CN108762301A - The control method that unmanned plane flies in specified region - Google Patents
The control method that unmanned plane flies in specified region Download PDFInfo
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- CN108762301A CN108762301A CN201810556860.1A CN201810556860A CN108762301A CN 108762301 A CN108762301 A CN 108762301A CN 201810556860 A CN201810556860 A CN 201810556860A CN 108762301 A CN108762301 A CN 108762301A
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- unmanned plane
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- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of control method that unmanned plane flies in specified region, provides unmanned plane and control terminal, the unmanned plane installation position sensor and wireless communication module, this method comprises the following steps：Preparation, information are collected and are sent, correct course line instruction generation and send, correct course line.Compared with the relevant technologies, the easy to operate, real-time of control method that unmanned plane of the invention flies in specified region positions and steadily limits the unmanned plane during flying in specified region.
Description
Technical field
The present invention relates to the controls that a kind of air vehicle technique field more particularly to a kind of unmanned plane are flown in specified region
Method.
Background technology
Unmanned plane obtains carrier as a kind of novel information, has flexibility height, strong operability, at low cost and to operation
The advantages such as environmental requirement is low, play a greater and greater role in all trades and professions.In some special applications scenes, unmanned plane is flying
Range must arrange to fly in the designated area, for example perform the region on region, shooting area or key monitoring ground, nothing
It is man-machine to can not be completed task if the region that flies out, or even influence air security or law wind occur because invading no-fly zone
Danger.
The control method that the unmanned plane of the relevant technologies flies in specified region generally carries out the auxiliary essence of unmanned plane first
The auxiliary precise positioning of certainly position, unmanned plane is generally using base station calibration or ground laser calibration or ground based IR calibration
The methods of positioning, then flown in specified region by personnel or Programming unmanned plane on the location base.
However, the control method flown in specified region of the unmanned plane of the relevant technologies using auxiliary precise positioning be easy by
It is constrained to objective condition.For example base station is generally arranged at ground, and unmanned plane can just get the sight of base station around it
Measured data, but the limited coverage area of base station, be easy to cause obtain observation data it is not accurate；Ground laser calibration or ground are flushing
External calibration also often because the calibration point established on ground not science or it is with a varied topography be difficult to arrange and be laid with, and be laid with calibration
The Job readiness time of point is longer.In addition, the method for this auxiliary positioning must use complicated huge data operation that could obtain
It arrives, and since the calculating storage resource ability of user terminal is limited, the location information of unmanned plane can not be calculated in time.Pass through people
Member or Programming the unmanned plane flight in specified region carry out on the location base, because of unmanned plane during flying speed
Comparatively fast, when not timely updating location information, it is easy to fly out specified region and cause damages.Also if it is by personnel
Manipulate unmanned plane, situation of also often making a fault.
It solves the above problems therefore, it is necessary to provide the control method that a kind of new unmanned plane flies in specified region.
Invention content
The technical problem to be solved in the invention is to provide a kind of positioning easy to operate, real-time and steadily limits unmanned plane
The control method that the unmanned plane to fly in specified region flies in specified region.
In order to solve the above technical problems, the present invention provides the control method that a kind of unmanned plane flies in specified region,
Unmanned plane and control terminal, the unmanned plane installation position sensor and wireless communication module are provided, this method includes following step
Suddenly：
Preparation enters autonomous flight state after controlling unmanned plane gravity dispensing in the air；
Information is collected and is sent, and the position sensor detects the location information of the unmanned plane, and the position is believed
Breath is sent to the control terminal；
It corrects course line instruction to generate and send, the control terminal, which calculates, analyzes the location information and target area position
Deviation, and according to the deviation generate make the unmanned plane return to the target area position amendment course line instruct, by the institute
It states the instruction of amendment course line and is sent to the unmanned plane；
Course line is corrected, the unmanned plane receives the amendment course line instruction and according to its flight of amendment course line instruction adjustment
State is to realize that course line is corrected.
Preferably, in described information collection and forwarding step, including：
Location information is collected, and the position sensor generates the location information in real time, and is sent to simultaneously described wireless
Communication module；
Location information is sent, and the location information is sent to the control terminal by the wireless communication module in real time.
Preferably, in the amendment course line instructs generation and forwarding step, including：
Determination deviation：Determine the deviation distance for the location information and target area position that the unmanned plane is sent out in real time
And offset orientation；
Generate instruction：The control terminal by state of flight to the unmanned plane, the deviation distance and it is described partially
It is analysed from bearing meter point counting, generates the amendment course line instruction for making the unmanned plane return to the target area position；
Send instruction：The control terminal sends the amendment course line and instructs to the unmanned plane.
