CN108776493A - Flight control method, device, storage medium and the electronic equipment of aircraft - Google Patents
Flight control method, device, storage medium and the electronic equipment of aircraft Download PDFInfo
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- CN108776493A CN108776493A CN201810826636.XA CN201810826636A CN108776493A CN 108776493 A CN108776493 A CN 108776493A CN 201810826636 A CN201810826636 A CN 201810826636A CN 108776493 A CN108776493 A CN 108776493A
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- 238000003860 storage Methods 0.000 title claims abstract description 23
- 230000000712 assembly Effects 0.000 claims abstract description 7
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- 238000004590 computer program Methods 0.000 claims description 5
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- 230000003287 optical effect Effects 0.000 description 4
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- 238000010586 diagram Methods 0.000 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
This disclosure relates to a kind of flight control method of aircraft, the flight control assemblies of aircraft, computer readable storage medium and electronic equipment.The flight control method includes：Obtain the bogey heading of aircraft flight；Obtain the solar azimuth at current time；Sunlight is obtained in the projected position generated on sunshade pointer；The current course of aircraft is adjusted according to solar azimuth and projected position, so that aircraft flies along bogey heading.The disclosure can also be that aircraft carries out emergency navigation according to the projected position and the solar azimuth at current time of sunshade pointer in the case where losing GPS navigation, improve the efficiency that aircraft executes aerial mission, avoid aircraft lose navigation just can only original place spiral waiting and the problem of flight can not be continued.
Description
Technical field
This disclosure relates to aviation field, and in particular to a kind of flight control of the flight control method of aircraft, aircraft
Device, computer readable storage medium and electronic equipment.
Background technology
Aircraft needs to obtain the current position and posture information of aircraft by navigation system in flight course, so as to
Vectored flight device flies along prebriefed pattern.Existing aircraft guidance system includes that inertial navigation, satellite navigation, Doppler lead
Boat, Terrain-aided Navigation and earth-magnetism navigation etc..
Global positioning system (Global Positioning System, abbreviation GPS) based on satellite-signal can be winged
Row device provides accurate navigation information, therefore is had a wide range of applications in aviation field.Especially in air vehicle technique field, lead to
Crossing the exact position of the GPS navigation system combination departure location and target location that are configured on body can ensure unmanned plane autonomous
Navigational duty is successfully completed under state of flight and is smoothly maked a return voyage.
GPS navigation system has many advantages, such as that at low cost, precision is high, but is defended in the flight course of aircraft once losing
Star signal, GPS navigation system will also lose its navigation feature；For unmanned plane, in the navigation directions for losing GPS
Afterwards, can only in situ orbit wait for GPS navigation signaling protein14-3-3 can just continue aerial mission.Thus, not only
The execution efficiency of aerial mission can be influenced, and if GPS navigation signal can not slowly restore, unmanned plane also can only be in energy
Source exhausts rear original place and crashes.Therefore, how in the case where losing GPS navigation signal emergency is provided for aircraft such as unmanned planes
Navigation Control be current urgent problem to be solved.
It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Invention content
The disclosure is designed to provide a kind of flight control method of aircraft, the flight control assemblies of aircraft, meter
Calculation machine readable storage medium storing program for executing and electronic equipment, so overcome limitation and defect due to the relevant technologies at least to a certain extent and
The technical problem that caused aircraft navigation technology is single, emergency capability is poor.
According to one aspect of the disclosure, a kind of flight control method of aircraft is provided, is referred to applied to a sunshade
The aircraft of needle, is characterized in that, the method includes：
Moment is lost in location information, when being lost such as GPS, obtains the bogey heading that aircraft flies to target location；
Obtain the solar azimuth at current time；
Sunlight is obtained in the projected position generated on the sunshade pointer；
The current course of the aircraft is adjusted according to the solar azimuth and the projected position, so that the aircraft
It flies along the bogey heading.
