CN108490970A - Predict unmanned plane during flying track approach, device and storage medium - Google Patents
Predict unmanned plane during flying track approach, device and storage medium Download PDFInfo
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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
Technical field
The present invention relates to unmanned plane management domains, more particularly to predict that unmanned plane during flying track approach, device and storage are situated between
Matter.
Background technology
It is more and more with the application of unmanned plane, it is increasingly socially reintegrated, therefore, the function of unmanned plane is also being expanded.Nothing
Man-machine application mode generally includes delivery, carries photographing device and carries out high-altitude shooting.Existing unmanned plane would generally advise in advance
Plot a course flies.On map, it usually needs estimate the prediction flight path in display planning course line.
But in the prediction flight path of existing display, each flight node is typically subjected to straight line connection and is obtained
.Therefore, existing prediction flight path and true flight path have prodigious deviation, can not accurately show true
Real flight path, so that user can not obtain accurate flight path reference.
Invention content
The main object of the present invention is to provide prediction unmanned plane during flying track approach, device and storage medium, it is intended to improve
Predict the accuracy of flight path.
To achieve the above object, a kind of prediction unmanned plane during flying track approach proposed by the present invention, the prediction unmanned plane
Flight path method 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.
Optionally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is point-to-point rectilinear flight；
Straight-line segment is drawn between adjacent destination on two-dimensional map.
Optionally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；
Positive round camber line is drawn on two-dimensional map, the camber line starting point of the positive round camber line is the previous boat in adjacent two destination
Point, the camber line center of circle are latter destination, and camber line terminal is position when being turned over around set angle along the circular direction initialization.
Optionally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；
Cubic kolmogorov's differential system is drawn on two-dimensional map, the point set of the Cubic kolmogorov's differential system to be passed through is combined into institute
The set for stating the multiple destinations of adjacent continuous, the set at two control points of the control curvature corresponding to the destination each to be passed through,
It is determined according to two destinations before and after the destination.
Optionally, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to this
Two destinations, which determine, before and after destination includes：
The destination to be passed through and previous destination are connected, to obtain preceding line；
The destination to be passed through and latter destination are connected, with line after acquisition；
The intermediate point of preceding line is connect with the intermediate point of rear line, to obtain intermediate connection；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, the two-end-point of intermediate connection is distinguished
As two control points；
The collection at two control points of the Cubic kolmogorov's differential system is combined into the set of the two-end-point of all intermediate connections.
The present invention also provides a kind of prediction unmanned plane during flying track arrangement, the prediction unmanned plane during flying track arrangement packet
It includes：Memory, processor and the prediction unmanned plane during flying rail that is stored on the memory and can run on the processor
Mark program, the prediction unmanned plane during flying track program realize following steps when being executed by the processor：
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.
Optionally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is point-to-point rectilinear flight；
Straight-line segment is drawn between adjacent destination on two-dimensional map；
When flare maneuver between adjacent destination is positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；
Positive round camber line is drawn on two-dimensional map, the camber line starting point of the positive round camber line is the previous boat in adjacent two destination
Point, the camber line center of circle are latter destination, and camber line terminal is position when being turned over around set angle along the circular direction initialization.
Optionally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；
Cubic kolmogorov's differential system is drawn on two-dimensional map, the point set of the Cubic kolmogorov's differential system to be passed through is combined into institute
The set for stating the multiple destinations of adjacent continuous, the set at two control points of the control curvature corresponding to the destination each to be passed through,
It is determined according to two destinations before and after the destination.
Optionally, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to this
Two destinations, which determine, before and after destination includes：
The destination to be passed through and previous destination are connected, to obtain preceding line；
The destination to be passed through and latter destination are connected, with line after acquisition；
The intermediate point of preceding line is connect with the intermediate point of rear line, to obtain intermediate connection；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, the two-end-point of intermediate connection is distinguished
As two control points；
The collection at two control points of the Cubic kolmogorov's differential system is combined into the set of the two-end-point of all intermediate connections.
