CN108508911A - UAV Formation Flight control method and unmanned plane - Google Patents
UAV Formation Flight control method and unmanned plane Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of UAV Formation Flight control method and unmanned planes, it is related to air vehicle technique field, main purpose is can be according to the four dimensions information of destination, the rationally flying speed of adjustment unmanned plane, ensure in the flight to target destination of unmanned plane right place, improves the accuracy and synchronousness of UAV Formation Flight control.The method includes：When receiving formation flight task, determine unmanned plane current destination the first spatial positional information and first time nodal information, and flight to target destination second space location information and the second timing node information；According to the first spatial positional information, first time nodal information, second space location information and the second timing node information, the flying speed of unmanned plane is adjusted；According to the flying speed control unmanned plane after adjustment in the corresponding timing node flight of the second timing node information to target destination.The present invention is suitable for the control of UAV Formation Flight.
Description
Technical field
The present invention relates to air vehicle technique field, more particularly to a kind of UAV Formation Flight control method and nobody
Machine.
Background technology
With the continuous development of information technology, unmanned plane with appearance, unmanned plane refer to using radio robot and
The not manned aircraft that the presetting apparatus provided for oneself manipulates.In recent years, unmanned plane had been widely used in take photo by plane photography, electric power
The fields such as inspection, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance, battle assessment, moreover, with
People to the known of unmanned plane and are liked, unmanned plane has progressed into common people’s lives.People usually control nobody
Machine formation flight controls unmanned plane and flies according to pre-set flight plan, in flight to scheduled waypoint location in the works
When, carry out the formation flights tasks such as light show, composition particular air pattern.
Currently, when carrying out UAV Formation Flight control, institute is controlled generally according to predetermined unified flying speed
There is unmanned plane during flying.However, during UAV Formation Flight, the case where each unmanned plane during flying, is different, such as unmanned plane
Flight condition difference, hardware flying condition difference etc. are originated, if aforesaid way controls UAV Formation Flight, entire nothing can be caused
The synchronism of man-machine formation flight is not strong or even some unmanned planes can not accurately fly and carry out formation flight times to target destination
Business, the accuracy so as to cause UAV Formation Flight control is relatively low and synchronism is poor.
Invention content
In view of this, a kind of UAV Formation Flight control method of present invention offer and unmanned plane, main purpose are energy
Enough spatial positional informations and timing node information four dimensions information according to destination rationally adjust the flying speed of unmanned plane,
So as to ensure that unmanned plane accurately in right place flight to target destination, can improve UAV Formation Flight control
Accuracy and synchronousness.
According to the present invention in a first aspect, providing a kind of UAV Formation Flight control method, including：
When receiving formation flight task, determine unmanned plane in the first spatial positional information of current destination and first
The second space location information and the second timing node information of target destination are arrived in intermediate node information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and
The second timing node information, adjusts the flying speed of the unmanned plane；
Unmanned plane segmentum intercalaris when the second timing node information is corresponding is controlled according to the flying speed after adjustment
The target destination is arrived in point flight.
Second aspect according to the present invention provides a kind of unmanned plane, including：
Determination unit, for when receiving formation flight task, determine unmanned plane current destination the first space bit
Confidence ceases and first time nodal information, and flight is believed to the second space location information of target destination and the second timing node
Breath；
Adjustment unit, for according to first spatial positional information, the first time nodal information, second sky
Between location information and the second timing node information, adjust the flying speed of the unmanned plane；
Control unit, for controlling the unmanned plane in the second timing node information according to the flying speed after adjustment
Corresponding timing node flies to the target destination.
The third aspect according to the present invention provides a kind of computer readable storage medium, is stored thereon with computer program,
The program realizes following steps when being executed by processor：
When receiving formation flight task, determine unmanned plane in the first spatial positional information of current destination and first
The second space location information and the second timing node information of target destination are arrived in intermediate node information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and
The second timing node information, adjusts the flying speed of the unmanned plane；
Unmanned plane segmentum intercalaris when the second timing node information is corresponding is controlled according to the flying speed after adjustment
The target destination is arrived in point flight.