It is described that institute is adjusted according to the solar azimuth and the projected position in a kind of exemplary embodiment of the disclosure
The current course of aircraft is stated, so that the aircraft includes along bogey heading flight：
Predict that sunlight is in the screening when the aircraft is along the bogey heading flight according to the solar azimuth
The target projection position generated on positive pointer；
The current course of the aircraft is adjusted, so that the projected position is overlapped with the target projection position.
In a kind of exemplary embodiment of the disclosure, the acquisition sunlight is in the throwing generated on the sunshade pointer
Shadow position includes：
Detect the solar irradiation intensity of sunshade pointer present position；
Sunlight is obtained in the projected position generated on the sunshade pointer according to the solar irradiation intensity.
In a kind of exemplary embodiment of the disclosure, the target location is the departure location of the aircraft, described
Bogey heading is the direction of making a return voyage of the aircraft.
In a kind of exemplary embodiment of the disclosure, the bogey heading packet for obtaining aircraft and flying to target location
It includes：
Obtain the direction of the taking off when aircraft is taken off by the departure location；
The direction of making a return voyage that the aircraft returns to the departure location is obtained according to the direction of taking off, by the side of making a return voyage
To as bogey heading.
In a kind of exemplary embodiment of the disclosure, the solar azimuth for obtaining current time includes：
Obtain the initial sun orientation when aircraft is taken off by the departure location；
The solar azimuth at current time is obtained according to the flight time of the aircraft and the initial sun orientation.
In a kind of exemplary embodiment of the disclosure, the flight control method further includes：
In the flight course of the aircraft, the current of the aircraft is corrected by electronic compass and/or gyroscope
Course.
According to one aspect of the disclosure, you are provided a kind of flight control assemblies of aircraft, is characterized in that, is wrapped
It includes：
Bogey heading acquisition module is configured as obtaining the bogey heading that aircraft flies to target location；
Solar azimuth acquisition module is configured as obtaining the solar azimuth at current time；
Projected position acquisition module is configured as obtaining sunlight in the projected position generated on the sunshade pointer；
Heading adjusts module, is configured as adjusting working as the aircraft according to the solar azimuth and projected position
Preceding course, so that the aircraft flies along the bogey heading.
According to one aspect of the disclosure, a kind of computer readable storage medium is provided, computer program is stored thereon with,
It is characterized in that, the flight control of the aircraft of any description above is realized when the computer program is executed by processor
Method.
According to one aspect of the disclosure, a kind of electronic equipment is provided, is characterized in that, including processor and storage
Device；Wherein, memory is used to store the executable instruction of the processor, and the processor is configured as via can described in execution
Execute instruction the flight control method of the aircraft to execute any description above.
In the flight control method for the aircraft that the embodiment of the present disclosure is provided, referred to by the way that sunshade is arranged on board the aircraft
Needle can obtain the projected position of sunlight generation, even if can also be according to the projection position in the case where losing GPS navigation
It is that aircraft carries out emergency navigation to set with the solar azimuth at current time, makes a return voyage and provides safeguard for aircraft security.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 schematically shows the step flow chart of flight control method in disclosure exemplary embodiment.
Fig. 2 schematically shows the part steps flow chart of flight control method in disclosure exemplary embodiment.
Fig. 3 schematically shows the part steps flow chart of flight control method in disclosure exemplary embodiment.
Fig. 4 schematically shows the part steps flow chart of flight control method in disclosure exemplary embodiment.
Fig. 5 schematically shows the part steps flow chart of flight control method in disclosure exemplary embodiment.
Fig. 6 schematically shows the composition frame chart of flight control assemblies in disclosure exemplary embodiment.
Fig. 7 schematically shows the module diagram of a kind of electronic equipment in disclosure exemplary embodiment.