The present invention also provides a kind of storage mediums, are used for computer, prediction unmanned plane is stored on the storage medium
Flight path program is realized when prediction unmanned plane during flying track program is executed by processor such as the step of above-mentioned method.
Prediction unmanned plane during flying track approach provided by the present invention, by the planning course line for obtaining unmanned plane；Then, it obtains
It must plan the flare maneuver between the location information and two neighboring destination of each destination in course line；Then according to position
The latitude and longitude information of information marks each destination on two-dimensional map；Finally, adjacent on two-dimensional map according to flare maneuver
Respective gut is drawn between destination.So as to the destination that accurate description unmanned plane will pass through on two-dimensional map, Yi Jizhun
Really how description flies from a destination to the flight path of next destination, and then reaches the whole flight path and reality of prediction
Flight path is more like, and achievees the effect that user is enabled to obtain accurate predicted path.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart of present invention prediction unmanned plane during flying track approach first embodiment；
Fig. 2 is the flow chart of present invention prediction unmanned plane during flying track approach second embodiment；
Fig. 3 is the exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 2；
Fig. 4 is the flow chart of present invention prediction unmanned plane during flying track approach 3rd embodiment；
Fig. 5 is the exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 4；
Fig. 6 is the flow chart of present invention prediction unmanned plane during flying track approach fourth embodiment；
Fig. 7 is the first exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 6；
Fig. 8 is the second exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 6
Fig. 9 is the flow chart of the 5th embodiment of present invention prediction unmanned plane during flying track approach
Figure 10 is the first exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 9.
Figure 11 is the second exemplary plot of prediction unmanned plane during flying track approach shown in application drawing 9
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiment one
Fig. 1 is a kind of flow diagram of prediction unmanned plane during flying track approach first embodiment of the present invention.The prediction
Unmanned plane during flying track approach includes：
Step S101 obtains the planning course line of unmanned plane；
Step S102 is obtained and is flown between the location information and two neighboring destination of planning each destination in course line
Action is made；
Step S103 marks each destination according to the latitude and longitude information of location information on two-dimensional map；
Step S104 draws respective gut according between adjacent destination of the flare maneuver on two-dimensional map.
In the present embodiment, the planning course line of unmanned plane is obtained first；Then, the position of each destination in planning course line is obtained
Flare maneuver between confidence breath and two neighboring destination；Then according to the latitude and longitude information of location information in two-dimensional map
The upper each destination of mark；Finally, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map.
In the present embodiment, the planning course line of unmanned plane is obtained first.Specifically, the type of unmanned plane includes a variety of, such as
Fixed-wing unmanned plane, folding wings unmanned plane or multi-rotor unmanned aerial vehicle.These unmanned planes can plan course line in advance so that
Unmanned plane can fly along planning course line.It plans that some barriers are avoided in course line in order to enable, and arrives
Up to factors such as midway supply points, the course line usually planned will not be straight line, but be rendered as having multiple tactic
Multiple destination shapes.I.e. unmanned plane usually requires to fly along in polyline shaped or curvilinear flight path.
In the present embodiment, after the planning course line for obtaining unmanned plane, the position of each destination in planning course line is obtained
Flare maneuver between information and two neighboring destination.Specifically, planning course line includes multiple destinations, each destination is all
With location information.Wherein, in location information, including longitude and latitude and height.These longitudes and latitudes and the number that height is satellite positioning
According to for instructing unmanned plane to fly.When unmanned plane carries out flight, it will real-time reception satellite positioning signal, for certainly
Body positions.
In planning course line, because of situations such as being fed to that may have bait or positioning.Therefore, it is necessary to phase
Flare maneuver between two adjacent destinations is defined.For example, flare maneuver can be rectilinear flight, orbit, quickly
Flown by the quick destination of formula etc..It, should to basis therefore, it is necessary to get the flare maneuver between two adjacent destinations
Flare maneuver draws prediction flight path.