Fourth aspect according to the present invention provides a kind of unmanned plane, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize following steps when executing described program：
When receiving formation flight task, determine unmanned plane in the first spatial positional information of current destination and first
The second space location information and the second timing node information of target destination are arrived in intermediate node information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and
The second timing node information, adjusts the flying speed of the unmanned plane；
Unmanned plane segmentum intercalaris when the second timing node information is corresponding is controlled according to the flying speed after adjustment
The target destination is arrived in point flight.
The present invention provides a kind of UAV Formation Flight control method and unmanned plane, and at present generally according to predetermined
Unified flying speed controls all unmanned plane during flyings and compares, and the present invention can determine nobody when receiving formation flight task
Machine current destination the first spatial positional information and first time nodal information, and flight to target destination second space
Location information and the second timing node information.It at the same time, can be according to first spatial positional information, the first time
Nodal information, the second space location information and the second timing node information, adjust the flying speed of the unmanned plane；
The unmanned plane is controlled according to the flying speed after adjustment to arrive in the corresponding timing node flight of the second timing node information
The target destination closes so as to realize spatial positional information and timing node information four dimensions information according to destination
The flying speed of reason adjustment unmanned plane can ensure nobody by controlling unmanned plane during flying according to the reasonable flying speed of adjustment
Accurately right place flies onto target destination machine, and then can improve accuracy and the time of UAV Formation Flight control
Synchronism.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of UAV Formation Flight control method flow chart provided in an embodiment of the present invention；
Fig. 2 shows another UAV Formation Flight control method flow charts provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 4 shows the structural schematic diagram of another unmanned plane provided in an embodiment of the present invention；
Fig. 5 shows a kind of entity structure schematic diagram of unmanned plane provided in an embodiment of the present invention.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
As stated in the background art, currently, when carrying out UAV Formation Flight control, generally according to predetermined unification
Flying speed controls all unmanned plane during flyings.However, during UAV Formation Flight, the case where each unmanned plane during flying not
Together, such as the starting flight condition of unmanned plane is different, hardware flying condition difference, flies if aforesaid way control unmanned plane is formed into columns
Row, can cause the synchronism of entire UAV Formation Flight not strong or even some unmanned planes can not accurately fly to target and navigate
Point carries out formation flight task, and the accuracy so as to cause UAV Formation Flight control is relatively low and synchronism is poor.
In order to solve the above-mentioned technical problem, it an embodiment of the present invention provides a kind of UAV Formation Flight control method, answers
For unmanned plane, as shown in Figure 1, the method includes：
101, when receiving formation flight task, determine unmanned plane in the first spatial positional information of current destination and
The second space location information and the second timing node information of target destination are arrived in one timing node information, and flight.
Wherein, the formation flight task can be related to multiple unmanned planes, can form volume by a certain number of unmanned planes
Team carries out light show, composition particular air pattern etc. when flight is to waypoint location and appoints according to pre-set flight project flight
Business.In embodiments of the present invention, the formation flight task that unmanned plane receives can be what server was sent, form into columns
When flight, server can send formation flight task together to each unmanned plane being related to.Each unmanned plane is receiving volume
When team's aerial mission, first spatial positional information, first time node letter can be determined according to formation flight task
Breath, the second space location information and the second timing node information.First spatial positional information and described second
Spatial positional information can be 3 D stereo location information, can specifically include longitude location information, Position Latitude information, height
Location information.
102, believed according to first spatial positional information, the first time nodal information, the second space position
Breath and the second timing node information, adjust the flying speed of the unmanned plane.
