CN108733068A - Aircraft with a flight control device - Google Patents
Aircraft with a flight control device Download PDFInfo
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- CN108733068A CN108733068A CN201710270984.9A CN201710270984A CN108733068A CN 108733068 A CN108733068 A CN 108733068A CN 201710270984 A CN201710270984 A CN 201710270984A CN 108733068 A CN108733068 A CN 108733068A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The embodiment of the application discloses an aircraft. The aircraft, comprising: a satellite signal receiver, a height sensor, a controller; the satellite signal receiver is used for receiving a satellite signal and generating positioning data of the aircraft, wherein the positioning data comprises first altitude data; the altitude sensor is used for generating second altitude data of the aircraft based on the environment where the aircraft is located; the controller controls the aircraft to operate according to the positioning data, and under the condition that the first altitude data and the second altitude data accord with a specified relation, the aircraft is not controlled according to the positioning data any more. The aircraft provided by the embodiment of the application can judge the fault of the satellite signal receiver by itself.
Description
Technical field
This application involves technical field of aerospace, more particularly to a kind of aircraft.
Background technology
With the development of society, the extensive use that aircraft obtains.Relative to manned aircraft, nobody in aircraft flies
Row device, for example, unmanned plane, cost inexpensively, and will not bring Personal Risk to operator.Aircraft can be applied to be permitted
It is multi-field, such as：It takes photo by plane, agricultural, plant protection, self-timer, express transportation, disaster relief, observation wild animal, monitoring infectious disease, survey
Paint, news report, electric inspection process, the disaster relief, movies-making etc. field.
For example, some small aircrafts for taking photo by plane, user can use controller control aircraft fly in the air
Row, and shooting etc..User can also control aircraft and fly to the landing of each place.The use process of this kind of aircraft,
Basic whole city is located in the range of visibility of user, and user can control the entire flight course of aircraft by controller.
In order to which that expands aircraft uses field, developed can voluntarily navigation flight aircraft.Those aircraft
Satellite signal receiver is installed more.Before aircraft takeoff, or flight is on the way, can be sent out to aircraft by console
Send instruction, the target location coordinate that instruction aircraft flies to.When aircraft flight in the air, satellite signal receiver can be passed through
It receives satellite-signal and realizes the position positioning of itself, further according to target location and itself heading etc., voluntarily control is flown to
The target location.
However, in some cases, satellite signal receiver may break down, aircraft being defended according to wrong at this time
Star signal carries out flight control.The risk for leading to strikes obstacles existing for aircraft, falling or losing.
Invention content
The purpose of the application embodiment is to provide a kind of aircraft.The aircraft can judge that satellite-signal connects with itself
Receive whether device is abnormal.
To achieve the above object, the application embodiment provides a kind of aircraft, including：Satellite signal receiver, height
Sensor, controller；The satellite signal receiver generates the location data of the aircraft, institute for receiving satellite-signal
It includes the first altitude information to state location data；The height sensor is used to generate the second altitude information of the aircraft；Institute
It states controller and the aircraft operation is controlled according to the location data, and in first altitude information and second height
In the case of data fit specified relationship, no longer the aircraft is controlled according to the location data.
The application embodiment also provides a kind of aircraft, including：Satellite signal receiver, ultrasonic wave sensor, light stream
Sensor and controller；The satellite signal receiver is for receiving satellite-signal；The ultrasonic wave sensor is for exporting table
Show the sensing signal of distance between the aircraft and earth's surface；The light stream sensor is used for according to the image output institute sensed
State the horizontal velocity of aircraft；The controller is for controlling the aircraft flight；In satellite signal receiver exception
In the case of, controlling the aircraft reduces height, and the feelings of threshold value are reached in the sensing signal of ultrasonic wave sensor output
Under condition, according to the horizontal velocity that the light stream sensor exports, the aircraft is controlled.
The application embodiment also provides a kind of aircraft, including：Height sensor, light stream sensor, depth sense device
And controller；The height sensor is for exporting altitude information of the aircraft relative to earth's surface；The light stream sensor
Horizontal velocity for exporting the aircraft according to the image sensed；The depth sense device is for exporting the aircraft
The depth information figure of lower section；The altitude information and the light stream that the controller is used to be exported according to the height sensor sense
The horizontal velocity of device output controls the aircraft flight；Described in depth information figure determination according to depth sense device output
The target drop zone of aircraft；It controls the aircraft and drops to the target drop zone.
The technical solution provided by above the application embodiment is as it can be seen that by judging the first altitude information and the second height
Whether data meet specified relationship, and realization judges whether satellite signal receiver has occurred failure.Make the application embodiment,
Fault detect of the aircraft itself to satellite signal receiver may be implemented.In this way, can find that satellite signal receiver is sent out
Raw failure, and then corresponding counter-measure can be taken.Aircraft can be avoided to break down because of basis to a certain extent
Satellite signal receiver navigation flight, caused by aircraft lose.
Description of the drawings
It, below will be to embodiment in order to illustrate more clearly of the application embodiment or technical solution in the prior art
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments described in the application, for those of ordinary skill in the art, in not making the creative labor property
Under the premise of, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of schematic diagram for aircraft that the application embodiment provides；
Fig. 2 is a kind of schematic diagram for aircraft that the application embodiment provides；
Fig. 3 is a kind of internal control schematic diagram for aircraft that the application embodiment provides；
Fig. 4 is a kind of schematic diagram for aircraft that the application embodiment provides；
Fig. 5 is a kind of schematic diagram for aircraft that the application embodiment provides.
Specific implementation mode
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in mode is applied, the technical solution in the application embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of embodiment of the application, rather than whole embodiments.Based on the embodiment party in the application
Formula, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, is all answered
When the range for belonging to the application protection.