Fig. 8 schematically shows a kind of schematic diagram of program product in disclosure exemplary embodiment.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be real in a variety of forms
It applies, and is not understood as limited to example set forth herein；On the contrary, these embodiments are provided so that the disclosure will more comprehensively and
Completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, structure or characteristic
It can in any suitable manner be incorporated in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in attached drawing are work(
Energy entity, not necessarily must be corresponding with physically or logically independent entity.Software form may be used to realize these work(
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
A kind of flight control method of aircraft is provided first in the exemplary embodiment of the disclosure, is applied to have one to hide
The aircraft of positive pointer.Wherein, aircraft can be mainly fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, unmanned airship, the umbrella wing nobody
In addition the various UAVs such as machine, flapping wing unmanned plane can also be manned aircraft.Sunshade pointer is mounted on aircraft
The region that upper without sunlight is blocked, function are mainly to generate shading shade to judge the position of sunlight projection.Bogey heading refers to
Be direction of the current location to target point, current location can also be referred to the azimuth of target location.
As shown in Figure 1, the flight control method mainly may comprise steps of：
Step S10. obtains the bogey heading of aircraft flight.
This step obtains the bogey heading that aircraft flies from current location to target location first, which can be with
It is preset course-and-bearing, in addition can also be that aircraft calculates obtained course-and-bearing in real time on the way in flight.Usually
In some flying distances shorter and weather and environmental condition also more suitable in the case of, preset course line may be used
Direction is as bogey heading.And when needing long-distance flight or weather and more severe environmental condition, then it needs flying
Course-and-bearing is calculated in real time on the way.In aircraft equipped with GPS navigation system, and GPS navigation signal can be smooth
In the case of reception, it can record in real time and the bogey heading obtained is calculated by GPS navigation system, once GPS navigation dropout,
It can show that current time can guide the mesh of aircraft flight according to the data recorded recently and with reference to history flying quality
Mark course.
Step S20. obtains the solar azimuth at current time.
Solar azimuth refers to position of the sun relative to object, can usually being indicated with solar azimuth.Orientation
Angle is referred to using object as axle center, using the direct north of object as prime direction, rotates clockwise obtained angle
Degree, when rotating clockwise, azimuth gradually will increase to 360 ° by 0 °.The solar azimuth at current time is obtained in this step just
It is the position for obtaining the current time sun relative to aircraft.Execute some in short-term, the aerial mission of short distance when, solar azimuth
Can approximation regard fixed as, therefore initial sun orientation can be calculated using ground installation directly before aircraft takeoff
Angle, and using the initial sun azimuth as the solar azimuth of aircraft flight whole process.And if the flight time and/or flight away from
From span it is larger, then solar azimuth can be done as the case may be and correspondingly be corrected, such as the flight time of aircraft reaches
By 2~3 hours, can in conjunction with where aircraft position and the flight time adjust and obtain on the basis of the initial sun is azimuthal
Current time, current location solar azimuth.
Step S30. obtains sunlight in the projected position generated on sunshade pointer.
Sunshade pointer is provided on aircraft in the present embodiment, it, will be in sunshade when sunlight is on sunshade pointer
Region generates projection near pointer, and the position that various ways obtain the projection may be used in this step.For example, Ke Yijian
The solar irradiation intensity in certain area coverage around sunshade pointer is surveyed, in the case of other no shadow occlusions, sunshade refers to
The solar irradiation intensity of the projected position of needle will be inevitably less than other regions, therefore the detection of solar irradiation intensity can be utilized to sentence
Break and projected position.Alternatively, it is also possible to obtain projected position by the way of Image Acquisition, such as normally shine not influencing sunlight
In the case of penetrating sunshade pointer, the image of sunshade pointer region can be acquired, is intuitively obtained by analyzing image data
Projected position.
Step S40. adjusts the current course of aircraft according to solar azimuth and projected position, so that aircraft navigates along target
To flight.
According to solar azimuth and projected position that above step obtains, the current course of aircraft can be adjusted, so that should
Aircraft continues to fly to arrive at target location along bogey heading in the case where losing the navigation signal of such as GPS etc.Example
Such as, aircraft loses GPS navigation signal because of equipment fault or signal interference the problems such as on the way in flight, is obtained by step S10
The course angle for obtaining bogey heading is 270 °, and the solar azimuth that current time is obtained by step S20 is 180 °, is obtained by step S30
Position of the sunlight where the projected position generated on the sunshade pointer is tail is obtained, is flown at this time then may determine that
The head direction of device is the orientation where the sun, and adjustment fuselage, which rotates clockwise 90 °, can make heading and bogey heading weight
It closes, is interfered in wind-force under faint state of flight, adjusting heading in this way can make aircraft fly along bogey heading.