It should be noted that each unmanned plane involved in formation flight task is according to corresponding destination feelings
Condition adjusts respective flying speed, and the flying speed after adjustment is possibly different from.Specifically, the embodiment of the present invention is root
Information, which is maintained, according to the spatial positional information of destination, timing node information four adjusts respective flying speed.With the prior art
By unified flying speed flight to corresponding target destination mutually this, the embodiment of the present invention can ensure that each unmanned plane is accurate
The flight of true ground right place is to corresponding target destination, so as to improve the accurate of UAV Formation Flight control
Degree.
For example, the unmanned plane involved in formation flight task has：Unmanned plane 1, unmanned plane 2 ... unmanned plane 100, unmanned plane
1, unmanned plane 2 ... 100 corresponding first spatial positional information of unmanned plane be (x1, y1, z1), (x2, y2, z2) ...,
(x100, y100, z100) corresponding first time nodal information t1, t2 ..., t100, corresponding second space position letter
Breath be (X1, Y1, Z1), (X2, Y2, Z2) ..., (X100, Y100, Z100) corresponding second timing node information T1, T2 ...,
T100 can reasonably adjust the flying speed of each unmanned plane, the flying speed after adjustment according to aforementioned four dimensional information
Can be v1, v2 ..., v100.Respectively by v1, v2 ..., v100 control unmanned plane 1, unmanned plane 2 ... unmanned plane 100 fly
Row can accurately insure that flight to corresponding target destination, fly in starting in each unmanned plane to overcome
In the case of the oneself factors differences such as situation, hardware flying condition, unmanned plane during flying is controlled by unified flying speed, causes certain
A little unmanned planes can not be flown on time and accurately to the defect of corresponding target destination.
103, the unmanned plane is controlled when the second timing node information is corresponding according to the flying speed after adjustment
Intermediate node is flown to the target destination.
For example, the second timing node information of unmanned plane 1 is T1, the flying speed after adjustment is v1, unmanned plane 1 is with v1's
Speed is flown, it is ensured that it flies accurately and on schedule onto target destination (X1, Y1, Z1) at the T1 moment, similarly, nobody
Machine 2, unmanned plane 3 ..., unmanned plane 100 can accurately and on schedule fly onto corresponding target destination.
A kind of UAV Formation Flight control method provided in an embodiment of the present invention, and at present generally according to predetermined
Unified flying speed controls all unmanned plane during flyings and compares, and the embodiment of the present invention, can be true when receiving formation flight task
Unmanned plane is determined in the first spatial positional information and first time nodal information of current destination, and flight is to the of target destination
Two spatial positional informations and the second timing node information.It at the same time, can be according to first spatial positional information, described
One timing node information, the second space location information and the second timing node information adjust flying for the unmanned plane
Scanning frequency degree；The unmanned plane is controlled in the corresponding timing node of the second timing node information according to the flying speed after adjustment
It flies to the target destination, is believed according to the spatial positional information and timing node information four dimensions of destination so as to realize
Breath rationally adjusts the flying speed of unmanned plane, by controlling unmanned plane during flying according to the reasonable flying speed of adjustment, can ensure
Unmanned plane accurately right place flight on target destination, and then can improve UAV Formation Flight control accuracy and
Synchronousness.
Further, in order to better illustrate the process of above-mentioned UAV Formation Flight control, as to above-described embodiment
Refinement and extension, an embodiment of the present invention provides another UAV Formation Flight control methods, as shown in Fig. 2, but unlimited
It is specific as follows shown in this：
201, when receiving formation flight task, determine unmanned plane in the first spatial positional information of current destination and
The second space location information and the second timing node information of target destination are arrived in one timing node information, and flight.
For the embodiment of the present invention, the unified accuracy of sequential in order to promote each unmanned plane in formation flight task,
The determining unmanned plane current destination first time nodal information, and flight to target destination the second timing node believe
The step of breath, can specifically include：It obtains and asks to server sending time nodal information, the acquisition request includes unmanned plane
Identification information, the different corresponding different identification information of unmanned plane and different identification letter are stored on the server
Cease corresponding each destination timing node information；Receive the first time of the server according to the identification information feedback
Nodal information and the second timing node information.Since the timing node information stored on server is more accurate, unmanned plane
By that uniformly to server request time nodal information, can ensure the timing node information unification that each unmanned plane obtains,
So as to further promote the accuracy and synchronousness of the completion of formation flight task.
