints, each waypoint is marked on the two-dimensional map according to the latitude and longitude information of the location information. Specifically, due to most users, the flight path can be identified more quickly on the two-dimensional map. Therefore, in this embodiment, the route is marked on the two-dimensional map, so that the user can more intuitively understand the area passed by the drone. First, mark each waypoint on the two-dimensional map according to the latitude and longitude information of each waypoint; then draw connecting lines between adjacent waypoints.

In this embodiment, after each waypoint is marked on the two-dimensional map according to the latitude and longitude information of the location information, corresponding connecting lines are drawn between adjacent waypoints on the two-dimensional map according to the flight action. Specifically, different flight actions will lead to different flight trajectories in the actual flight of the UAV. Therefore, by obtaining the flight actions between adjacent waypoints, and then reading the corresponding line segment style, and finally adopting the corresponding line segment The style connects adjacent waypoints, thus drawing the connecting line between adjacent line segments.

The beneficial effect of this embodiment is that by obtaining the planned route of the drone; then, obtaining the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints; and then according to the position information The latitude and longitude information marks each waypoint on the two-dimensional map; finally, draws corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action. In this way, it is possible to accurately describe the waypoints that the drone will pass through on the two-dimensional map, and accurately describe the flight path of how to fly from one waypoint to the next waypoint, so that the predicted overall flight path is more similar to the actual flight path. In order to achieve the effect of enabling the user to obtain a more accurate predicted path.

Embodiment two

FIG. 2 is a schematic flowchart of a second embodiment of a method for predicting the flight trajectory of a UAV according to the present invention. This embodiment is based on the first embodiment.

The step S104, drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

Step S1041, when the flight action between adjacent waypoints is point-to-point straight-line flight;

Step S1042, drawing straight line segments between adjacent waypoints on the two-dimensional map.

In this embodiment, firstly, when it is determined that the flight action between adjacent waypoints is point-to-point straight-line flight, straight line segments are drawn between adjacent waypoints on the two-dimensional map.

Specifically, when the UAV is flying straight from point to point, the UAV will approach the target as much as possible every time it flies to a waypoint and take measures to slow down until it approaches the target. After reaching the waypoint Re-accelerate and fly to the next waypoint, so the flight path is a straight line segment connected end to end. For example, please refer to Figure 3, UAV F1 will pass waypoint P11, waypoint P12 and waypoint P13, and the flight action between waypoint P11 to waypoint P12, and waypoint P12 to waypoint P13 is Fly in a straight line from point to point. Then, at this time, the predicted flight path between the waypoint P11 and the waypoint P12, and between the waypoint P12 and the waypoint P13 is a straight line segment SL.

The beneficial effect of this embodiment is that, when flying a point-to-point straight line through the flight action between adjacent waypoints; a straight line segment is drawn between adjacent waypoints on the two-dimensional map. Thereby, the flight path of straight-line flight can be predicted more accurately.

Embodiment three

FIG. 4 is a schematic flowchart of a third embodiment of a method for predicting the flight trajectory of a drone according to the present invention. This embodiment is based on the second embodiment.

The step S104, drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

Step S1043, when the flight action between adjacent waypoints is a positive arc flight;

Step S1044, obtaining the circling setting direction and circling setting angle set in the flight action;

Step S1045, draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint of the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is The position when turning through the set angle in the set direction of the set.

In this embodiment, firstly, when the flight action between adjacent waypoints is a positive circular arc flight; obtain the circling setting direction and the circling setting angle set in the flight action; then, draw on the two-dimensional map A positive circular arc, the starting point of the arc of the positive circular arc is the previous waypoint of the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is the turning point along the set direction around the circle. The position when setting the angle by wrapping.