In the flight control method for the aircraft that the embodiment of the present disclosure is provided, referred to by the way that sunshade is arranged on board the aircraft
Needle can obtain the projected position of sunlight generation, even if can also be according to the projection position in the case where losing GPS navigation
It is that aircraft carries out emergency navigation to set with the solar azimuth at current time, improves the efficiency that aircraft executes aerial mission, keeps away
Having exempted to lose navigation just can only original place the problem of spiraling waiting and can not continuing flight.
As shown in Fig. 2, in another exemplary embodiment of the present disclosure, step S30 may further include following steps：
The solar irradiation intensity of step S31. detection sunshade pointers present position.
This step can be arranged at multiple positions around sunshade pointer to detect the sensing of solar irradiation intensity
Device.
Step S32. obtains sunlight in the projected position generated on sunshade pointer according to solar irradiation intensity.
The solar irradiation intensity at multiple positions around sunshade pointer obtained by step S31, this step carry out pair
Than judging to can be obtained sunlight in the projected position generated on sunshade pointer.
In order to preferably carry out quantitative analysis to the projected position, the present embodiment can also be arranged around sunshade pointer
Certain station location marker.Such as one can be arranged on board the aircraft with the irradiation Measuring plate similar to clock and watch dial, it will hide
Positive pointer is fixed on the center of the irradiation Measuring plate vertically, thus irradiation Measuring plate high scale number can be used to sunshade
The projected position of pointer is identified.According to the difference of the required accuracy, scale marker can be carried out according to 360 ° of several deciles,
Ten halve i.e. every 30 ° be arranged a scales, 20 quarterings i.e. every 15 degree be arranged a scales, 36 deciles be every
10 ° of one scales of setting.The test point of irradiation intensity sensor can be set at corresponding graduation position, to by each detection
The solar irradiation intensity that point detects obtains the projected position of sunshade pointer.
As shown in figure 3, in another exemplary embodiment of the present disclosure, step S40 may further include following steps：
Step S41. predicts that sunlight is on sunshade pointer when aircraft is along bogey heading flight according to solar azimuth
The target projection position of generation.
For example, the course angle of the bogey heading obtained by step S10 is 270 °, the sun side obtained by step S20
The azimuth of position is 180 degree；Irradiation Measuring plate is provided on aircraft, and 0 ° of scale for irradiating Measuring plate corresponds to head side
To other scales successively increase in the direction of the clock.It can so predict at this time when aircraft is along bogey heading flight, sunlight
It should be the position where the 90 ° of scales irradiated in Measuring plate to be irradiated in the target projection position generated on sunshade pointer.
The current course of step S42. adjustment aircraft, so that projected position is overlapped with target projection position.
If the practical projected position of the sunshade pointer obtained in step S30 is the 180 ° of scales place irradiated in Measuring plate
Position, then this step can adjust aircraft head rotate clockwise 90 ° so that sunshade pointer practical projection
Position coincides with the target projection position predicted in step S41, even if also the practical projected position of sunshade pointer falls and irradiating
On position where 90 ° of scales of Measuring plate, so that aircraft flies along bogey heading.
It can be by each scale around sunshade pointer using the irradiation Measuring plate with scale and irradiation intensity sensor
Position forms mapping relations with solar irradiation intensity, detects that solar irradiation intensity can directly obtain the projection position of sunshade pointer
It sets, not only detection efficiency is high, but also accuracy also higher.In addition, can directly and bogey heading by way of scale prediction
Angle and solar azimuth carry out quantum chemical method, are more conducive to the storage and operation of data.
In another exemplary embodiment of the present disclosure, the target location described in step S10 can be rising for aircraft
Enclave point, corresponding bogey heading can be the directions of making a return voyage of aircraft.