202, according to first spatial positional information and the second space location information, determine the unmanned plane from working as
Path length difference of the preceding destination flight to target destination.
For example, first spatial positional information of unmanned plane 1 can be (x1, y1, z1), second space position letter
Breath can be (X1, Y1, Z1), and the path length difference that unmanned plane flies from current destination to target destination can pass through following formula meter
It calculates：
Similarly, the path length difference that other unmanned planes fly from current destination to target destination can pass through above-mentioned formula meter
It calculates.
203, according to the first time nodal information and the second timing node information, determine the unmanned plane from working as
Time difference of the preceding destination flight to target destination.
For example, it can be T1, unmanned plane that the first time nodal information, which can be t1, the second timing node information,
It can be calculated from the time difference of current destination flight to target destination by following formula：
Δ t1=T1-t1
Similarly, the time difference that other unmanned planes fly from current destination to target destination can pass through above-mentioned formula meter
It calculates.
204, by the quotient of the path length difference and the time difference, the flying speed being determined as after the unmanned plane adjustment.
It should be noted that the flying speed v1 after the adjustment of unmanned plane 1, can be calculated by following formula：
V1=Δ s1/ Δs t1
Similarly, the flying speed after the adjustment of other unmanned planes can be calculated by above-mentioned formula.
205, the unmanned plane is controlled when the second timing node information is corresponding according to the flying speed after adjustment
Intermediate node is flown to the target destination, and according to the second space location information and the second timing node information,
The target destination carries out the formation flight task.
It should be noted that by according to the second space location information and the second timing node information, in institute
State target destination and carry out the formation flight task, may be implemented spatial position represented by the target destination out and when
The formation flight task is carried out in intermediate node, such as changes carrying out light show by light, or composition special pattern etc., because
This can ensure that formation flight task is accurately finished.
For the embodiment of the present invention, the formation flight task includes light transformation information, described in the target destination
The step of carrying out the formation flight task, can specifically include：According to the light transformation information, the second space position
Information and the second timing node information carry out light transformation in the target destination, to realize the formation flight task.
For example, each unmanned plane can represented by corresponding target destination spatial position or timing node carry out light change
Change, form special pattern so that the user on ground can preferably watch the formation flight task of unmanned plane completion.
It should be noted that in order to further enhance unified accurate of sequential of each unmanned plane in formation flight task
Degree, the embodiment of the present invention also provide function of initializing, the method includes：When the unmanned plane takes off, ground base station is utilized
The time for initializing the unmanned plane, so as to the unmanned plane on high in carry out autonomous flight according to unified sequential.
In addition, in order to further enhance the accuracy of UAV Formation Flight control, the embodiment of the present invention can also pass through
Whether the global positioning system that unmanned plane is equipped with, fly to the target to the current waypoint location and unmanned plane of unmanned plane
Waypoint location is verified.For example, unmanned plane in current destination, can position the first space bit according to by global positioning system
The first spatial positional information that confidence is ceased and determined according to formation flight task is compared, if the first spatial positional information one
It causes, then starts the flying speed for adjusting unmanned plane again.In addition, unmanned plane is when flight is to target destination, it can be according to will be global
The second space location information that positioning system positions second space location information and determined according to formation flight task is compared,
If second space location information is consistent, then proceeds by the formation flight task.