In the present embodiment, between the location information and two neighboring destination for obtaining each destination in planning course line
Flare maneuver after, each destination is marked on two-dimensional map according to the latitude and longitude information of location information.Specifically, due to big
Certain customers can faster identify flight path on two-dimensional map.Therefore, the present embodiment uses on two-dimensional map
Path mark is carried out, so that user can more intuitively understand the region that unmanned plane is passed through.First, two-dimensionally
Each destination is marked out according to the latitude and longitude information of each destination on figure；Then connection is drawn between adjacent destination again
Line.
In the present embodiment, after marking each destination on two-dimensional map according to the latitude and longitude information of location information, root
Respective gut is drawn according between adjacent destination of the flare maneuver on two-dimensional map.Specifically, the difference of flare maneuver, will cause
Unmanned plane generates different flight paths in practical flight, therefore, by obtaining the flare maneuver between adjacent destination, then
Corresponding line segment pattern is read, is finally attached adjacent destination using corresponding line segment pattern, to draw out adjacent lines
Line between section.
The advantageous effect of the present embodiment is, by the planning course line for obtaining unmanned plane；Then, it obtains in planning course line
Flare maneuver between the location information of each destination and two neighboring destination；Then believed according to the longitude and latitude of location information
Breath marks each destination on two-dimensional map；Finally, phase is drawn between the adjacent destination according to flare maneuver on two-dimensional map
Answer line.So as to accurate description unmanned plane will pass through on two-dimensional map destination and accurate description how from one
A destination flies to the flight path of next destination, and then reaches the whole flight path and practical flight path more phase of prediction
Seemingly, achieve the effect that user is enabled to obtain accurate predicted path.
Embodiment two
Fig. 2 is that this law is a kind of flow diagram of prediction unmanned plane during flying track approach second embodiment of the present invention.This
Embodiment is based on first embodiment.
The step S104, according between adjacent destination of the flare maneuver on two-dimensional map draw respective gut include：
Step S1041, when the flare maneuver between adjacent destination is point-to-point rectilinear flight；
Step S1042 draws straight-line segment between the adjacent destination on two-dimensional map.
In the present embodiment, first the flare maneuver between judging adjacent destination for point-to-point rectilinear flight when, in two dimension
Straight-line segment is drawn between adjacent destination on map.
Specifically, unmanned plane, in point-to-point rectilinear flight, unmanned plane all can be reached to the greatest extent when often flying to a destination
The measure slowed down until stopping is taken on ground towards gtoal setting and when close to target, accelerates next boat of flying to again after reaching destination
Point, therefore flight path is exactly end to end straight-line segment.For example, incorporated by reference to referring to Fig. 3, unmanned plane F1 will pass through destination
P11, destination P12 and destination P13, and destination P11 is to the flare maneuver between destination P12 and destination P12 to destination P13
For point-to-point rectilinear flight.Then at this point, the destination P11 of prediction is to the flight between destination P12 and destination P12 to destination P13
Path is straightway SL.
The advantageous effect of the present embodiment is, is point-to-point rectilinear flight by the flare maneuver between adjacent destination
When；Straight-line segment is drawn between adjacent destination on two-dimensional map.So that the flight path of prediction rectilinear flight
It is more acurrate.
Embodiment three
Fig. 4 is that this law is a kind of flow diagram of prediction unmanned plane during flying track approach 3rd embodiment of the present invention.This
Embodiment is based on second embodiment.
The step S104, according between adjacent destination of the flare maneuver on two-dimensional map draw respective gut include：
Step S1043, when the flare maneuver between adjacent destination is positive round camber line flight；
Step S1044 obtains the circular direction initialization set in flare maneuver and around set angle；
Step S1045 draws positive round camber line on two-dimensional map, and the camber line starting point of the positive round camber line is adjacent two destination
In previous destination, the camber line center of circle is latter destination, and camber line terminal is to be turned over around set angle along the circular direction initialization
Position when spending.