As shown in figure 4, step S10 may further include following steps in the present embodiment：
Step S11. obtains the direction of taking off when aircraft is taken off by departure location.
Step S12. obtains the direction of making a return voyage that aircraft returns to departure location according to direction of taking off, and the direction that will make a return voyage is as mesh
Mark direction.
The present embodiment is mainly applied to make a return voyage process of the aircraft after smoothly completing aerial mission, and aircraft is executing
Calculated when aerial mission and had recorded accurate route information, thus make a return voyage process for navigation real-time and accuracy
The requirement of aspect is relatively low.It, can be direct in the case where environmental condition allows especially when executing shorter flight task
Direction of taking off when being taken off using aircraft by departure location is maked a return voyage the direction of making a return voyage of flight as aircraft.And if by environment
The influence of factor leads to round-trip course line difference, then some other airborne set can also be combined on the basis of taking off direction
The measuring and calculating applied obtains the direction of making a return voyage of aircraft.
Correspondingly, as shown in figure 5, applied to make a return voyage process when, step S20 may further include following steps：
Step S21. obtains initial sun orientation when aircraft is taken off by departure location；
Step S22. obtains the solar azimuth at current time according to the flight time of aircraft and initial sun orientation.
If flight time of the aircraft when executing aerial mission is shorter, can also be flown by step S21
Initial sun orientation when device is taken off by departure location can then ignore shadow of the flight time for solar azimuth in step S22
It rings, and directly using initial sun orientation as the solar azimuth at current time.And if the flight time of aircraft it is longer, such as
Flight time reach 2~3 hours it is even more in the case of, then need according to aircraft execute aerial mission time obtain
The solar azimuth at current time.
On the basis of exemplary embodiment above, the flight control method for the aircraft that the disclosure is provided can also wrap
Include step：In the flight course of aircraft, the current course of aircraft is corrected by electronic compass and/or gyroscope.Especially
Be in the case where environmental factor is affected to the flight course of aircraft, such as wind-force interfere larger, the head of aircraft
Direction and practical course-and-bearing are there are the flight attitude of larger angle difference or aircraft is unstable, then at this time can
The current course of aircraft is modified by the electronic compass and/or gyroscope installed on aircraft, so that flight
Device can successfully fly along bogey heading.
On the basis of exemplary embodiment above, during the flight control for the aircraft that the disclosure is provided, pass through
Electronic compass and/or gyroscope correct the current course of the aircraft, may include step：Pass through the angle on electronic compass
Variation, carries out bogey heading the plus-minus of angle in real time；The angle change either incuded by gyroscope, to bogey heading reality
The plus-minus of Shi Jinhang angles；The angle change either incuded jointly by electronic compass and gyroscope takes angle change average
Value, then carries out bogey heading the plus-minus of angle in real time；After completing the adjustment of bogey heading angle, adjustment unmanned plane is according to real-time
Newer bogey heading flies.
It should be noted that, although exemplary embodiment above describes each step of method in the disclosure with particular order
Suddenly, still, this does not require that either hint must execute these steps according to the particular order or have to carry out whole
Step could realize desired result.Additionally or alternatively, it is convenient to omit multiple steps are merged into one by certain steps
Step executes, and/or a step is decomposed into execution of multiple steps etc..
In an exemplary embodiment of the disclosure, a kind of flight control assemblies of aircraft are also provided, as shown in fig. 6, flying
Row control device 60 may include mainly bogey heading acquisition module 61, solar azimuth acquisition module 62, projected position acquisition mould
Block 63 and heading adjust module 64.Wherein, bogey heading acquisition module 61 is configured as obtaining aircraft to target location
The bogey heading of flight；Solar azimuth acquisition module 62 is configured as obtaining the solar azimuth at current time；Projected position obtains
Module 63 is configured as obtaining sunlight in the projected position generated on the sunshade pointer；Heading adjusts 64 quilt of module
It is configured to adjust the current course of the aircraft according to the solar azimuth and projected position, so that the aircraft is described in
Bogey heading flies.