It please refers to Fig.1.The application embodiment provides a kind of aircraft.The aircraft may include：Satellite signal receiving
Device, height sensor and controller.
In the present embodiment, refer to can be in endoatmosphere or the equipment of extra-atmospheric flight for above-mentioned aircraft.Tool
Body, above-mentioned aircraft may include flight equipment that can be manned.For example, using the helicopter of propeller flight, passing through jet
The jet plane etc. of flight.It can also include non-manned flight equipment.For example, unmanned plane, unmanned airship etc..Wherein, above-mentioned
Unmanned plane can be divided into according to flying platform configuration：Fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, umbrella wing unmanned plane, flapping wing unmanned plane
Deng.It can also be divided into according to purposes：Civilian unmanned plane and military unmanned air vehicle.Wherein, civilian unmanned plane can be specifically model plane,
It can also be the unmanned plane for launching express delivery, can also be the unmanned plane etc. for taking photo by plane.
The satellite signal receiver generates the location data of the aircraft, the positioning for receiving satellite-signal
Data include the first altitude information.
In the present embodiment, satellite signal receiver is for receiving the satellite-signal that satellite system is sent out.It defends accordingly
Star navigation system includes being not limited to：The GPS system (Global Positioning System) in the U.S., the Glonass of Russia
System (Global Navigation Satellite System), European Galileo systems (Galileo Satellite
Navigation System), China Beidou satellite navigation system.Certainly, different satellite systems, satellite-signal are adapted to
The physical circuit of receiver is arranged or signal processing algorithm can be different, is not described in detail herein.
In the present embodiment, satellite signal receiver can export a three-dimensional coordinate, which can conduct
The location data.The three-dimensional coordinate may include longitude, dimension and height.On earth, three coordinates are indicated, it can be with
A certain position in located space.First altitude information can be the height in the three-dimensional coordinate.Specifically, the height
Degree can be height of the position of aircraft relative to lower section earth's surface, or the height above sea level of the position of aircraft.
The height sensor is used to generate the second altitude information of the aircraft.
In the present embodiment, height sensor can be second based on aircraft described in environment generation where aircraft high
Degrees of data.Wherein, environment where above-mentioned aircraft can specifically include：The air pressure of aircraft present position, present position it is pre-
If environmental factors such as the acceleration of gravity of other reference objects, present position in range.
In the present embodiment, height sensor can be according to the environment where aircraft, the height of calculating aircraft.Tool
Body, for example, height sensor may include barometertic altimeter, ultrasonic wave sensor, inertial navigation system etc..Specifically, gas
Press altimeter can according to air pressure and altitude correspondence, obtain the height of aircraft.Ultrasonic wave sensor can utilize
Ultrasonic wave encounters the principle of object reflection, measures the height for obtaining aircraft.Inertial navigation system can be by inside to flight
The calculating etc. of the speed, acceleration, flight attitude of device, exports the position coordinates of aircraft, can be by the height in the position coordinates
Degree is used as second altitude information.Specifically, for example, strapdown inertial navigation system.In the present embodiment, the second high number of degrees
According to can be height of the position of aircraft relative to lower section earth's surface, or the height above sea level of the position of aircraft can also be
Relative altitude of the aircraft current location compared to takeoff setting.
The controller controls the aircraft according to the location data and runs, and in first altitude information and institute
It states in the case that the second altitude information meets specified relationship, no longer controls the aircraft according to the location data.
In the present embodiment, controller itself can be a large scale integrated circuit with logical operation function.
Controller can receive the data of aforementioned satellite signal receiver and height sensor output, and according to the output number of both
According to controlling the flight course of aircraft.Specifically, controller can control the flight attitude of aircraft, speed, height etc..
In the present embodiment, the controller can control the aircraft according to the location data and run.It can be with
It is interpreted as, the location data that controller can export satellite signal receiver, the expression aircraft with the output of other sensors
The data information of state of flight is merged the preferable control information for obtaining aircraft.Controller can be according to the preferable control
Information controls aircraft flight.Specifically, for example, the location data, used that controller can also export satellite signal receiver
Property the location data of navigation system output, height sensor output altitude information etc., after being filtered, obtain one compared with
Good control information, controller control aircraft flight according to the control information.Controller can also be by satellite signal receiver
Location data, the data of magnetometer output, the data etc. of gyroscope output obtain control information after being filtered.Its
In, it is filtered including but not limited to：Kalman filtering, particle filter, complementary filter etc..
In the present embodiment, specified relationship may include several constraintss, for judging that satellite signal receiver is
It is no to break down.Specified relationship may include：Height threshold, the difference between the first altitude information and the second altitude information are provided
When more than or less than the height threshold, it is believed that the first altitude information and the second altitude information meet the specified relationship.Specifically, example
Such as, height threshold 30, the first altitude information be 1230 meters, the second altitude information be 1100 meters, at this time the first altitude information with
The difference of second altitude information is 130, which is more than height threshold 30, it is believed that the first altitude information and the second high number of degrees
According to meeting specified relationship.For another example height threshold is -30, the first altitude information is 420 meters, and the second altitude information is 500 meters,
The difference of the first altitude information and the second altitude information is -80 at this time, which is less than height threshold -30, it is believed that first is high
Degrees of data and the second altitude information meet specified relationship.Specified relationship can also include：Satellite signal receiver output occurs
There is large jump compared to the second altitude information that the height sensor exports in first altitude information.For example, previous
One altitude information is 2 meters bigger than the second altitude information, and next first altitude information is 50 meters smaller than the second altitude information, can also recognize
Meet specified relationship for the first altitude information and the second altitude information.
In the present embodiment, in the case that the first altitude information and the second altitude information meet specified relationship, flight
Device can judge to think that failure has occurred in satellite signal receiver with itself.If controller continues to the location data of device output
Control flight is carried out, aircraft will be difficult to reach actual target location.
