CN108594835A - Unmanned aerial vehicle (UAV) control method and device based on earth station - Google Patents
Unmanned aerial vehicle (UAV) control method and device based on earth station Download PDFInfo
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- CN108594835A CN108594835A CN201711480161.5A CN201711480161A CN108594835A CN 108594835 A CN108594835 A CN 108594835A CN 201711480161 A CN201711480161 A CN 201711480161A CN 108594835 A CN108594835 A CN 108594835A
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- earth station
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The unmanned aerial vehicle (UAV) control method and device based on earth station that an embodiment of the present invention provides a kind of, method therein include：Earth station obtains the current geographic position coordinate of each unmanned plane；Current geographic position coordinate of the earth station according to each unmanned plane selects the UAV targets controlled；Earth station obtains the first control instruction；Earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；Earth station obtains the second control instruction according to first control instruction and the flight status parameter；Allocation rule is arranged according to second control instruction and the flight status parameter in earth station；Earth station is based on the allocation rule, controls the unmanned plane.The present invention realizes the technique effect for improving unmanned aerial vehicle (UAV) control method accuracy and robustness.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of unmanned aerial vehicle (UAV) control method and devices based on earth station.
Background technology
Currently, unmanned plane is widely used in ground mapping, Forest servey, disaster surveillance, logistics express delivery, high-altitude shooting etc.
Field.
In the prior art, the allocation rule of control instruction is generally pre-set to the control method of unmanned plane, then root
Unmanned plane relevant parameter is allocated according to the allocation rule of setting, to reach the requirement of control instruction.However, due to nobody
The state of machine is different in different moments, if controlled unmanned plane according to preset rules, when the shape of unmanned plane
When state changes, since preset rules can not be adapted to, deviation is easy tod produce.
As it can be seen that the poor technical problem of precise control exists in the prior art.
Invention content
An embodiment of the present invention provides a kind of control method and device of unmanned plane, for solving unmanned plane in the prior art
Control method there is a problem of that accuracy is poor.
In a first aspect, the present invention provides a kind of unmanned aerial vehicle (UAV) control method based on earth station, including：
Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Optionally, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gas
Stream angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
Optionally, according to second control instruction and the flight status parameter, setting phase partitioning is regular, including：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Optionally, it is based on the allocation rule, the unmanned plane is controlled, including：
The earth station is based on the allocation rule, determines the action component and sendout of the UAV targets；
The earth station controls the action component according to the sendout.
Based on same inventive concept, second aspect of the present invention provides a kind of control device of unmanned plane, including：
Current geographic position coordinate obtaining module obtains the unmanned plane of each in several unmanned planes for earth station
Current geographic position coordinate；
UAV targets' selecting module is sat for the earth station according to the current geographic position of unmanned plane described in each
Mark selects the UAV targets controlled；
First obtains module, obtains the first control instruction for the earth station, first control instruction is to control
Make the original control instruction that UAV targets' flight reaches dbjective state；
Second obtains module, is obtained and the relevant UAV targets of first control instruction for the earth station
Flight status parameter；
Third obtains module, is obtained according to first control instruction and the flight status parameter for the earth station
Second control instruction；
Setup module, for the earth station according to second control instruction and the flight status parameter, setting point
With rule；
Control module is based on the allocation rule for the earth station, controls the UAV targets.
Optionally, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gas
Stream angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
Optionally, the setup module is additionally operable to：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Optionally, the control module is additionally operable to：
The earth station is based on the allocation rule, determines the action component and sendout of unmanned plane；
The earth station controls the action component according to the sendout.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, which realizes following steps when being executed by processor：
The earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
Following steps：
The earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, earth station according to the first control instruction and with first by controlling first
It instructs relevant unmanned plane during flying state parameter to obtain the second control instruction, the first control instruction can be converted to and unmanned plane
The second directly related control instruction of flight attitude, then the earth station is according to the second control instruction and flight status parameter,
Allocation rule is set, you can allocation rule is arranged according to the state parameter of the second control instruction and unmanned plane after conversion, from
And when the state of unmanned plane changes, it is adapted to the state change of unmanned plane, to make unmanned plane according to allocation rule
Steadily flown, so the accuracy and robustness of the control to unmanned plane can be improved, solve in the prior art without
Man-machine control method has that accuracy is poor.