In the present embodiment, first, when the flare maneuver between adjacent destination is positive round camber line flight；Obtain flare maneuver
The circular direction initialization of middle setting and circular set angle；Then, positive round camber line, the positive round camber line are drawn on two-dimensional map
Camber line starting point be adjacent two destination in previous destination, the camber line center of circle be latter destination, camber line terminal be along it is described surround
Position when direction initialization is turned over around set angle.
Specifically, unmanned plane carry out positive round camber line flight when, according to enter destination, center of circle destination, around radius, around side
To with around angle, can determine a circular arc using geometric graphics, around direction determine radian be clockwise or counterclockwise,
So that it is determined that prediction is flown away from a little.For example, destination P21, destination P22 and prediction will be passed through incorporated by reference to referring to Fig. 5, unmanned plane F2
Fly away from point P23.Wherein, there is no processes by destination P22, but around destination P22 rotations, it is not preset to leave flight point P23
Destination.Wherein, the flare maneuver between destination P21 to destination P22 flies for positive round camber line.At this point, justifying by camber line of destination P22
The heart, destination P21 are camber line starting point, then further according to the circular angle and direction of acquisition, calculate to obtain and predict to fly away from point P23.And
It is to predict flight path to draw the positive round camber line AL obtained.
The advantageous effect of the present embodiment is, when by the flare maneuver between adjacent destination being positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；Then, positive round camber line is drawn on two-dimensional map,
The camber line starting point of the positive round camber line is the previous destination in adjacent two destination, and the camber line center of circle is latter destination, and camber line terminal is
Position when being turned over around set angle along the circular direction initialization.So that prediction positive round camber line flight flies
Walking along the street diameter is more acurrate.
Example IV
Fig. 6 is that this law is a kind of flow diagram of prediction unmanned plane during flying track approach fourth embodiment of the present invention.This
Embodiment is based on 3rd embodiment.
The step S104, according between adjacent destination of the flare maneuver on two-dimensional map draw respective gut include：
Step S1046, when the flare maneuver between adjacent destination is quick destination flight；
Step S1047 obtains the passed through multiple destinations of adjacent continuous of quick destination flight；
Step S1048, draw Cubic kolmogorov's differential system on two-dimensional map, and the Cubic kolmogorov's differential system to be passed through
Point set is combined into the set of the multiple destinations of the adjacent continuous, two controls of the control curvature corresponding to the destination each to be passed through
The set of point, determines according to two destinations before and after the destination.
In the present embodiment, when the flare maneuver first between adjacent destination is quick destination flight；Obtain quick destination
The passed through multiple destinations of adjacent continuous of flight；Then Cubic kolmogorov's differential system, the shellfish plug three times are drawn on two-dimensional map
The point set of your curve to be passed through is combined into the set of the multiple destinations of the adjacent continuous, the control corresponding to the destination each to be passed through
The set at two control points of koji-making rate is determined according to two destinations before and after the destination.
Specifically, unmanned plane will not generally take deceleration measure when executing quick destination flight, but each destination it
Between adjustment yaw angle and roll angle close to destination, thus to form an irregular and smooth curve, somewhat similar speedboat
High speed cross S it is curved when the mode do not slowed down quickly through.Realize this path effect, it is proper using Cubic kolmogorov's differential system.
For example, destination P31, destination P32, destination P33 and destination P34 will be passed through incorporated by reference to referring to Fig. 7 and Fig. 8, unmanned plane F3.Its
In, destination P31, the flare maneuver between destination P32, destination P33 and destination P34 is all quick destination flight.Therefore, it will use
It is then departed from the arc segment of the destination into each destination, and arc segment smoothing enters and leaves the destination and smooth
The next destination of entrance and leave next destination.At this point, proper with Cubic kolmogorov's differential system.
Wherein, the process point set in Cubic kolmogorov's differential system includes：Destination P31, destination P32, destination P33 and destination
P34；Each passing point in Cubic kolmogorov's differential system includes two control points, then the set at two control points includes destination P32
Two control point C321 and C322 of both sides and two control point C331 and C332 of the both sides destination P33.Wherein, two control point
C321 and C322 reaches the angle and distance of destination P31 and destination P32 arrival destinations P33 to determine according to destination P32.Together
Reason, two control point C331 and C332 according to destination P33 reach destination P32 and destination P33 reach destination P34 angle and away from
From determining.