Specifically, when the UAV is flying in a positive circular arc, according to the entry waypoint, the center waypoint, the circle radius, the circle direction and the circle angle, a circle can be determined by using geometric graphics, and the circle direction can determine whether the arc is clockwise or counterclockwise to determine the predicted fly-off point. For example, please refer to FIG. 5 , the UAV F2 will pass the waypoint P21, the waypoint P22 and the predicted departure point P23. Wherein, the waypoint P22 does not pass, but rotates around the waypoint P22, leaving the flight point P23 is not a preset waypoint. Wherein, the flight action between waypoint P21 and waypoint P22 is positive arc flight. At this time, take the waypoint P22 as the center of the arc, and the waypoint P21 as the starting point of the arc, and then calculate and obtain the predicted departure point P23 according to the obtained circling angle and direction. The drawn positive circular arc AL is the predicted flight path.

The beneficial effect of this embodiment is that when the flight action between adjacent waypoints is a positive circular arc flight; the circle setting direction and the circle setting angle set in the flight action are obtained; then, on the two-dimensional map Draw a positive circular arc on the top, the starting point of the positive circular arc is the previous waypoint of the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the circle set The position when the direction turns around the set angle. Therefore, it is possible to predict the flight path of the perfect circular arc flight more accurately.

Embodiment four

FIG. 6 is a schematic flowchart of a fourth embodiment of a method for predicting a UAV flight trajectory according to the present invention. This embodiment is based on the third embodiment.

The step S104, drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

Step S1046, when the flight action between adjacent waypoints is fast waypoint flight;

Step S1047, obtaining multiple adjacent and continuous waypoints passed by the fast waypoint flight;

Step S1048, drawing a cubic Bezier curve on the two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent consecutive waypoints, and each waypoint to be passed corresponds to The set of two control points that control the curvature of , is determined according to the two waypoints before and after this waypoint.

In this embodiment, first, when the flight action between adjacent waypoints is fast waypoint flight; obtain a plurality of adjacent and continuous waypoints passed by the fast waypoint flight; then draw three times of Bezier on the two-dimensional map Curve, the set of points to be passed by the cubic Bezier curve is a set of adjacent consecutive multiple waypoints, and the set of two control points corresponding to the control curvature of each waypoint to be passed through, according to the Two waypoints before and after the waypoint are determined.

Specifically, UAVs generally do not take deceleration measures when performing fast waypoint flight, but adjust the yaw angle and roll angle between each waypoint to approach the waypoint, thus forming an irregular and smooth The curve is somewhat similar to the way a speedboat passes through an S-turn at high speed without slowing down. To achieve this trajectory effect, it is more appropriate to use a cubic Bezier curve. For example, please refer to FIG. 7 and FIG. 8 in combination, the UAV F3 will pass waypoint P31, waypoint P32, waypoint P33 and waypoint P34. Among them, the flight actions between waypoint P31, waypoint P32, waypoint P33 and waypoint P34 are fast waypoint flying. Thus, an arc segment entering each waypoint and then leaving that waypoint will be taken, and the arc segment smoothes entering and leaving that waypoint and smoothing entering and leaving the next waypoint. At this time, it is more appropriate to use a cubic Bezier curve.

Wherein, the set of passing points in the cubic Bezier curve includes: waypoint P31, waypoint P32, waypoint P33 and waypoint P34; each passing point in the cubic Bezier curve includes two control points, and then two The set of control points includes two control points C321 and C322 on both sides of the waypoint P32, and two control points C331 and C332 on both sides of the waypoint P33. Wherein, the two control points C321 and C322 are determined according to the waypoint P32 to the waypoint P31, and the angle and distance from the waypoint P32 to the waypoint P33. Similarly, the two control points C331 and C332 are determined according to the waypoint P33 to the waypoint P32, and the angle and distance from the waypoint P33 to the waypoint P34.

After obtaining the set of each passing point in the cubic Bezier curve and the set of each control point, the corresponding cubic Bezier curve can be drawn on the two-dimensional map.

The beneficial effect of this embodiment is that when the flight action between adjacent waypoints is a fast waypoint flight; obtain a plurality of adjacent and continuous waypoints passed by the fast waypoint flight; draw three times on the two-dimensional map A Serre curve, the set of points to be passed by the cubic Bezier curve is a set of multiple adjacent continuous waypoints, a set of two control points corresponding to the control curvature of each waypoint to be passed through, It is determined according to the two waypoints before and after the waypoint. This enables more accurate prediction of the flight path of the fast waypoint flight.