Description of the drawings
Fig. 1 is a kind of flow chart of the unmanned aerial vehicle (UAV) control method based on earth station in the embodiment of the present invention；
Fig. 2 is a kind of structure chart of controlling party device applied to unmanned plane in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of computer equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides an embodiment of the present invention provides a kind of control method and device of unmanned plane, for solving
Certainly the control method of unmanned plane has that accuracy is poor in the prior art.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows：
Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flying
The original control instruction of mark state；The earth station obtains to be joined with the relevant unmanned plane during flying state of first control instruction
Number；The earth station obtains the second control instruction according to first control instruction and the flight status parameter；The ground
It stands according to second control instruction and the flight status parameter, allocation rule is set；The earth station is based on the distribution
Rule controls the unmanned plane.
The present invention the above method, by according to the first control instruction and with the relevant unmanned plane during flying of the first control instruction
State parameter obtains the second control instruction, can convert the first control instruction to directly related with unmanned plane during flying posture the
Then according to the second control instruction and flight status parameter allocation rule is arranged, you can after according to conversion in two control instructions
Allocation rule is arranged in second control instruction and the state of unmanned plane, thus allocation rule is adapted with the state parameter of unmanned plane
, from the accuracy and robustness that can improve the control to unmanned plane, solve the control method of unmanned plane in the prior art
There is a problem of that accuracy is poor.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation of description affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
First aspect present invention provides the control method of unmanned plane, referring to FIG. 1, for unmanned plane in the embodiment of the present invention
Control method flow chart.
It needing to illustrate first, the method can be applied to the communication command vehicle for controlling and monitoring unmanned plane,
Or (earth station is a portable box body to the earth station with computer operation control function, and built-in there are one integrated
Laptop) or long-range control terminal (such as control room, monitoring room).In other words, the embodiment of the present invention is upper
State step include the steps that it is following will illustrate, executive agent can be communication command vehicle, allow in this way in vehicle i.e.
The control method method of unmanned plane can be controlled, can also be the ground with computer operation and Portable outgoing function
Face station, allows in this way in or beyond vehicle or movement can control the method for controlling unmanned plane；It can also be long-range
Control terminal (such as control room, monitoring room), the control method of unmanned plane can remotely controlled in this way.And pass through
Communication command vehicle, earth station and long-range control terminal carry out Communication Control according to the equipment such as communications protocol and unmanned plane, are existing
There is the normal procedure intelligent in technology to control, as the prior art, and the innovation of the invention consists in that, based on communication command vehicle, ground
It stands and long-range control terminal is applied to the control method of the present invention, is controlled unmanned plane with reaching as executive agent
Technique effect, it is therefore, winged according to communications protocol and unmanned plane etc. for communication command vehicle, earth station and long-range control terminal
Communication Control between row equipment is controlled using prior art normal procedure intelligent and is realized, the present invention is not limited, under the present invention
In face of elaborating with innovative control method and step.
This method includes：
S110；Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Specifically, the application is specifically used for controlling the unmanned plane to fly in the air, and fly simultaneously in the air
Unmanned plane have multiple, then when needing to control a certain frame unmanned plane at this time, several can be obtained by first choice
The current geographic position coordinate of the unmanned plane of each in unmanned plane, the current geographic position according to unmanned plane described in each
Coordinate screens the unmanned plane controlled；
S120；Current geographic position coordinate of the earth station according to unmanned plane described in each, selection are controlled
The UAV targets of system；
In the step 120, following sub-step can also be specifically included：Current geographic according to unmanned plane described in each
Position coordinates carry out band of position classification, for example, in first position region Zhong Bao to the current location where several unmanned planes
Containing 2 unmanned planes, which can be using the first position in the first area as the center of circle, with the first distance for radius institute
The round band of position of formation；Include 3 unmanned planes in the region of the second position, which can be with the second
The second position in area is the center of circle, and the round band of position is formed by by radius of second distance；Include 5 in the third place region
A unmanned plane etc., the third place region can be using third area using the third place as the center of circle, using third distance as radius
It is formed by the round band of position；And the band of position that first area and second area are mutual not overlapping region；First ground
Area, the second area and third area can be the different cities in some city, and first position can be a certain in the first area
A building with geographical location identification function, the second position can be in the second area some with geographical location mark
Know the building of function, the third place can be some building with geographical location identification function in third area.
Meanwhile first distance and second distance and third distance can be 50 meters either 100 meters or 200 meters etc..Then from position
Selection target region in region is set, i.e. the target area can be the area for needing to control unmanned plane in the area
Domain, such as the especially severe region blown or rained of environment；Then it is selecting to be controlled from the target area
UAV targets.