The set of each passing point in obtaining Cubic kolmogorov's differential system, and each control point set, then can be with
Corresponding Cubic kolmogorov's differential system is drawn out on two-dimensional map.
The advantageous effect of the present embodiment is, when by the flare maneuver between adjacent destination being quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；Cubic kolmogorov's differential system is drawn on two-dimensional map, it is described
The point set of Cubic kolmogorov's differential system to be passed through is combined into the set of the multiple destinations of the adjacent continuous, the destination institute each to be passed through
The set at two control points of corresponding control curvature, determines according to two destinations before and after the destination.So that prediction is fast
The flight path of fast destination flight is more acurrate.
Embodiment five
Fig. 9 is the 5th embodiment of present invention prediction unmanned plane during flying track approach.The present embodiment is based on fourth embodiment.
The step S1048, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to
Two destinations, which determine, before and after the destination includes：
Step S10481, the connection destination to be passed through and previous destination, to obtain preceding line；
Step S10482, the connection destination to be passed through and latter destination, with line after acquisition；
The intermediate point of preceding line is connect, to obtain intermediate connection by step S10483 with the intermediate point of rear line；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, by intermediate connection by step S10484
Two-end-point respectively as two control points；
The collection of step S10485, two control points of the Cubic kolmogorov's differential system are combined into the two of all intermediate connections
The set of endpoint.
In the present embodiment, first, the connection destination to be passed through and previous destination, to obtain preceding line；Then, connection is wanted
The destination of process and latter destination, with line after acquisition；Then, the intermediate point of preceding line is connect with the intermediate point of rear line,
To obtain intermediate connection；Then, intermediate connection is offset to along its vertical direction by the destination to be passed through, by intermediate connection
Two-end-point respectively as two control points；Finally, the collection at two control points of the Cubic kolmogorov's differential system is combined into all institutes
State the set of the two-end-point of intermediate connection.
Specifically, incorporated by reference to referring to Figure 10 and Figure 11, the process point set in Cubic kolmogorov's differential system includes：Destination P31,
Destination P32, destination P33 and destination P34；Each passing point in Cubic kolmogorov's differential system includes two control points, then two controls
System point set include the both sides destination P32 two control point C321 and C322 and the both sides destination P33 two control point C331 with
C332。
The acquisition pattern of two control point C321 and C322 and two control point C331 and C332, it is as follows：What connection to be passed through
Destination P32 and previous destination P31, (is not marked) with line before acquisition；Then, the connection destination P32 to be passed through and latter destination
P33 (is not marked) with line after acquisition.Then, the intermediate point of preceding line (not marking) and the intermediate point of rear line (are not marked
Note) connection, to obtain intermediate connection ML1；Then, intermediate connection ML1 is offset to along its vertical direction by be passed through
Destination P32, the intermediate connection ML1` after being deviated, using the two-end-point C321 and C322 of intermediate connection ML1` as destination
Two the control points C321 and C322 of P32.The two control point C331 and C332 of P33 can be similarly obtained, details are not described herein.
The advantageous effect of the present embodiment is, by connecting the destination to be passed through and previous destination, to obtain preceding line；So
Afterwards, the connection destination to be passed through and latter destination, with line after acquisition；It then, will be in the intermediate point of preceding line and rear line
Between put connection, to obtain intermediate connection；Then, intermediate connection is offset to along its vertical direction by the destination to be passed through,
Using the two-end-point of intermediate connection as two control points；Finally, the collection at two control points of the Cubic kolmogorov's differential system
It is combined into the set of the two-end-point of all intermediate connections.So that predicting that the flight path of quick destination flight is more flat
It is sliding and accurate.
Embodiment six
The present invention also provides a kind of prediction unmanned plane during flying track arrangements, are based on above-described embodiment.