In the present embodiment, controller meets specified relationship in first altitude information and second altitude information
In the case of, no longer the aircraft is controlled according to the location data.Controller finds the first altitude information and the second height
After data fit specified relationship, it is believed that failure has occurred in satellite signal receiver, can no longer receiver output positioning number
According to control aircraft flight.In this way, aircraft flight can be controlled to avoid controller according to the location data of mistake, and cause
Aircraft is lost.Further, controller can control aircraft landing when thinking that satellite signal receiver breaks down,
Or the location data that controller can be exported according to other setting elements controls aircraft flight.Specifically, for example, flight
Device inertial navigation system is according to inertial navigation system, height sensor, light stream sensor etc., by Kalman filtering, obtain compared with
Good control information, controller control aircraft flight according to the control information.
The application embodiment, it is real by judging whether the first altitude information and the second altitude information meet specified relationship
Now judge whether satellite signal receiver has occurred failure.Make the application embodiment, aircraft itself may be implemented to defending
The fault detect of star signal receiver.In this way, can find that satellite signal receiver breaks down, and then can take corresponding
Counter-measure.Can to a certain extent, the satellite signal receiver navigation flight for avoiding aircraft from breaking down by basis,
Caused by aircraft lose.
Please refer to Fig. 2 and Fig. 3.In a specific Sample Scenario, satellite signal receiver, victory are installed in aircraft
Inertial navigation system, barometertic altimeter, light stream sensor, ultrasonic wave sensor, depth sense device and controller.
In this Sample Scenario, aircraft can be applied to launch field of express delivery.Cargo is being placed for aircraft, with
And after target location is completed in setting, controller is according to the control program of aircraft itself, with controlling the aircraft target
Point.In flight course, controller can constantly receive the location data of satellite signal receiver offer, to determine at present
State of flight, and further flight attitude, flying height and the flying speed of control aircraft.
In this Sample Scenario, for aircraft in flight course, strapdown inertial navigation system and barometertic altimeter can also
Measure the present level of output aircraft.The high number of degrees that can be respectively exported according to strapdown inertial navigation system, barometertic altimeter
According to progress optimal estimation exports an optimal value to controller.The optimal value can be used for accurately indicating aircraft
Present level.Specifically, for example, Kalman filtering algorithm may be used, for strapdown inertial navigation system and barometertic altimeter
Output carry out optimal estimation.
In this Sample Scenario, controller can by location data that satellite signal receiver provides altitude information with
The optimal value is compared.When altitude information and optimal value meet specified relationship, it is believed that satellite signal receiver occurs different
Often.Specifically, for example, altitude information and the optimal value in location data are done difference by controller, then by the difference with
One pre-set height threshold compares.Difference is more than the height threshold, it is believed that altitude information meets specified pass with optimal value
System, that is, think that satellite signal receiver is abnormal.
In this Sample Scenario, after controller thinks that satellite signal receiver is abnormal, control starts ultrasonic wave sense
Device is surveyed, and the location data of no longer receiver output controls aircraft flight.Controller can be according to strap-down inertial system
System, the output of at least one of barometertic altimeter altitude information, merged with the sensing data of the outputs such as magnetometer, gyroscope
Control information is obtained, control aircraft reduces flying height.Inertial navigation system is preferred, and controller control aircraft tends to be equal
Even reduction height.
In this Sample Scenario, when ultrasonic wave sensor senses feedback signal, ultrasonic wave sensing is usually entered
The working range of device also indicates that the working range for having come into light stream sensor.Controller can control startup light stream at this time
Sensor, and aircraft is controlled according to the horizontal velocity of light stream sensor output.Specifically, for example, controller can control it is winged
The horizontal velocity of row device tends to 0, so realizes the position of aircraft hovering in space, avoids aircraft continuation level side
To drift, and hit.Furthermore into after the working range of ultrasonic wave sensor, controller can be defeated with ultrasonic wave sensor
The altitude information gone out, the reference foundation as control aircraft altitude.I.e. by ultrasonic wave sensor, light stream sensor, magnetic
The data of the outputs such as strong meter, barometertic altimeter, inertial navigation system, gyroscope, carry out Kalman filtering, obtain relatively optimal
Control information.
In this Sample Scenario, the hovering of controller control aircraft after a position, passes through depth sense in space
Device, earth's surface finds target drop zone below aircraft.Controller can also intermittent control aircraft horizontal direction fly
Then row a distance or a period of time control aircraft hovering, target drop zone is found in hovering.Controller can also
Control aircraft maintains a height, and the relatively uniform low-speed operations of horizontal direction pass through depth sense in flight course
Device finds target drop zone.After finding target drop zone, controller controls aircraft landing.
In one embodiment, the height sensor can be generated according to the air pressure of environment where the aircraft
Second altitude information.In the present embodiment, height sensor can be a barometertic altimeter.Earth overhead
Height is different, and certain variation can occur for air pressure.Height sensor can be obtained according to the air pressure of position, further operation
The height of position.
In one embodiment, the specified relationship can include at least following one：First altitude information with
Difference between second altitude information is more than the first height threshold；Alternatively, first altitude information and described second high
Difference between degrees of data is less than the second height threshold；Alternatively, between first altitude information and second altitude information
The absolute value of difference is more than third height threshold value.
In the present embodiment, height threshold is provided as the benchmark compared.Height threshold can first pass through experiment etc. in advance
The first height threshold, the second height threshold or the third height threshold value that mode is obtained, and is set as in the specified relationship.It is above-mentioned
Height threshold is used to judge that the location data of satellite signal receiver output to whether there is larger deviation, is defended with further judgement
Star signal receiver whether there is failure.