Another kind UAV Formation Flight control method provided in an embodiment of the present invention, and at present generally according to predefining
Unified flying speed control all unmanned plane during flyings mutually this, the embodiment of the present invention, can when receiving formation flight task
Unmanned plane is determined in the first spatial positional information and first time nodal information of current destination, and flight is to target destination
Second space location information and the second timing node information.It at the same time, can be according to first spatial positional information, described
First time nodal information, the second space location information and the second timing node information, adjust the unmanned plane
Flying speed；Unmanned plane segmentum intercalaris when the second timing node information is corresponding is controlled according to the flying speed after adjustment
The target destination is arrived in point flight, so as to realize spatial positional information and timing node information four dimensions according to destination
Information rationally adjusts the flying speed of unmanned plane, by controlling unmanned plane during flying, Neng Goubao according to the reasonable flying speed of adjustment
Demonstrate,proving unmanned plane, accurately right place flies onto target destination, and then can improve the accuracy of UAV Formation Flight control
And synchronousness.
Further, as the specific implementation of Fig. 1, an embodiment of the present invention provides a kind of unmanned planes, as shown in figure 3, institute
Stating unmanned plane includes：Determination unit 31, adjustment unit 32 and control unit 33.
The determination unit 31 can be used for when receiving formation flight task, determine unmanned plane in current destination
The second space location information and second of target destination is arrived in first spatial positional information and first time nodal information, and flight
Timing node information.The determination unit 31 be in this unmanned plane when receiving formation flight task, determine that unmanned plane is being worked as
The first spatial positional information and first time nodal information of preceding destination, and flight are believed to the second space position of target destination
The main functional modules of breath and the second timing node information.
The adjustment unit 32, can be used for according to first spatial positional information, the first time nodal information,
The second space location information and the second timing node information, adjust the flying speed of the unmanned plane.The adjustment
Unit 32 is in this unmanned plane according to first spatial positional information, the first time nodal information, the second space
Location information and the second timing node information, adjust the main functional modules of the flying speed of the unmanned plane.
Described control unit 33 can be used for controlling the unmanned plane at described second according to the flying speed after adjustment
The corresponding timing node of intermediate node information flies to the target destination.Described control unit be in this unmanned plane according to adjustment after
Flying speed control the unmanned plane and navigate to the target in the corresponding timing node flight of the second timing node information
The main functional modules of point.
For the embodiment of the present invention, in order to ensure unmanned plane segmentum intercalaris when the second timing node information is corresponding
Just the target destination is arrived in flight to point, and the adjustment unit 32 specifically can be used for according to first spatial positional information
With the second space location information, path length difference of the unmanned plane from the flight of current destination to target destination is determined；According to institute
First time nodal information and the second timing node information are stated, determines that the unmanned plane navigates from the flight of current destination to target
The time difference of point；By the quotient of the path length difference and the time difference, the flying speed being determined as after the unmanned plane adjustment.
For the embodiment of the present invention, the unified accuracy of sequential in order to promote each unmanned plane in formation flight task,
The determination unit 31 specifically can be used for obtaining to server sending time nodal information and ask, and the acquisition request includes
The identification information of unmanned plane is stored with the different corresponding different identification information of unmanned plane and the difference on the server
Each destination timing node information corresponding to identification information；The server is received according to described the of the identification information feedback
One timing node information and the second timing node information.
For the embodiment of the present invention, in order to realize that unmanned plane in predetermined time and spatially of target destination, executes
Corresponding formation flight task, described control unit 33 specifically can be according to the second space location information and described second
Timing node information carries out the formation flight task in the target destination.
Described control unit 33 specifically can be used for when the formation flight task includes light transformation information, according to
The light transformation information, the second space location information and the second timing node information are carried out in the target destination
Light transformation, to realize the formation flight task.
For the embodiment of the present invention, in order to further enhance the essence that the sequential of each unmanned plane in formation flight task is unified
Exactness, as shown in figure 4, the unmanned plane can also include：Initialization unit 34.
The initialization unit 34 can be used for when the unmanned plane takes off, and the nothing is initialized using ground base station
The man-machine time, so as to the unmanned plane on high in carry out autonomous flight according to unified sequential.The initialization unit 34 is
This unmanned plane initializes the time of the unmanned plane using ground base station when the unmanned plane takes off, so as to the unmanned plane
The main functional modules of autonomous flight are carried out on high according to unified sequential.