The prediction unmanned plane during flying track arrangement includes：It memory, processor and is stored on the memory and can
The prediction unmanned plane during flying track program run on the processor, the prediction unmanned plane during flying track program is by the place
Reason device realizes following steps when executing：
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.
In the present embodiment, the step of prediction unmanned plane during flying track arrangement provided is realized, with above-described embodiment
In step it is identical, specifically may refer to above-described embodiment, details are not described herein.
The advantageous effect of the present embodiment is, by the planning course line for obtaining unmanned plane；Then, it obtains in planning course line
Flare maneuver between the location information of each destination and two neighboring destination；Then believed according to the longitude and latitude of location information
Breath marks each destination on two-dimensional map；Finally, phase is drawn between the adjacent destination according to flare maneuver on two-dimensional map
Answer line.So as to accurate description unmanned plane will pass through on two-dimensional map destination and accurate description how from one
A destination flies to the flight path of next destination, and then reaches the whole flight path and practical flight path more phase of prediction
Seemingly, achieve the effect that user is enabled to obtain accurate predicted path.
Further, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is point-to-point rectilinear flight；
Straight-line segment is drawn between adjacent destination on two-dimensional map；
When flare maneuver between adjacent destination is positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；
Positive round camber line is drawn on two-dimensional map, the camber line starting point of the positive round camber line is the previous boat in adjacent two destination
Point, the camber line center of circle are latter destination, and camber line terminal is position when being turned over around set angle along the circular direction initialization.
Further, respective gut is drawn between the adjacent destination according to flare maneuver on two-dimensional map includes：
When flare maneuver between adjacent destination is quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；
Cubic kolmogorov's differential system is drawn on two-dimensional map, the point set of the Cubic kolmogorov's differential system to be passed through is combined into institute
The set for stating the multiple destinations of adjacent continuous, the set at two control points of the control curvature corresponding to the destination each to be passed through,
It is determined according to two destinations before and after the destination.
Further, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to
Two destinations, which determine, before and after the destination includes：
The destination to be passed through and previous destination are connected, to obtain preceding line；
The destination to be passed through and latter destination are connected, with line after acquisition；
The intermediate point of preceding line is connect with the intermediate point of rear line, to obtain intermediate connection；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, the two-end-point of intermediate connection is distinguished
As two control points；
The collection at two control points of the Cubic kolmogorov's differential system is combined into the set of the two-end-point of all intermediate connections.
Embodiment seven
The present invention also provides a kind of storage mediums, are used for computer, are based on above-described embodiment.It is deposited on the storage medium
Prediction unmanned plane during flying track program is contained, is realized as above-mentioned when prediction unmanned plane during flying track program is executed by processor
The step of prediction unmanned plane during flying track approach of embodiment.
In the present embodiment, the step of storage medium provided is realized, tool identical as the step in above-described embodiment
Body may refer to above-described embodiment, and details are not described herein.
The advantageous effect of the present embodiment is, by the planning course line for obtaining unmanned plane；Then, it obtains in planning course line
Flare maneuver between the location information of each destination and two neighboring destination；Then believed according to the longitude and latitude of location information
Breath marks each destination on two-dimensional map；Finally, phase is drawn between the adjacent destination according to flare maneuver on two-dimensional map
Answer line.So as to accurate description unmanned plane will pass through on two-dimensional map destination and accurate description how from one
A destination flies to the flight path of next destination, and then reaches the whole flight path and practical flight path more phase of prediction
Seemingly, achieve the effect that user is enabled to obtain accurate predicted path.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of prediction unmanned plane during flying track approach, which is characterized in that 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.
2. as described in claim 1 prediction unmanned plane during flying track approach, which is characterized in that it is described according to flare maneuver two
Drawing respective gut between adjacent destination on dimension map includes：
When flare maneuver between adjacent destination is point-to-point rectilinear flight；
Straight-line segment is drawn between adjacent destination on two-dimensional map.