S130：The earth station obtains the first control instruction, first control instruction be to control the target without
Man-machine flight reaches the original control instruction of dbjective state.
Specifically, the first control instruction is instructed for controlling the Comprehensive Control of drone status, Comprehensive Control instruction
Can be comprehensive amount of speed and posture, or overload, angular speed and the comprehensive amount of dynamic pressure etc., the first control instruction can be to nothing
Man-machine action is controlled.
S140：The earth station obtains to be joined with the relevant UAV targets' state of flight of first control instruction
Number；
For example, above-mentioned flight status parameter includes：Flying speed, dynamic pressure, overload, height, attitude angle, angle accelerate
It is one or more in degree, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.For example, when the first control instruction
When being measured for the synthesis of height and rate, include with the relevant state parameter of the first control instruction then：Flying speed, height, air
Density etc..
As a kind of optional embodiment, can be converted first control instruction to according to preset ideal model
The control instruction being consistent with intended response dynamic.In specific implementation process, in specific implementation process, since control refers to
Order changes at any time, if directly controlled unmanned plane according to control instruction, may result in the variation of unmanned plane
Amplitude is excessive, or even the problem of can not execute the control instruction.For example, if the first control instruction is for controlling nobody
The angular acceleration of machine, if the flight angular acceleration of unmanned plane is 1 degree per second, the first control instruction is 10 degree per seconds, then needs
The angular acceleration of unmanned plane is directly become 10 from 1, this may result in, and unmanned plane during flying is unstable, and larger deflection occurs in fuselage
Deng；And the method for the embodiment of the present invention, then the first control instruction can be handled, for example, by 10 degree per seconds be processed into 7 degree it is every
Second.
Specifically, the first control instruction and the dynamic correspondence of intended response, Ke Yishi are provided in ideal model
According to the correspondence that existing data, knowledge and experience obtain, more specifically, can inputted according to closed loops
The lower response of driving and the requirement of flight quality determine, if the first control instruction of input is acceleration instruction, there will be with
Corresponding intended response dynamic, equally, if input the first control instruction be speed command, also have corresponding pre-
Phase response dynamics.By taking speed command as an example, when inputting some control instruction, intended response dynamic is preceding 0.3s slowly (low
In default response speed) variation, waits and is changed according to preset response speed after reaching stable 1s.
The relationship that between first control instruction and the second control instruction can be corresponding ratio can also be other relationships, example
Such as when the first control instruction is 10, the second control instruction can be that the 8, second control instruction may be 7.Concrete condition can be with
It is arranged according to actual conditions, is not specifically limited herein.
More specifically, it is that cycle executes to process to obtain the second control instruction by the first control instruction, when obtaining the
After two control instructions, it can be handled to obtain control instruction next time to the second control instruction again, until state of flight
Until tending to the first control instruction.
S150：The earth station obtains the second control according to first control instruction and the flight status parameter and refers to
It enables；
Specifically, it since the first control instruction is comprehensive instruction, then needs to be translated into and the practical feelings of unmanned plane
Condition changes the second control instruction being consistent, such as the comprehensive comprehensive directive measured that the first control instruction is speed and posture, then will
It is converted into the instruction of angular acceleration, while needing to consider the flight status parameter of unmanned plane.Second control instruction is direct shadow
Ring the instruction to flight attitude, such as angular acceleration, torque；
Specifically, above-mentioned state parameter includes comprising can be with motion parameter measured directly and the fortune not directly measured
Dynamic parameter value, such as speed, angle, which are, to be the movement not directly measured with motion parameter measured directly, angular acceleration
Parameter value.
As a kind of optional embodiment, integrative feedback can be generated according to flight status parameter, then with integrative feedback
First control instruction is adjusted to obtain the second control instruction, concrete implementation mode is as follows：Obtain the shape of unmanned plane
Measurable first motion parameter in state parameter；It is estimated in the state parameter not based on default plant model
Measurable second motion parameter；According to first motion parameter and second motion parameter, obtain comprehensive anti-
Feedback.
It specifically, can be by equipment such as sensor, speedometers to nobody for measurable first motion parameter
Machine measures, and to obtain corresponding measured value, above-mentioned measured value may include the rudder face degree of bias, speed, angle rate etc..For
Immeasurablel first motion parameter then can preset plant model to be estimated by structure, such as six free
Model etc. is spent, above-mentioned default plant model can be linear mathematical model, or non-linear mathematical model.It is optional
Ground estimates the immeasurablel motion state of the unmanned plane using nonlinear model, so as to adapt to more fly
State.It, then can be in such a way that setting controls variable after obtaining the first motion parameter and the second motion parameter respectively
Obtain integrative feedback.