In the present embodiment, the first height threshold can be positive value, and the second height threshold can be negative value.In this way, the
It, can be by the difference compared with first height threshold when difference of one altitude information and the second altitude information is nonnegative value.
It, can be by the difference compared with second height threshold when difference of first altitude information and the second altitude information is negative value.
Of course, it is possible to a height threshold, i.e. third height threshold value only be provided, by the absolute value of difference and the third height threshold value ratio
Compared with.Certainly, one in the first height threshold, the second height threshold and third height threshold value can only be arranged in aircraft,
Judged accordingly.
In one embodiment, the specified relationship may include：Data based on second altitude information are provided
Domain, the first altitude information random jump in the data field of the satellite signal receiver output.
In the present embodiment, data field can be the range of a numerical value.Specifically, such as data field can be -30
~30.Can be that the data field meets agreed terms with the second altitude information based on the data field of the second altitude information.Specifically
, for example, the second altitude information is the central value of data field；Alternatively, the second altitude information is the initial value of data field；Alternatively,
Second altitude information is the end value of data field.
In the present embodiment, the first altitude information random jump in data field.It is to be understood that satellite-signal connects
The first altitude information for receiving device output loses continuity.Specifically, for example, satellite signal receiver continuously export it is first high
Degrees of data is respectively 620 meters, 670 meters, 531 meters, 683 meters, 602 meters etc..Second altitude information can be 600 meters, and data field can
Think 500~700 meters, the first altitude information of above-mentioned satellite signal receiver output loses continuity, and in the data field
Middle bounce, it is believed that the first altitude information and the second altitude information meet the specified relationship.At this point it is possible to think satellite-signal
Failure has occurred in receiver.
Certainly, in conjunction with aforementioned embodiments, the maximum value of data field can be the first height threshold, the minimum value of data field
It can be the second height threshold.
In one embodiment, the aircraft can also include ultrasonic wave sensor and light stream sensor.
The ultrasonic wave sensor is used to export the sensing signal for indicating distance between the aircraft and earth's surface.
In the present embodiment, ultrasonic wave sensor can send out ultrasonic wave to a direction, when ultrasonic wave encounters object
When ultrasonic reflections can occur.Ultrasonic wave sensor can be calculated according to the reflection sound wave that receives the aircraft with it is described
The distance between object.In present embodiment, the side that earth's surface is faced in aircraft can be arranged in ultrasonic wave sensor.So that super
The sensing signal of sound wave sensor output, can be used to indicate that the distance between aircraft and earth's surface.Certainly, ultrasonic wave sensor
It is not limited to be arranged the side that earth's surface is faced in aircraft, as long as it sends the functional unit direction of ultrasonic wave and reception ultrasonic wave
The lower section of aircraft.
In the present embodiment, sensing signal can be an electric signal.Sensing signal can be an analog signal, lead to
Signal strength expression distance is crossed, sensing signal may be a digital signal, and directly output indicates the number of distance.
The light stream sensor is used to export the horizontal velocity of the aircraft according to the image sensed.
In the present embodiment, light stream sensor can export aircraft according to the image on the aircraft periphery sensed
Horizontal velocity.The horizontal velocity can be in three dimensions, compared to the movement speed of horizontal plane.Light stream sensor can be felt
Altimetric image, and then according to the movement relation between consecutive image, export a speed.The speed can be as the level of aircraft
Speed.
The controller controls the aircraft in the case where no longer controlling the aircraft according to the location data
Height is reduced, in the case where the sensing signal of ultrasonic wave sensor output reaches four height thresholds, according to the light
The horizontal velocity for flowing sensor output, controls the aircraft.
In the present embodiment, when controller no longer controls aircraft according to the location data, can recognize device in order to control
Determine satellite signal receiver and failure has occurred.Specifically, for example, satellite signal receiver does not export location data, or control
The location data judgement of device receiver output processed thinks that failure has occurred in satellite signal receiver.In general, in the satellite of aircraft
When signal receiver breaks down, aircraft is likely to be at the state of a horizontal stall.The aircraft of this state may phase
To be easy to strike the object on periphery either electricity close to force-landing when exhausting or electricity exhausts rear air crash.
In the present embodiment, the mode of controller control aircraft reduction height may include：Controller is according to flight
The altitude information of the height sensor output of device, controls aircraft steady decrease height；Alternatively, controller directly controls aircraft
Propeller relative reduction rotating speed realize reduce height.
In the present embodiment, the 4th height threshold is for constraining whether sensing signal reaches specified state.Specifically,
For example, sensing signal is an analog signal, intensity is for indicating distance, and the 4th height threshold can be a signal at this time
Intensity；Alternatively, sensing signal is a digital signal, the 4th height threshold can be a numerical value.
In the present embodiment, in the case that sensing signal reaches the 4th height threshold, it can indicate that controller can be with
According to the horizontal velocity that light stream sensor exports, aircraft flight is controlled.Light stream sensor needs in certain altitude range
When, it can just export effective horizontal velocity.In this way, judging whether aircraft reaches light by the way that the 4th height threshold is arranged
In the working height range for flowing sensor, avoid the wrong level that controller is exported according to light stream sensor fast to a certain extent
Degree controls aircraft flight.
In the present embodiment, ultrasonic wave sensor itself can also have certain sensing distance range.In the range
Interior ultrasonic wave sensor can export height of the aircraft relative to earth's surface.The sensing distance of ultrasonic wave sensor is sensed with light stream
The working height range of device is closer to so that by the output of ultrasonic wave sensor be used as start light stream sensor judgement according to
According to, have it is higher use compatible degree.