The detail of the flight control assemblies of above-mentioned aircraft has carried out in corresponding flight control method in detail
Thin description, therefore details are not described herein again.
It should be noted that although being referred to several modules or list for acting the equipment executed in above-detailed
Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
The feature and function of module either unit can embody in a module or unit.Conversely, an above-described mould
Either the feature and function of unit can be further divided into and embodied by multiple modules or unit block.
In an exemplary embodiment of the disclosure, a kind of electronic equipment is also provided, the electronic equipment includes at least one
Processor and at least one memory for storing the executable instruction of the processor；Wherein, the processor by with
It is set to and executes the method and step in the disclosure in above-mentioned each exemplary embodiment via the executable instruction is executed.
The electronic equipment 700 in the present exemplary embodiment is described with reference to Fig. 7.Electronic equipment 700 is only
One example should not bring any restrictions to the function and use scope of the embodiment of the present disclosure.
Shown in Figure 7, electronic equipment 700 is showed in the form of universal computing device.The component of electronic equipment 700 can be with
Including but not limited to：At least one processing unit 710, at least one storage unit 720, connection different system component (including place
Manage unit 710 and storage unit 720) bus 730, display unit 740.
Wherein, storage unit 720 has program stored therein code, and said program code can be executed by processing unit 710 so that
Processing unit 710 executes the method and step in above-mentioned each exemplary embodiment in the disclosure.
Storage unit 720 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
721 (RAM) and/or cache memory unit 722 can further include read-only memory unit 723 (ROM).
Storage unit 720 can also include program/utility 724 with one group of (at least one) program module 725,
Such program module includes but not limited to：Operating system, one or more application program, other program modules and program
Data may include the realization of network environment in each or certain combination in these examples.
Bus 730 can be to indicate one or more in a few class bus structures, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use the arbitrary bus structures in various bus structures
Local bus.
Electronic equipment 700 can also be with one or more external equipments 800 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, the equipment communication that user can also be allow to interact with the electronic equipment 700 with one or more, and/or with
Enable any equipment that the electronic equipment 700 communicated with other one or more computing devices (such as router, modulation
Demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 750.Also, electronic equipment 700 may be used also
To pass through network adapter 760 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network
Network, such as internet) communication.As shown in fig. 7, network adapter 760 can be by other of bus 730 and electronic equipment 700
Module communicates.It should be understood that although not shown in the drawings, other hardware and/or software mould can be used in conjunction with electronic equipment 700
Block, including but not limited to：Microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape
Driver and data backup storage system etc..
In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is also provided, calculating is stored thereon with
Machine program can realize the flight control method of the above-mentioned aircraft of the disclosure when computer program is executed by processor.
In some possible embodiments, various aspects of the disclosure is also implemented as a kind of form of program product comprising
Program code；It (can be CD-ROM, USB flash disk or mobile hard that the program product, which can be stored in a non-volatile memory medium,
Disk etc.) in or network on；When described program product (can be personal computer, server, terminal installation in a computing device
Or network equipment etc.) on when running, said program code is for making the computing device execute above-mentioned each example in the disclosure
Method and step in property embodiment.
It is shown in Figure 8, it, can be with according to the program product 80 for realizing the above method of embodiment of the present disclosure
Using portable compact disc read-only memory (CD-ROM) and include program code, and can be (such as personal in computing device
Computer, server, terminal installation or network equipment etc.) on run.However, the program product of the disclosure is without being limited thereto.?
In the present exemplary embodiment, computer readable storage medium can be any include or storage program tangible medium, the program
The either device use or in connection of execution system, device can be commanded.
The arbitrary combination of one or more readable medium may be used in described program product.Readable medium can be readable
Signal media or readable storage medium storing program for executing.
Readable storage medium storing program for executing for example can be but be not limited to the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device
Or device or arbitrary above combination.The more specific example (non exhaustive list) of readable storage medium storing program for executing includes：With one
The electrical connection of a or multiple conducting wires, portable disc, hard disk, random access memory (RAM), read-only memory (ROM), erasable type
Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical memory
Part, magnetic memory device or above-mentioned any appropriate combination.