S160：Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station.
In specific implementation process, the relevant parameter with the relevant action component of state of flight can also be considered,
Such as action component be can be with motor, and to the scope limitation of the position of action component, rate.If an action component is full
It still can be used for generating the control effect being consistent with the second control instruction with, other action components.Furthermore it is also possible to be directed to specific mesh
Mark realizes system optimization, such as minimum drag, airfoil load minimum, the total degree of bias minimum of control plane etc..It thus can be in conjunction with winged
Allocation rule is arranged in row state, and common allocation rule, which includes the control allocation algorithm based on optimization, direct distribution method, broad sense
Inverse method is based on linear programming (simplex method, interior point method), is based on quadratic programming (sequential quadratic programming, fix point method, active set
Method), the control distribution method based on unoptimizable has concatenation chain method etc., originally grabs you and the concatenation chain method based on quadratic programming may be used.
Specifically, when the second control instruction be angular acceleration instruct when, and flight status parameter be speed and height when,
Angular speed instructs the control to unmanned plane, the as control of unmanned plane motor torque.The method of allocation rule, which is then arranged, to lead to
Cross following step realization：
Obtain the correspondence of second control instruction and action component；
According to the correspondence and the flight status parameter, the allocation rule is set.
Specifically, the second control instruction is angular acceleration, then action component is motor, the power of angular acceleration and motor
Square can rule of thumb can be obtained with actual numerical value there are one correspondence.Then consider the current surplus of motor, such as in total
Allocation rule can be arranged according to the current state of each motor in four motors, according to a certain percentage, or can work as certain
When the deflection of a motor is larger, by the amount of deflection of other several motors, reach expected control effect.
S170：The earth station is based on the allocation rule, controls the UAV targets.
Based on the allocation rule, the action component and sendout of unmanned plane are determined；
The action component is controlled according to the sendout.
Specifically, according to allocation rule, it may be determined that the sendout of action component reaches corresponding control instruction
Control effect.
Embodiment two
Based on inventive concept same as the control method of unmanned plane in aforementioned first aspect, the embodiment of the present invention two also carries
The control device of unmanned plane is supplied, as shown in Fig. 2, including：
Current geographic position coordinate obtaining module 210 obtains the nothing of each in several unmanned planes for earth station
Man-machine current geographic position coordinate；
UAV targets' selecting module 220 is used for current geographic position of the earth station according to unmanned plane described in each
Coordinate is set, the UAV targets controlled are selected；
First obtain module 230, for the earth station obtain the first control instruction, first control instruction be to
Control unmanned plane during flying reaches the original control instruction of dbjective state；
Second obtains module 240, is obtained and the relevant unmanned plane during flying of the first control instruction for the earth station
State parameter；
Third obtains module 250, for the earth station according to first control instruction and the flight status parameter
Obtain the second control instruction；
Setup module 260, for the earth station according to second control instruction and the flight status parameter, setting
Allocation rule；
Control module 270 is based on the allocation rule for the earth station, controls the unmanned plane.
Device provided in this embodiment, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, posture
It is one or more in angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.
Device provided in this embodiment, setup module are additionally operable to：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Device provided in this embodiment, control module are additionally operable to：
The earth station is based on the allocation rule, determines the action component and sendout of unmanned plane；
The earth station controls the action component according to the sendout.
The various change mode and specific example of the control method of unmanned plane in 1 embodiment of earlier figures are equally applicable to this
The control device of the unmanned plane of embodiment passes through the detailed description of the aforementioned control method to unmanned plane, those skilled in the art
The implementation of the control device of unmanned plane in the present embodiment is clear that, so in order to illustrate the succinct of book, herein
No longer it is described in detail.
Embodiment three
Based on inventive concept same as the control method of unmanned plane in previous embodiment one, the embodiment of the present invention three also carries
A kind of computer readable storage medium is supplied, as shown in figure 3, being stored thereon with computer program, which is executed by processor
Shi Shixian following steps：
Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flying
The original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
The various change mode and specific example of the control method of unmanned plane in 1 embodiment of earlier figures are equally applicable to this
The computer readable storage medium of the unmanned plane of embodiment passes through the detailed description of the aforementioned control method to unmanned plane, ability
Field technique personnel are clear that the implementation of the present embodiment Computer readable storage medium storing program for executing, so in order to illustrate book
It is succinct, this will not be detailed here.