It should be noted that other of each function module involved by a kind of unmanned plane provided in an embodiment of the present invention are accordingly retouched
It states, can be described with the corresponding of method shown in reference chart 1, details are not described herein.
Based on above-mentioned method as shown in Figure 1, correspondingly, the embodiment of the present invention additionally provides a kind of computer-readable storage medium
Matter is stored thereon with computer program, which realizes following steps when being executed by processor：When receiving formation flight task
When, determine unmanned plane current destination the first spatial positional information and first time nodal information, and flight to target navigate
The second space location information and the second timing node information of point；According to first spatial positional information, the first time
Nodal information, the second space location information and the second timing node information, adjust the flying speed of the unmanned plane；
The unmanned plane is controlled according to the flying speed after adjustment to arrive in the corresponding timing node flight of the second timing node information
The target destination.
Based on the embodiment of above-mentioned method as shown in Figure 1 and unmanned plane as shown in Figure 3, the embodiment of the present invention additionally provides one
The entity structure diagram of kind unmanned plane, as shown in figure 5, the unmanned plane includes：Processor 41, memory 42 and it is stored in memory
On 42 and the computer program that can run on a processor, wherein memory 42 and processor 41 be arranged in bus 43 it is described
Processor 41 realizes following steps when executing described program：When receiving formation flight task, determine that unmanned plane navigates currently
Point the first spatial positional information and first time nodal information, and flight to target destination second space location information and
Second timing node information；According to first spatial positional information, the first time nodal information, the second space position
Confidence ceases and the second timing node information, adjusts the flying speed of the unmanned plane；According to the flying speed control after adjustment
The unmanned plane is made in the corresponding timing node flight of the second timing node information to the target destination.The unmanned plane is also
Including：Bus 43 is configured as coupling processor 41 and memory 42.
Technical solution through the invention can determine unmanned plane in current destination when receiving formation flight task
The first spatial positional information and first time nodal information, and flight is to the second space location information of target destination and the
Two timing node information.It at the same time, can be according to first spatial positional information, the first time nodal information, institute
Second space location information and the second timing node information are stated, the flying speed of the unmanned plane is adjusted；After adjustment
Flying speed control the unmanned plane and navigate to the target in the corresponding timing node flight of the second timing node information
Point rationally adjusts nobody so as to realize spatial positional information and timing node information four dimensions information according to destination
The flying speed of machine can ensure that unmanned plane is accurately fixed by controlling unmanned plane during flying according to the reasonable flying speed of adjustment
In Shi Dingdian flights to target destination, and then the accuracy and synchronousness of UAV Formation Flight control can be improved.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the quality of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to run on one or more processors
Software module realize, or realized with combination thereof.It will be understood by those of skill in the art that can use in practice
Microprocessor or digital signal processor (DSP) are some or all in unmanned plane according to the ... of the embodiment of the present invention to realize
The some or all functions of component.The present invention be also implemented as a part for executing method as described herein or
Whole equipment or program of device (for example, computer program and computer program product).Such journey for realizing the present invention
Sequence can may be stored on the computer-readable medium, or can be with the form of one or more signal.Such signal can
It is obtained with being downloaded from internet website, either provided on carrier signal or provided in any other forms.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and be run after fame
Claim.
Claims (10)
1. a kind of UAV Formation Flight control method, which is characterized in that including：
When receiving formation flight task, determine that unmanned plane is saved in the first spatial positional information of current destination and at the first time
The second space location information and the second timing node information of target destination are arrived in point information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and described
Second timing node information, adjusts the flying speed of the unmanned plane；
The unmanned plane is controlled according to the flying speed after adjustment in the corresponding timing node of the second timing node information to fly
Row arrives the target destination.