In the present embodiment, controller controls aircraft flight according to the horizontal velocity that light stream sensor exports, so
It can be using the horizontal velocity that light stream sensor exports as the Velocity Reference of control aircraft.On the basis of this Velocity Reference,
Controller can control the revolution speed of propeller of aircraft accordingly, to adjust the flying speed of flight attitude or horizontal direction.
Specifically, for example, in order to avoid aircraft has speed in the horizontal direction, cause to strike object, controller can control winged
Row device horizontal velocity tends to 0, to realize a skyborne position of hovering.Certainly, controller can also be according to light stream sensor
The horizontal velocity control aircraft of output is maintained at a speed, tends to fly at a constant speed.
In one embodiment, the horizontal velocity that the controller is exported according to the light stream sensor, described in control
The horizontal velocity of aircraft tends to command speed.
In the present embodiment, which can be 0, or a positive value other than 0.Preferably, refer to
Constant speed degree can be 0.The horizontal velocity of controller control aircraft tends to 0, it can be understood as, the horizontal velocity of aircraft is close
In 0.Due to the influence by aerial air-flow and control accuracy etc., the horizontal velocity of aircraft is likely difficult to be equal to 0,
But controller equal to 0 can be target with horizontal velocity.
In one embodiment, the feelings of the 4th height threshold are reached in the sensing signal of ultrasonic wave sensor output
Under condition, the light stream sensor just starts to start work.In the present embodiment, sensing signal reaches the 4th height threshold, can
Using the entry condition as light stream sensor.In the not up to entry condition, light stream sensor can not start work, so
The electric energy of aircraft can be saved.
In one embodiment, the aircraft can also include depth sense device；The depth sense device is for defeated
Go out the depth information figure below the aircraft；The second height that the controller can also be exported according to the height sensor
Data control the aircraft and maintain a height, and the flight is controlled according to the horizontal velocity of light stream sensor output
Device maintains a horizontal velocity, and the target drop zone of the aircraft is determined according to the depth information figure；Described in control
Aircraft drops to the target drop zone.
In the present embodiment, depth sense device is used to export the depth information figure below aircraft, and controller can root
According to the depth information map analysis with the presence or absence of the region for being suitble to landing.Pass through the data in analysis depth hum pattern, it can be deduced that
Basic landform below aircraft.It, can be with specifically, for example, have in depth information figure close to the continuum of same depth
It is considered as that there are a planes.
In the present embodiment, the second altitude information that the controller can be exported according to the height sensor controls
The aircraft maintains a height, and the horizontal velocity that can be exported according to the light stream sensor controls the aircraft and ties up
It holds in a horizontal velocity.Maintain a height so that the depth information figure of depth sense device output can have and more unite
One benchmark.It so can be in order to which compared with the actual landform below accurate reflection aircraft, reduction be because of aircraft oneself height
Data in depth information figure caused by variation are inaccurate.Aircraft maintains a horizontal velocity so that aircraft can be with needle
Output depth information figure can be sensed continuously to landform, be so convenient for quickly and accurately finding out target drop zone.
In the present embodiment, the target drop zone that aircraft is determined in depth information figure, can be in depth information
It analyses whether that there are sufficiently large regions in figure suitable for aircraft to land.When aircraft drops to ground, can exist and be connect with ground
A figure has been integrally formed in tactile contact area, whole contact areas, and the area in target drop zone place is more than the figure
The area of shape, alternatively, target drop zone can include the figure.So so that aircraft can drop to target drop
It settles in an area domain.
Please refer to Fig. 4.The application embodiment also provides a kind of aircraft.The aircraft may include：Satellite-signal
Receiver, ultrasonic wave sensor, light stream sensor and controller.The satellite signal receiver is for receiving satellite-signal；Institute
Ultrasonic wave sensor is stated for exporting the sensing signal for indicating distance between the aircraft and earth's surface；The light stream sensor is used
In the horizontal velocity for exporting the aircraft according to the image sensed；The controller is used to control flying for the aircraft
Row；In the case of the satellite signal receiver exception, controlling the aircraft reduces height, in the ultrasonic wave sensor
In the case that the sensing signal of output reaches threshold value, according to the horizontal velocity that the light stream sensor exports, the flight is controlled
Device.
In the present embodiment, the controller is used to control the flight of the aircraft, Ke Yishi：Controller according to by
The location data that satellite signal receiver is generated based on the satellite-signal received controls aircraft flight.Can also be：Control
Device obtains other types data by other devices, and aircraft flight is controlled according to acquired other types data.For example,
Controller can obtain environmental data by Strapdown Inertial Navigation System, and aircraft flight is controlled according to environmental data.Wherein, preferably
Embodiment is：Controller controls aircraft flight according to the location data that satellite receiver generates.Certainly, when it is implemented,
Controller can also control the flight of aircraft by the other modes in addition to above-mentioned cited mode as the case may be.
In this regard, the application is not construed as limiting.
The aircraft that present embodiment provides judges whether the work model into light stream sensor by ultrasonic wave sensor
It encloses, after entering light stream sensor working range, the aircraft is controlled according to the horizontal velocity of light stream sensor output.Fly
Row device usually combines the output of other sensors to control the flight side of itself according to the location data of satellite signal receiver output
To and speed.In the case where satellite signal receiver breaks down, controller, which may lose, controls aircraft itself
Data base.I.e. controller does not know the current horizontal velocity of aircraft so that aircraft is horizontally oriented the state of drift.
Under this state, aircraft cannot good self poisoning, in Drift Process, it is more likely that object can be struck, than
Such as building.So to be in the drifting state lower time more long for aircraft, it may occur however that the risk of shock is bigger.Present embodiment
In, the horizontal velocity that controller is exported according to light stream sensor further controls aircraft flight, and realization largely avoids
Aircraft is in the state of stall drift, and reduces the risk of aircraft impacting object.Controller obtains the water of aircraft
After flat speed, the horizontal velocity that can control aircraft tends to 0, can also so be controlled winged to avoid object is struck
Row device is moved in the same direction as with certain speed, to find the place of landing.