Embodiment five

Fig. 9 is a fifth embodiment of the method for predicting the flight trajectory of a UAV according to the present invention. This embodiment is based on the fourth embodiment.

The step S1048, the set of two control points corresponding to the control curvature of each waypoint to be passed, is determined according to the two waypoints before and after the waypoint, including:

Step S10481, connect the waypoint to be passed with the previous waypoint to obtain the previous connection line;

Step S10482, connect the waypoint to be passed with the next waypoint to obtain the next connection line;

Step S10483, connecting the middle point of the front connection line with the middle point of the back connection line to obtain the middle connection line;

Step S10484, shifting the middle line along its vertical direction to pass through the waypoint, and using the two ends of the middle line as two control points;

Step S10485, the set of two control points of the cubic Bezier curve is the set of both end points of all the intermediate lines.

In this embodiment, firstly, connect the waypoint to be passed with the previous waypoint to obtain the front connection; then, connect the waypoint to be passed with the next waypoint to obtain the rear connection; then, connect the previous waypoint The middle point of the connecting line is connected with the middle point of the following connecting line to obtain the middle connecting line; then, the middle connecting line is offset along its vertical direction to pass the waypoint to be passed, and the two ends of the middle connecting line are respectively used as Two control points; finally, the set of the two control points of the cubic Bezier curve is the set of the two end points of all the intermediate lines.

Specifically, please refer to Fig. 10 and Fig. 11 in combination, the set of passing points in the cubic Bezier curve includes: waypoint P31, waypoint P32, waypoint P33 and waypoint P34; each passing point in the cubic Bezier curve The point includes two control points, and the set of two control points includes two control points C321 and C322 on both sides of the waypoint P32, and two control points C331 and C332 on both sides of the waypoint P33.

The way to obtain the two control points C321 and C322 and the two control points C331 and C332 is as follows: connect the waypoint P32 to be passed with the previous waypoint P31 to obtain the previous connection line (not marked); then, connect the waypoint to be passed through Point P32 and the next waypoint P33 to obtain a subsequent connecting line (not marked). Then, connect the middle point (not marked) of the front line with the middle point (not marked) of the back line to obtain the middle line ML1; then, offset the middle line ML1 along its vertical direction to pass through the desired After the waypoint P32 is passed, the offset middle line ML1 ′ is obtained, and the two ends C321 and C322 of the middle line ML1 ′ are respectively used as two control points C321 and C322 of the waypoint P32. In the same way, two control points C331 and C332 of P33 can be obtained, which will not be repeated here.

The beneficial effect of this embodiment is that the forward connection is obtained by connecting the waypoint to be passed with the previous waypoint; then, the backward connection is obtained by connecting the waypoint to be passed with the next waypoint; then, the The middle point of the front line is connected with the middle point of the back line to obtain the middle line; then, the middle line is offset along its vertical direction to pass the waypoint to be passed, and the two ends of the middle line are respectively as two control points; finally, the set of the two control points of the cubic Bezier curve is the set of the two end points of all the intermediate lines. This enables smoother and more accurate flight paths for predictive fast waypoint flights.

Embodiment six

The present invention also provides a device for predicting the flight trajectory of an unmanned aerial vehicle, based on the above-mentioned embodiments.

The device for predicting the flight path of the UAV includes: a memory, a processor, and a program for predicting the flight path of the UAV that is stored on the memory and can run on the processor, and the program for predicting the flight path of the UAV is controlled by When the processor is executed, the following steps are implemented:

Obtain the planned route of the drone;

Obtain the position information of each waypoint in the planned route, as well as the flight action between two adjacent waypoints;

Mark each waypoint on the two-dimensional map according to the latitude and longitude information of the location information;

Draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to flight movements.

In this embodiment, the steps implemented by the provided device for predicting the flight trajectory of the UAV are the same as the steps in the above-mentioned embodiment, and details can be referred to the above-mentioned embodiment, and will not be repeated here.