Preferably, the position sensor includes GPS module.
Preferably, in the step of the amendment course line, the state of flight for adjusting the unmanned plane includes adjusting the unmanned plane
Speed, course and pitch angle.
Compared with the relevant technologies, in the control method that unmanned plane of the invention flies in specified region, pass through the nothing
Man-machine real-time transmission location information is conducive to quickly position unmanned plane and obtains flying quality in time；The control terminal passes through
Location information described in analyzing processing, and generate and correct course line instruction, it generates correct course line instruction by this way, the control is eventually
Hold operand small, operation time is few, is conducive to timely and accurately control the unmanned plane during flying；In addition, the unmanned plane passes through
It corrects course line instruction and corrects course line, and become closer to the course line planned in advance, be conducive to the unmanned plane finally according to advance
The optimal course line of planning is flown, and the reliability of the unmanned plane during flying task is increased；The unmanned plane is in specified region
The easy to operate, real-time of the control method of flight positions and steadily limits the unmanned plane during flying in specified region.
Description of the drawings
Fig. 1 is that the control terminal for the control method that unmanned plane of the present invention flies in specified region is connect with UAV Communication
Relation schematic diagram；
Fig. 2 is the flow diagram for the control method that unmanned plane of the present invention flies in specified region.
Specific implementation mode
Below in conjunction with drawings and embodiments, the invention will be further described.
It please join shown in Fig. 1, the present invention provides the control methods that a kind of unmanned plane flies in specified region, including nobody
Machine 1 and control terminal 2.
The unmanned plane installation position sensor and wireless communication module.
The position sensor work generation position information.Real-time positioning for the unmanned plane 1.Specifically, described
Position sensor includes GPS module.But not limited to this, the position sensor can also include big dipper module or GLONASS
The module of the non-GPS format global position system such as module.
The wireless communication module is used to the location information being sent to the control terminal 2, and the control terminal 2 will
The instruction in the course line for correcting the unmanned plane 1 is sent to the communication module, and adjustment is winged after the unmanned plane 1 receives instruction
Row course line.
The control terminal 2 is used to receive the real time information of the unmanned plane 1, and by its operation and analyzes the information simultaneously
The instruction in the course line for correcting the unmanned plane 1 is generated, and the described instruction is sent to the unmanned plane 1.
Shown in ginseng Fig. 2, this method comprises the following steps：
Step S1, preparation
Enter autonomous flight state after controlling the gravity dispensing in the air of the unmanned plane 1.The unmanned plane 1 is thrown in the air
It puts, the unmanned plane 1 is in working flight state, and the control terminal 2 is in working condition and mutually logical in real time with the unmanned plane 1
News.Unmanned plane 1 described in the step launches the region in specified region or specified areas adjacent in the air；The unmanned plane 1
Enter the internal unit in state of flight and the unmanned plane 1 in the air all in open state；It is set inside the control terminal 2
It is standby to be in open state, and it is in communication connection status with the unmanned plane 1, that is to say, that the control terminal 2 can receive
The information of the unmanned plane 1, while the control terminal 2 can also send command signal to the unmanned plane 1.
Step S2, information is collected and is sent
The position sensor detects the location information of the unmanned plane 1, and the location information is sent to institute
State control terminal 2.
Specifically, this step S2 is specifically included：
Step S21, location information is collected, and the position sensor generates the location information in real time, and is sent to simultaneously
The wireless communication module.The position sensor work generation position information.The location information includes Height position co-ordinate
And horizontal position coordinate, without being limited thereto, the location information further includes the information that air pressure and height above sea level etc. influence positioning factor.
Step S22, location information is sent, and the location information is sent to the control by the wireless communication module in real time
Terminal 2.In order to energy saving, the unmanned plane 1 can send signal with certain interval of time, but specific interval is needed according to adjustment course line
Concrete condition open determination.For example the unmanned plane 1, under successively adjustment airline conditions, time interval is small；It is described nobody
Machine 1 comes into specified region and when according to prebriefed pattern flight, and time interval is small.
Step S3, course line instruction is corrected to generate and send,
The control terminal 2 calculates the deviation for analyzing the location information and target area position, and is given birth to according to the deviation
At the amendment course line instruction for making the unmanned plane 1 return to the target area position, which is sent to
The unmanned plane 1.
Specifically, this step S2 is specifically included：
Step S31, determination deviation：Determine the location information and target area position that the unmanned plane 1 is sent out in real time
Deviation distance and offset orientation.The target location can be redefined for some position in specified region, such as specified
The center in region is either in specified region or neighbouring terrestrial reference.The control terminal 2 is by calculating the unmanned plane 1 in real time
The data of the location information and the target location that send out, the calculated deviation distance and the offset orientation.