Example IV
Based on inventive concept same as the control method of unmanned plane in previous embodiment one, the embodiment of the present invention four also carries
A kind of computer equipment is supplied, including memory 401, processor 402 and storage can be run on a memory and on a processor
Computer program 403, the processor realizes following steps when executing described program：
Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flying
The original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
For convenience of description, it illustrates only and does not disclose, ask with the relevant part of the embodiment of the present invention, particular technique details
With reference to present invention method part.Memory 401 can be used for storing computer program 403, and above computer program includes
Software program, module and data, processor 402 execute the computer program 403 for being stored in memory 401 by running, to
Execute various function application and the data processing of electronic equipment.
In specific implementation process, memory 401 can be used for storing software program and module, processor 402 pass through
Operation is stored in the software program and module of memory 401, to execute the various function application and data of electronic equipment
Processing.Memory 401 can include mainly storing program area and storage data field, wherein storing program area can storage program area,
Application program etc. needed at least one function；Storage data field can be stored uses created data according to electronic equipment
Deng.In addition, memory 401 may include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipment
Center is stored in memory using the various pieces of various interfaces and the entire electronic equipment of connection by running or executing
Software program in 401 and/or module, and the data being stored in memory 401 are called, execute the various work(of electronic equipment
Data can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processing
Unit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong Hujie
Face and application program etc..
The various change mode and specific example of the control method of unmanned plane in 1 embodiment of earlier figures are equally applicable to this
The computer equipment of the unmanned plane of embodiment passes through the detailed description of the aforementioned control method to unmanned plane, people in the art
Member is clear that the implementation of the present embodiment Computer equipment, so in order to illustrate the succinct of book, herein no longer
It is described in detail.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, first by according to the first control instruction and with the first control instruction phase
The unmanned plane during flying state parameter of pass obtains the second control instruction, can convert the first control instruction to and unmanned plane during flying appearance
Allocation rule is arranged then according to the second control instruction and flight status parameter in the second directly related control instruction of state, you can
Allocation rule is arranged according to the state of the second control instruction and unmanned plane after conversion, to which the state when unmanned plane becomes
When change, it is adapted to the state change of unmanned plane, to make unmanned plane accurately be flown according to allocation rule, so can be with
The accuracy and robustness to the control of unmanned plane are improved, solving the control method of unmanned plane in the prior art, there are accuracys
Poor problem.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method based on earth station, which is characterized in that including：
Earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the UAV targets.
2. the method as described in claim 1, which is characterized in that the flight status parameter, including：Flying speed, dynamic pressure, mistake
Load, height, attitude angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
3. the method as described in claim 1, which is characterized in that described according to second control instruction and the state of flight
Parameter, setting phase partitioning rule, including：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
4. the method as described in claim 1, which is characterized in that it is described to be based on the allocation rule, to the UAV targets
It is controlled, including：
The earth station is based on the allocation rule, determines the action component and sendout of the UAV targets；
The earth station controls the action component according to the sendout.
5. a kind of control device applied to unmanned plane, which is characterized in that including：
Current geographic position coordinate obtaining module obtains working as the unmanned plane of each in several unmanned planes for earth station
Preceding geographical position coordinates；
UAV targets' selecting module is used for current geographic position coordinate of the earth station according to unmanned plane described in each,
Select the UAV targets controlled；
First obtains module, obtains the first control instruction for the earth station, first control instruction is to control
State the original control instruction that UAV targets' flight reaches dbjective state；
Second obtains module, obtains for the earth station and flies with the relevant UAV targets of first control instruction
State parameter；
Third obtains module, and second is obtained according to first control instruction and the flight status parameter for the earth station
Control instruction；
Setup module, for the earth station according to second control instruction and the flight status parameter, setting distribution rule
Then；
Control module is based on the allocation rule for the earth station, controls the UAV targets.
6. device as claimed in claim 5, which is characterized in that the flight status parameter, including：Flying speed, dynamic pressure, mistake
Load, height, attitude angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
7. device as claimed in claim 5, which is characterized in that the setup module is additionally operable to：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
8. device as claimed in claim 5, which is characterized in that the control module is additionally operable to：
The earth station is based on the allocation rule, determines the action component and sendout of the UAV targets；
The earth station controls the action component according to the sendout.
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：
The earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the UAV targets.
10. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, which is characterized in that the processor realizes following steps when executing described program：
The earth station obtains the current geographic position coordinate of the unmanned plane of each in several unmanned planes；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station obtains and the relevant UAV targets' flight status parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the UAV targets.
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