The beneficial effect of this embodiment is that by obtaining the planned route of the drone; then, obtaining the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints; and then according to the position information The latitude and longitude information marks each waypoint on the two-dimensional map; finally, draws corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action. In this way, it is possible to accurately describe the waypoints that the drone will pass through on the two-dimensional map, and accurately describe the flight path of how to fly from one waypoint to the next waypoint, so that the predicted overall flight path is more similar to the actual flight path. In order to achieve the effect of enabling the user to obtain a more accurate predicted path.

Further, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is point-to-point straight flight;

Draw straight line segments between adjacent waypoints on a 2D map;

When the flight action between adjacent waypoints is a positive arc flight;

Obtain the circling setting direction and circling setting angle set in the flight action;

Draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint in the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the two adjacent waypoints. The position when the circle setting direction is rotated through the circle setting angle.

Further, said drawing corresponding connecting lines between adjacent waypoints on the two-dimensional map according to the flight action includes:

When the flight action between adjacent waypoints is fast waypoint flight;

Obtain multiple adjacent and continuous waypoints passed by the fast waypoint flight;

Draw a cubic Bezier curve on a two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent continuous waypoints, and the corresponding control curvature of each waypoint to be passed through A set of two control points in , determined according to the two waypoints before and after the waypoint.

Further, the set of two control points corresponding to the control curvature of each waypoint to be passed, determined according to the two waypoints before and after the waypoint includes:

Connect the waypoint to be passed with the previous waypoint to obtain the forward connection;

Connect the waypoint to be passed with the next waypoint to obtain the next connection line;

Connect the middle point of the front line with the middle point of the back line to obtain the middle line;

Offset the middle line along its vertical direction to pass the waypoint to be passed, and use the two ends of the middle line as two control points;

The set of two control points of the cubic Bezier curve is the set of both ends of all the intermediate lines.

Embodiment seven

The present invention also provides a storage medium used in a computer, based on the above embodiments. The storage medium stores a program for predicting the flight trajectory of the UAV, and when the program for predicting the flight trajectory of the UAV is executed by the processor, the steps of the method for predicting the flight trajectory of the UAV as in the above-mentioned embodiments are implemented.

In this embodiment, the steps implemented by the provided storage medium are the same as the steps in the foregoing embodiments, and reference may be made to the foregoing embodiments for details, and details are not repeated here.

The beneficial effect of this embodiment is that by obtaining the planned route of the drone; then, obtaining the position information of each waypoint in the planned route, and the flight action between two adjacent waypoints; and then according to the position information The latitude and longitude information marks each waypoint on the two-dimensional map; finally, draws corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action. In this way, it is possible to accurately describe the waypoints that the drone will pass through on the two-dimensional map, and accurately describe the flight path of how to fly from one waypoint to the next waypoint, so that the predicted overall flight path is more similar to the actual flight path. In order to achieve the effect of enabling the user to obtain a more accurate predicted path.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.

Embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementations, and the above-mentioned specific implementations are only illustrative, rather than restrictive, and those of ordinary skill in the art will Under the enlightenment of the present invention, many forms can also be made without departing from the gist of the present invention and the protection scope of the claims, and these all belong to the protection of the present invention.

Claims (10)