In the present embodiment, in the case of the satellite signal receiver exception, controlling the aircraft reduces height
Degree, what is referred to can be under conditions of meeting satellite signal receiver exception, and control aircraft reduces height.When it is implemented,
Can be when finding satellite signal receiver exception, controlling aircraft immediately reduces height.Can also be to find satellite-signal
In preset time range after receiver exception, control aircraft reduces height.It can also be and finding satellite signal receiver
It when abnormal, is spaced after a specified time, control aircraft reduces height.Wherein, above-mentioned preset time range can basis
Concrete condition determines.For example, can be according to the number between the data processing performance of the function element in aircraft, each function element
It is determined according to transmission speed etc..Specifically, for example, it may be in 1 minute after satellite signal receiver exception, aircraft is controlled
Reduce height.
In one embodiment, the satellite signal receiver includes extremely：Satellite-signal is not received；Alternatively, not having
There is output location data；Alternatively, the location data mistake of output.
In the present embodiment, satellite-signal is not received, can be satellite failure, not send out coherent signal；
Alternatively, the signal that satellite is sent out receives interference, the satellite signal receiver of aircraft is caused to be not received by.
In the present embodiment, there is no data location data, can be satellite signal receiver receive satellite-signal it
Afterwards, it carries out failing in the decoding process of satellite-signal, causes not export location data；Alternatively, satellite signal receiver itself
It has been damaged that, cisco unity malfunction.
In the present embodiment, the location data mistake of output, can break down, reception is defended for satellite signal receiver
Star signal is off and on；Alternatively, the satellite-signal that satellite signal receiver receives receives interference, such as weather reason etc., lead
The location data of output is caused mistake occur.
In one embodiment, the aircraft further includes height sensor；The height sensor is used to be based on institute
The altitude information of aircraft described in environment generation where stating aircraft；The controller, which controls the aircraft, reduces the mistake of height
Cheng Zhong at the uniform velocity reduces the height of the aircraft according to the altitude information that the height sensor exports.
In the present embodiment, height sensor can be installed on board the aircraft, for measuring the height of aircraft.
Specifically, for example, height sensor can be barometertic altimeter, inertial navigation system etc..Allow height sensor according to
The height of environment measurement aircraft where aircraft is realized in the case where satellite signal receiver is abnormal, controller
The altitude information that can be exported according to height sensor, controls aircraft flight.It is appreciated that the ultrasonic wave sense of the aircraft
It surveys device and can also be used as the height sensor use.
In the present embodiment, controller receives the altitude information of height sensor output, can know current fly
The height of row device.It, can be in conjunction with the pace of change of altitude information, control during controller control aircraft reduces height
Device aircraft tends to decline at the uniform velocity so that the state of flight of aircraft is relatively stable.
In one embodiment, the case where the sensing signal of ultrasonic wave sensor output reaches the threshold value
Under, the controller controls the aircraft and maintains present level.In the present embodiment, controller can control aircraft drop
Low clearance, until the sensing signal of ultrasonic wave sensor reaches threshold value.At this point, controller can be known according to light stream sensor
Aircraft present level speed, and then flight attitude and the revolution speed of propeller etc. that can control aircraft, control aircraft
Horizontal velocity.During this, aircraft maintains a height, when can not carry out landing preparation to avoid aircraft,
Through hard landing, such case is avoided to bring the risk for causing aircraft to damage.
In one embodiment, the sensing signal of ultrasonic wave sensor output reach threshold value include at least it is following it
One：The intensity of the sensing signal of the ultrasonic wave sensor output reaches threshold value；Alternatively, the distance that the sensing signal indicates arrives
Up to threshold value.
In the present embodiment, it is a voltage or current signal that ultrasonic wave sensor, which can export, signal it is strong
The weak distance that can indicate distance.The threshold value can be arranged to the intensity value of a voltage or electric current accordingly.
In the present embodiment, ultrasonic wave sensor can directly export distance value.For example, ultrasonic wave sensor is according to sense
The voltage or current signal strength measured after conversion becomes distance, will indicate that the numerical value of distance exports.Correspondingly, threshold value can
Think the numerical value of mark distance.
Please refer to Fig. 5.The application embodiment also provides a kind of aircraft, including：Height sensor, light stream sensor,
Depth sense device and controller；The height sensor is for exporting altitude information of the aircraft relative to earth's surface；It is described
Light stream sensor is used to export the horizontal velocity of the aircraft according to the image sensed；The depth sense device is for exporting
Depth information figure below the aircraft；The altitude information and institute that the controller is used to be exported according to the height sensor
The horizontal velocity for stating the output of light stream sensor controls the aircraft flight；The depth information exported according to the depth sense device
Figure determines the target drop zone of the aircraft；It controls the aircraft and drops to the target drop zone.
In the present embodiment, the water for the altitude information and the output of light stream sensor that controller is exported according to height sensor
Flat speed control aircraft flight.May include：Controller control aircraft tends to remain at a height, i.e., so that height is felt
The altitude information for surveying device output maintains a numerical value, and the horizontal velocity of controller control aircraft tends to 0, i.e. light stream sensor
The horizontal velocity of output tends to 0.At this point, aircraft may be at maintaining the state of a position in space, so convenient for deep
Degree sensor accurately senses the depth information figure below aircraft, convenient for the accurate target dropping zone for searching suitable aircraft landing
Domain.Can also include：The altitude information that controller is exported according to height sensor, control aircraft tend to remain at a height
Degree, and the horizontal velocity exported according to light stream sensor control aircraft horizontal flight a distance or after a period of time, tend to
Hovering a period of time, for depth sense device generate aircraft below depth information figure, and analyse whether exist be suitble to
Target drop zone.Can further include：The altitude information that controller is exported according to height sensor, control aircraft area maintain
In a height, according to the horizontal velocity that light stream sensor exports, control aircraft tends to be even with a lower horizontal velocity
Speed flight at this point, depth sense device can constantly generate depth information figure, and further analyses whether the mesh for having suitable
Mark drop zone.