2. according to the method described in claim 1, it is characterized in that, it is described according to first spatial positional information, described
One timing node information, the second space location information and the second timing node information adjust flying for the unmanned plane
Scanning frequency degree, specifically includes：
According to first spatial positional information and the second space location information, determine that the unmanned plane flies from current destination
Path length difference of the row to target destination；
According to the first time nodal information and the second timing node information, determine that the unmanned plane flies from current destination
Time difference of the row to target destination；
By the quotient of the path length difference and the time difference, the flying speed being determined as after the unmanned plane adjustment.
3. according to the method described in claim 1, it is characterized in that, the determining unmanned plane current destination first time
Point information, and flight are specifically included to the second timing node information of target destination：
It obtains and asks to server sending time nodal information, it is described to obtain the identification information that request includes unmanned plane, the clothes
When being stored with the different corresponding different identification information of unmanned plane and the corresponding each destination of the different identification information on business device
Intermediate node information；
Receive the server according to the first time nodal information of the identification information feedback and it is described second when segmentum intercalaris
Point information.
4. according to the method described in claim 1, it is characterized in that, the flying speed according to after adjustment control it is described nobody
After the corresponding timing node flight to the target destination of the second timing node information, the method further includes machine：
According to the second space location information and the second timing node information, the formation is carried out in the target destination
Aerial mission.
5. according to the method described in claim 4, it is characterized in that, the formation flight task includes light transformation information, institute
It states according to the second space location information and the second timing node information, carrying out described form into columns in the target destination flies
Row task, specifically includes：
According to the light transformation information, the second space location information and the second timing node information in the target
Destination carries out light transformation, to realize the formation flight task.
6. according to claim 1-5 any one of them methods, which is characterized in that the method further includes：
When the unmanned plane takes off, the time of the unmanned plane is initialized using ground base station, so that the unmanned plane is in day
In the air autonomous flight is carried out according to unified sequential.
7. a kind of unmanned plane, which is characterized in that including：
Determination unit, for when receiving formation flight task, determine unmanned plane current destination the first space bit confidence
The second space location information and the second timing node information of target destination are arrived in breath and first time nodal information, and flight；
Adjustment unit, for according to first spatial positional information, the first time nodal information, the second space position
Confidence ceases and the second timing node information, adjusts the flying speed of the unmanned plane；
Control unit is corresponded to for controlling the unmanned plane according to the flying speed after adjustment in the second timing node information
Timing node flight to the target destination.
8. unmanned plane according to claim 7, which is characterized in that
The adjustment unit is specifically used for, according to first spatial positional information and the second space location information, determining
The unmanned plane flies from current destination to the path length difference of target destination；
According to the first time nodal information and the second timing node information, determine that the unmanned plane flies from current destination
Time difference of the row to target destination；
By the quotient of the path length difference and the time difference, the flying speed being determined as after the unmanned plane adjustment.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Following steps are realized when row：
When receiving formation flight task, determine that unmanned plane is saved in the first spatial positional information of current destination and at the first time
The second space location information and the second timing node information of target destination are arrived in point information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and described
Second timing node information, adjusts the flying speed of the unmanned plane；
The unmanned plane is controlled according to the flying speed after adjustment in the corresponding timing node of the second timing node information to fly
Row arrives the target destination.
10. a kind of unmanned plane, including memory, processor and storage are on a memory and the computer that can run on a processor
Program, which is characterized in that the processor realizes following steps when executing described program：
When receiving formation flight task, determine that unmanned plane is saved in the first spatial positional information of current destination and at the first time
The second space location information and the second timing node information of target destination are arrived in point information, and flight；
According to first spatial positional information, the first time nodal information, the second space location information and described
Second timing node information, adjusts the flying speed of the unmanned plane；
The unmanned plane is controlled according to the flying speed after adjustment in the corresponding timing node of the second timing node information to fly
Row arrives the target destination.
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| CN112161625A (en) * | 2020-09-16 | 2021-01-01 | 一飞(海南)科技有限公司 | Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle |
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| CN114020040A (en) * | 2021-12-13 | 2022-02-08 | 广州穿越千机创新科技有限公司 | Method and system for forming sky dot matrix screen of unmanned aerial vehicle |
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