Step S32, instruction is generated：The control terminal 2 by state of flight to the unmanned plane 1, it is described deviate away from
It is analyzed from being calculated with the offset orientation, generates the amendment course line instruction for making the unmanned plane 1 return to the target area position.
The state of flight for adjusting the unmanned plane 1 includes adjusting speed, course and the pitch angle of the unmanned plane.The control is eventually
End 2 analyzes the deviation distance by calculating and the offset orientation, obtained data can be used for generating the amendment course line
Instruction.The state of flight that course line instruction is corrected for adjusting the unmanned plane 1, reaches and corrects its course line.Which
Advantageously reduce the operand of the control terminal 2.
Step S33, instruction is sent：The control terminal 2 sends the amendment course line and instructs to the unmanned plane 1.
Step S4, course line is corrected,
Course line is corrected, the unmanned plane 1 receives the amendment course line instruction and it flies according to amendment course line instruction adjustment
Row state is to realize that course line is corrected.
Above each step is all interactive by 2 two equipment of the unmanned plane 1 and the control terminal and is automatically performed.
Compared with the relevant technologies, in the control method that unmanned plane of the invention flies in specified region, pass through the nothing
Man-machine real-time transmission location information is conducive to quickly position unmanned plane and obtains flying quality in time；The control terminal passes through
Location information described in analyzing processing, and generate and correct course line instruction, it generates correct course line instruction by this way, the control is eventually
Hold operand small, operation time is few, is conducive to timely and accurately control the unmanned plane during flying；In addition, the unmanned plane passes through
It corrects course line instruction and corrects course line, and become closer to the course line planned in advance, be conducive to the unmanned plane finally according to advance
The optimal course line of planning is flown, and the reliability of the unmanned plane during flying task is increased；The unmanned plane is in specified region
The easy to operate, real-time of the control method of flight positions and steadily limits the unmanned plane during flying in specified region.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (5)
1. the control method that a kind of unmanned plane flies in specified region provides unmanned plane and control terminal, the unmanned plane dress
If position sensor and wireless communication module, which is characterized in that this method comprises the following steps：
Preparation enters autonomous flight state after controlling unmanned plane gravity dispensing in the air；
Information is collected and is sent, and the position sensor detects the location information of the unmanned plane, and the location information is sent out
It send to the control terminal；
The instruction of amendment course line is generated and is sent, and the control terminal calculating analysis location information is inclined with target area position
Difference, and generate the amendment course line for making the unmanned plane return to the target area position according to the deviation and instruct, this described is repaiied
Positive course line instruction is sent to the unmanned plane；
Course line is corrected, the unmanned plane, which receives the amendment course line instruction and instructed according to the amendment course line, adjusts its state of flight
To realize that course line is corrected.
2. the control method that unmanned plane according to claim 1 flies in specified region, which is characterized in that in the letter
In breath collection and forwarding step, including：
Location information is collected, and the position sensor generates the location information in real time, and is sent to the wireless communication simultaneously
Module；
Location information is sent, and the location information is sent to the control terminal by the wireless communication module in real time.
3. the control method that unmanned plane according to claim 1 flies in specified region, which is characterized in that repaiied described
In positive course line instruction generation and forwarding step, including：
Determination deviation：Determine the deviation distance of the location information that the unmanned plane is sent out in real time and target area position and inclined
From orientation；
Generate instruction：The control terminal passes through state of flight, the deviation distance and the deviation side to the unmanned plane
Position calculates analysis, generates the amendment course line instruction for making the unmanned plane return to the target area position；
Send instruction：The control terminal sends the amendment course line and instructs to the unmanned plane.
4. the control method that unmanned plane according to claim 1 flies in specified region, which is characterized in that the position
Sensor includes GPS module.
5. the control method that unmanned plane according to claim 1 flies in specified region, which is characterized in that the amendment
In the step of course line, the state of flight for adjusting the unmanned plane includes adjusting speed, course and the pitch angle of the unmanned plane.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111103895A (en) * | 2019-12-09 | 2020-05-05 | 西北工业大学 | Navigation method, system and equipment for unmanned aerial vehicle to pass through restricted airspace and readable storage medium |
| CN111381602A (en) * | 2018-12-29 | 2020-07-07 | 杭州海康机器人技术有限公司 | Method and device for controlling unmanned aerial vehicle to fly and unmanned aerial vehicle |
| WO2020237527A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Flight control method and device for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium |
| CN113393712A (en) * | 2021-06-11 | 2021-09-14 | 航天时代飞鹏有限公司 | Traffic control method based on fixed-wing unmanned aerial vehicle electronic fence |
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Application publication date: 20181106 |