In the present embodiment, height sensor can be barometertic altimeter, ultrasonic wave sensor, inertial navigation system.
Certainly, height sensor be not limited to it is above-mentioned enumerate, can also be that other components that can export aircraft altitude or be
System.
In the present embodiment, controller can be by the level speed of the altitude information of height sensor and light stream sensor
Degree is merged to obtain preferably control information by being filtered.Controller controls aircraft flight according to the control information.
Wherein, being filtered algorithm includes but not limited to：Kalman filtering, particle filter, complementary filter etc..
In the present embodiment, target drop zone can be that there are one piece of sufficiently large flattened region, Ke Yiyong on ground
Land in aircraft.Height of the target drop zone in depth information figure tends to be identical.In this way, controller can be believed in depth
It ceases in figure, analyses whether that there are depth to tend to be identical, and the region of the enough aircraft landing of the area formed.Controller can incite somebody to action
The region for meeting above-mentioned requirements found is determined as target drop zone.A regional depth in depth information figure tends to phase
Together, can indicating the part earth's surface, there are a more smooth ground.
In one embodiment, the area of the target drop zone forms figure not less than the aircraft bottom surface
Area.In the present embodiment, the area of target drop zone is greater than or equal to the area that aircraft bottom surface forms figure.Such as
This, target drop zone may be implemented can be sufficiently large, is suitble to landing aircraft.Fly if the area of target drop zone is less than
The area for the figure that row device bottom surface is formed, at this time the earth's surface except target drop zone so exist there may be raised or sunken
It, may be by raised or sunken influence when aircraft lands, it is difficult to smoothly landing.Specifically, for example, being connect in descent
Before striking mark drop zone, is hit with protrusion, aircraft may be caused to turn on one's side；Alternatively, when dropping to ground, fly
Row device is partially in recess, and aircraft is caused to tilt or turn on one's side.
In one embodiment, the figure that the target drop zone is formed can include the aircraft towards ground
The figure that the side in face is formed.
In the present embodiment, the physical profiles of aircraft have the side towards ground.For example, aircraft drops to
When ground, side where the part contacted with ground.The side of aircraft towards ground itself, which can form one, has certain face
Long-pending figure.Can be by the shapes and sizes of this figure, the minimum value as target drop zone.That is target drop zone
The figure that the aircraft can be formed is included in inside.At this point, target drop zone can preferably be suitble to aircraft to drop
It falls.Specifically, for example, the figure can be aircraft when dropping to ground, the aircraft is done into positive throwing on the ground
Shadow is formed by figure.
Each embodiment in this specification is described in a progressive manner, identical similar between each embodiment
Just to refer each other for part, what each embodiment stressed is the difference with other embodiment.Furthermore this
Numerous embodiments are disclosed in specification, one of ordinary skill in the art can know according to the general knowledge in the field, on
It can be combined between the embodiment stated.These combinations are also in the range of the embodiment of this specification discloses.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that there are many deformations by the application
With variation without departing from spirit herein, it is desirable to which the attached claims include these deformations and change without departing from the application
Spirit.
Claims (24)
1. a kind of aircraft, which is characterized in that including：Satellite signal receiver, height sensor, controller；
The satellite signal receiver generates the location data of the aircraft, the location data for receiving satellite-signal
Including the first altitude information；
The height sensor is used to generate the second altitude information of the aircraft；
The controller controls the aircraft according to the location data and runs, and high in first altitude information and second
In the case that degrees of data meets specified relationship, no longer the aircraft is controlled according to the location data.
2. aircraft according to claim 1, which is characterized in that the height sensor is used to be based on the aircraft institute
Second altitude information of the aircraft described in environment generation.
3. aircraft according to claim 2, which is characterized in that the height sensor is according to ring where the aircraft
The magnetic field in border generates second altitude information；Or the height sensor is according to the air pressure of environment where the aircraft,
Generate second altitude information.
4. aircraft according to claim 1, which is characterized in that the specified relationship includes at least following one：It is described
Difference between first altitude information and second altitude information is more than the first height threshold；Alternatively, the first high number of degrees
It is less than the second height threshold according to the difference between second altitude information；Alternatively, first altitude information and described the
The absolute value of difference is more than first height threshold between two altitude informations.
5. aircraft according to claim 1, which is characterized in that the specified relationship includes that offer is high based on described second
First altitude information of the data field of degrees of data, the satellite signal receiver output is irregularly jumped in the data field
It is dynamic.
6. aircraft according to claim 1, which is characterized in that the aircraft further includes ultrasonic wave sensor and light stream
Sensor；
The ultrasonic wave sensor is used to export the sensing signal for indicating distance between the aircraft and earth's surface；
The light stream sensor is used to export the horizontal velocity of the aircraft according to the image sensed；
In the case where no longer controlling the aircraft according to the location data, control the aircraft reduces the controller
Highly, in the case where the sensing signal of ultrasonic wave sensor output reaches third height threshold value, according to the light stream sense
The horizontal velocity for surveying device output, controls the aircraft.
7. aircraft according to claim 6, which is characterized in that the controller is exported according to the light stream sensor
Horizontal velocity, the horizontal velocity for controlling the aircraft tend to command speed.