1. A method for predicting unmanned aerial vehicle flight path, is characterized in that, described method for predicting unmanned aerial vehicle flight path comprises: Obtain the planned route of the drone; Obtain the position information of each waypoint in the planned route, as well as the flight action between two adjacent waypoints; Mark each waypoint on the two-dimensional map according to the latitude and longitude information of the location information; Draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to flight movements. 2. The method for predicting the flight trajectory of an unmanned aerial vehicle as claimed in claim 1, wherein said drawing corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action comprises: When the flight action between adjacent waypoints is point-to-point straight flight; Draws straight line segments between adjacent waypoints on a 2D map. 3. The method for predicting the flight trajectory of an unmanned aerial vehicle as claimed in claim 1, wherein said drawing corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action comprises: When the flight action between adjacent waypoints is a positive arc flight; Obtain the circling setting direction and circling setting angle set in the flight action; Draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint in the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the two adjacent waypoints. The position when the circle setting direction is rotated through the circle setting angle. 4. The method for predicting the flight trajectory of an unmanned aerial vehicle as claimed in claim 1, wherein said drawing corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action comprises: When the flight action between adjacent waypoints is fast waypoint flight; Obtain multiple adjacent and continuous waypoints passed by the fast waypoint flight; Draw a cubic Bezier curve on a two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent continuous waypoints, and the corresponding control curvature of each waypoint to be passed through A set of two control points in , determined according to the two waypoints before and after this waypoint. 5. The method for predicting the flight trajectory of an unmanned aerial vehicle as claimed in claim 4, wherein, the set of two control points corresponding to the control curvature of each waypoint to pass through, according to the waypoint before and after the two navigation Point OK includes: Connect the waypoint to be passed with the previous waypoint to obtain the forward connection; Connect the waypoint to be passed with the next waypoint to obtain the next connection line; Connect the middle point of the front line with the middle point of the back line to obtain the middle line; Offset the middle line along its vertical direction to pass the waypoint to be passed, and use the two ends of the middle line as two control points; The set of two control points of the cubic Bezier curve is the set of both ends of all the intermediate lines. 6. A device for predicting the flight trajectory of a drone, characterized in that the device for predicting the flight trajectory of a drone comprises: a memory, a processor and a predictive drone that is stored on the memory and can run on the processor. Man-machine flight track program, when the described prediction UAV flight track program is executed by the processor, the following steps are realized: Obtain the planned route of the drone; Obtain the position information of each waypoint in the planned route, as well as the flight action between two adjacent waypoints; Mark each waypoint on the two-dimensional map according to the latitude and longitude information of the location information; Draw corresponding connecting lines between adjacent waypoints on the two-dimensional map according to flight movements. 7. The device for predicting the flight trajectory of an unmanned aerial vehicle as claimed in claim 6, wherein said drawing corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action comprises: When the flight action between adjacent waypoints is point-to-point straight flight; Draw straight line segments between adjacent waypoints on a 2D map; When the flight action between adjacent waypoints is a positive arc flight; Obtain the circling setting direction and circling setting angle set in the flight action; Draw a positive circular arc on the two-dimensional map, the starting point of the positive circular arc is the previous waypoint in the two adjacent waypoints, the center of the arc is the next waypoint, and the end point of the arc is along the two adjacent waypoints. The position when the circle setting direction is rotated through the circle setting angle. 8. The device for predicting the flight path of unmanned aerial vehicles as claimed in claim 6, wherein said drawing corresponding connection lines between adjacent waypoints on the two-dimensional map according to the flight action comprises: When the flight action between adjacent waypoints is fast waypoint flight; Obtain multiple adjacent and continuous waypoints passed by the fast waypoint flight; Draw a cubic Bezier curve on a two-dimensional map, the set of points to be passed by the cubic Bezier curve is a set of adjacent continuous waypoints, and the corresponding control curvature of each waypoint to be passed through A set of two control points in , determined according to the two waypoints before and after this waypoint. 9. The device for predicting flight trajectory of unmanned aerial vehicle as claimed in claim 8, characterized in that, the set of two control points corresponding to the control curvature of each waypoint to be passed through, according to the two navigation points before and after the waypoint Point OK includes: Connect the waypoint to be passed with the previous waypoint to obtain the forward connection; Connect the waypoint to be passed with the next waypoint to obtain the next connection line; Connect the middle point of the front line with the middle point of the back line to obtain the middle line; Offset the middle line along its vertical direction to pass the waypoint to be passed, and use the two ends of the middle line as two control points; The set of two control points of the cubic Bezier curve is the set of both ends of all the intermediate lines. 10. A storage medium for a computer, characterized in that, the storage medium is stored with a program for predicting the flight trajectory of a UAV, and when the program for predicting the flight trajectory of a UAV is executed by a processor, it is realized as claimed in claims 1 to 10. The step of the method described in any one of 4.