3. as described in claim 1 prediction unmanned plane during flying track approach, which is characterized in that it is described according to flare maneuver two
Drawing respective gut between adjacent destination on dimension map includes：
When flare maneuver between adjacent destination is positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；
Positive round camber line is drawn on two-dimensional map, the camber line starting point of the positive round camber line is the previous destination in adjacent two destination,
The camber line center of circle is latter destination, and camber line terminal is position when being turned over around set angle along the circular direction initialization.
4. as described in claim 1 prediction unmanned plane during flying track approach, which is characterized in that it is described according to flare maneuver two
Drawing respective gut between adjacent destination on dimension map includes：
When flare maneuver between adjacent destination is quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；
Cubic kolmogorov's differential system is drawn on two-dimensional map, the point set of the Cubic kolmogorov's differential system to be passed through is combined into the phase
The set of adjacent continuous multiple destinations, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to
Two destinations determine before and after the destination.
5. prediction unmanned plane during flying track approach as claimed in claim 4, which is characterized in that the destination each to be passed through
The set at two control points of corresponding control curvature, according to before and after the destination two destinations determination include：
The destination to be passed through and previous destination are connected, to obtain preceding line；
The destination to be passed through and latter destination are connected, with line after acquisition；
The intermediate point of preceding line is connect with the intermediate point of rear line, to obtain intermediate connection；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, using the two-end-point of intermediate connection as
Two control points；
The collection at two control points of the Cubic kolmogorov's differential system is combined into the set of the two-end-point of all intermediate connections.
6. a kind of prediction unmanned plane during flying track arrangement, which is characterized in that the prediction unmanned plane during flying track arrangement includes：It deposits
Reservoir, processor and the prediction unmanned plane during flying track journey that is stored on the memory and can run on the processor
Sequence, the prediction unmanned plane during flying track program realize following steps when being executed by the processor：
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.
7. as claimed in claim 6 prediction unmanned plane during flying track arrangement, which is characterized in that it is described according to flare maneuver two
Drawing respective gut between adjacent destination on dimension map includes：
When flare maneuver between adjacent destination is point-to-point rectilinear flight；
Straight-line segment is drawn between adjacent destination on two-dimensional map；
When flare maneuver between adjacent destination is positive round camber line flight；
Obtain the circular direction initialization set in flare maneuver and around set angle；
Positive round camber line is drawn on two-dimensional map, the camber line starting point of the positive round camber line is the previous destination in adjacent two destination,
The camber line center of circle is latter destination, and camber line terminal is position when being turned over around set angle along the circular direction initialization.
8. as claimed in claim 6 prediction unmanned plane during flying track arrangement, which is characterized in that it is described according to flare maneuver two
Drawing respective gut between adjacent destination on dimension map includes：
When flare maneuver between adjacent destination is quick destination flight；
Obtain the passed through multiple destinations of adjacent continuous of quick destination flight；
Cubic kolmogorov's differential system is drawn on two-dimensional map, the point set of the Cubic kolmogorov's differential system to be passed through is combined into the phase
The set of adjacent continuous multiple destinations, the set at two control points of the control curvature corresponding to the destination each to be passed through, according to
Two destinations determine before and after the destination.
9. prediction unmanned plane during flying track arrangement as claimed in claim 8, which is characterized in that the destination each to be passed through
The set at two control points of corresponding control curvature, according to before and after the destination two destinations determination include：
The destination to be passed through and previous destination are connected, to obtain preceding line；
The destination to be passed through and latter destination are connected, with line after acquisition；
The intermediate point of preceding line is connect with the intermediate point of rear line, to obtain intermediate connection；
Intermediate connection is offset to along its vertical direction by the destination to be passed through, using the two-end-point of intermediate connection as
Two control points；
The collection at two control points of the Cubic kolmogorov's differential system is combined into the set of the two-end-point of all intermediate connections.
10. a kind of storage medium is used for computer, which is characterized in that be stored with prediction unmanned plane during flying on the storage medium
Track program is realized when prediction unmanned plane during flying track program is executed by processor such as any one of claims 1 to 4 institute
The step of method stated.
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