8. aircraft according to claim 6, which is characterized in that arrived in the sensing signal of ultrasonic wave sensor output
In the case of third height threshold value, the light stream sensor just starts to start work.
9. aircraft according to claim 6, which is characterized in that the aircraft further includes depth sense device；
The depth sense device is used to export the depth information figure below the aircraft；
The second altitude information that the controller is exported according to the height sensor controls the aircraft and maintains a height
Degree controls the aircraft according to the horizontal velocity of light stream sensor output and maintains a horizontal velocity, according to described
Depth information figure determines the target drop zone of the aircraft；It controls the aircraft and drops to the target drop zone.
10. a kind of aircraft, which is characterized in that including：Satellite signal receiver, ultrasonic wave sensor, light stream sensor and control
Device processed；
The satellite signal receiver is for receiving satellite-signal；
The ultrasonic wave sensor is used to export the sensing signal for indicating distance between the aircraft and earth's surface；
The light stream sensor is used to export the horizontal velocity of the aircraft according to the image sensed；
The controller is for controlling the aircraft flight；In the case of the satellite signal receiver exception, institute is controlled
Stating aircraft reduces height, in the case where the sensing signal of ultrasonic wave sensor output reaches threshold value, according to the light
The horizontal velocity for flowing sensor output, controls the aircraft.
11. aircraft according to claim 10, which is characterized in that the satellite signal receiver includes extremely：It receives
Less than satellite-signal；Alternatively, not exporting location data；Alternatively, the location data mistake of output.
12. aircraft according to claim 10, which is characterized in that the aircraft further includes height sensor；
The height sensor is used for the altitude information based on aircraft described in environment generation where the aircraft；
During the controller controls the aircraft reduction height, according to the high number of degrees of height sensor output
According at the uniform velocity reducing the height of the aircraft.
13. aircraft according to claim 12, which is characterized in that the height sensor is according to where the aircraft
The magnetic field of environment generates the altitude information；Alternatively, gas of the height sensor according to the place environment of the aircraft
Pressure, generates the altitude information.
14. aircraft according to claim 10, which is characterized in that in the sensing signal of ultrasonic wave sensor output
In the case of reaching the threshold value, the controller controls the aircraft and maintains present level.
15. aircraft according to claim 10, which is characterized in that the sensing signal of the ultrasonic wave sensor output arrives
Following one is included at least up to threshold value：The intensity of the sensing signal of the ultrasonic wave sensor output reaches threshold value；Alternatively, described
The distance that sensing signal indicates reaches threshold value.
16. aircraft according to claim 10, which is characterized in that the controller is exported according to the light stream sensor
Horizontal velocity, the horizontal velocity for controlling the aircraft tends to command speed.
17. aircraft according to claim 10, which is characterized in that in the sensing signal of ultrasonic wave sensor output
In the case of reaching the threshold value, the light stream sensor just starts to start work.
18. a kind of aircraft, which is characterized in that including：Height sensor, light stream sensor, depth sense device and controller；
The height sensor is for exporting altitude information of the aircraft relative to earth's surface；
The light stream sensor is used to export the horizontal velocity of the aircraft according to the image sensed；
The depth sense device is used to export the depth information figure below the aircraft；
The level for the altitude information and light stream sensor output that the controller is used to be exported according to the height sensor
Aircraft flight described in speed control；The depth information figure exported according to the depth sense device determines the target of the aircraft
Drop zone；It controls the aircraft and drops to the target drop zone.
19. aircraft according to claim 18, which is characterized in that determining target drop zone according to depth information figure
During, level is tended to according to the horizontal velocity control aircraft of light stream sensor output and is flied at a constant speed.
20. aircraft according to claim 18, which is characterized in that determining target drop zone according to depth information figure
During, the controller controls the aircraft horizontal flight for a period of time according to the light stream sensor or level flies
After row a distance, controls the aircraft and tend to hover.
21. the aircraft according to claim 19 or 20, which is characterized in that determining that target is landed according to depth information figure
During region, the altitude information that the controller is exported according to the height sensor controls the aircraft and tends to tie up
It holds in a height.
22. aircraft according to claim 18, which is characterized in that the target drop zone is in the depth information figure
In height tend to be identical.
23. aircraft according to claim 22, which is characterized in that the area of the target drop zone is not less than described
Aircraft forms the floor space of figure.
24. aircraft according to claim 23, which is characterized in that the figure that the target drop zone is formed can be included
The figure that side of the aircraft towards ground is formed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270984.9A CN108733068A (en) | 2017-04-24 | 2017-04-24 | Aircraft with a flight control device |
| PCT/CN2018/083146 WO2018196641A1 (en) | 2017-04-24 | 2018-04-16 | Aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270984.9A CN108733068A (en) | 2017-04-24 | 2017-04-24 | Aircraft with a flight control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108733068A true CN108733068A (en) | 2018-11-02 |
Family
ID=63918038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710270984.9A Pending CN108733068A (en) | 2017-04-24 | 2017-04-24 | Aircraft with a flight control device |
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|---|---|
| CN (1) | CN108733068A (en) |
| WO (1) | WO2018196641A1 (en) |
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| CN111381608A (en) * | 2020-03-31 | 2020-07-07 | 成都飞机工业（集团）有限责任公司 | Digital guiding method and system for ground directional antenna |
| WO2020233606A1 (en) * | 2019-05-21 | 2020-11-26 | 深圳市道通智能航空技术有限公司 | Ultrasonic abnormality detection method and device, and electronic apparatus |
| CN112119428A (en) * | 2019-09-23 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Method, device, unmanned aerial vehicle, system and storage medium for acquiring landing position |
| TWI747718B (en) * | 2020-12-14 | 2021-11-21 | 大陸商廣州昂寶電子有限公司 | Displacement compensation method and equipment and speed compensation method and equipment |
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