Readable signal medium may include in a base band or as the data-signal that a carrier wave part is propagated, wherein carrying
Readable program code.Diversified forms, including but not limited to electromagnetic signal, optical signal may be used in the data-signal of this propagation
Or above-mentioned any appropriate combination.Readable signal medium can also be the arbitrary readable medium other than readable storage medium storing program for executing, should
Readable medium can send, propagate either transmission for being used by instruction execution system, device or device or in connection
The program used.
The program code for including on readable medium can transmit with any suitable medium, including but not limited to wirelessly, have
Line, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with any combination of one or more programming languages come write for execute the disclosure operation program
Code, described program design language include object oriented program language, Java, C++ etc., further include conventional mistake
Formula programming language, such as C language or similar programming language.Program code can be calculated fully in user and be set
Standby upper execution is partly executed, is set as an independent software package execution, partly in user's calculating on the user computing device
Standby upper part executes or is executed in remote computing device or server completely on a remote computing.It is being related to remotely
In the situation of computing device, remote computing device can pass through the network of any kind (including LAN (LAN) or wide area network
(WAN) etc.) it is connected to user calculating equipment；Or, it may be connected to external computing device, such as provided using Internet service
Quotient is connected by internet.
It will be appreciated by those skilled in the art that various aspects of the disclosure can be implemented as system, method or program product.
Therefore, various aspects of the disclosure can be with specific implementation is as follows, i.e.,：Complete hardware embodiment, complete software
The embodiment that embodiment (including firmware, microcode etc.) or hardware and software combine, may be collectively referred to as here " circuit ",
" module " or " system ".
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Above-mentioned described feature, structure or characteristic can be incorporated in one or more embodiment party in any suitable manner
In formula, if possible, it is characterized in discussed in each embodiment interchangeable.In the above description, it provides many specific thin
Section fully understands embodiment of the present disclosure to provide.It will be appreciated, however, by one skilled in the art that this can be put into practice
Disclosed technical solution is without one or more in specific detail, or other methods, component, material may be used
Deng.In other cases, known features, material or operation are not shown in detail or describe to avoid each side of the fuzzy disclosure
Face.
Claims (10)
1. a kind of flight control method of aircraft is applied to the aircraft with sunshade pointer, which is characterized in that the method
Including：
Obtain the bogey heading of aircraft flight；
Obtain the solar azimuth at current time；
Sunlight is obtained in the projected position generated on the sunshade pointer；
The current course of the aircraft is adjusted according to the solar azimuth and the projected position, so that the aircraft is along institute
State bogey heading flight.
2. the flight control method of aircraft according to claim 1, which is characterized in that described according to the solar azimuth
The current course of the aircraft is adjusted with the projected position, so that the aircraft includes along bogey heading flight：
Sunlight is in the sunshade pointer when predicting the aircraft along the bogey heading flight according to the solar azimuth
The target projection position of upper generation；
The current course of the aircraft is adjusted, so that the projected position is overlapped with the target projection position.
3. the flight control method of aircraft according to claim 1, which is characterized in that the acquisition sunlight is in institute
Stating the projected position generated on sunshade pointer includes：
Detect the solar irradiation intensity of sunshade pointer present position；
Sunlight is obtained in the projected position generated on the sunshade pointer according to the solar irradiation intensity.
4. the flight control method of aircraft according to claim 1, which is characterized in that the target location is described flies
The departure location of row device, the bogey heading are the direction of making a return voyage of the aircraft.
5. the flight control method of aircraft according to claim 4, which is characterized in that the acquisition aircraft flight
Bogey heading includes：
Obtain the direction of the taking off when aircraft is taken off by the departure location；
The direction of making a return voyage that the aircraft returns to the departure location is obtained according to the direction of taking off, the direction of making a return voyage is made
For bogey heading.
6. the flight control method of aircraft according to claim 4, which is characterized in that the acquisition current time is too
Positive orientation includes：
Obtain the initial sun orientation when aircraft is taken off by the departure location；
The solar azimuth at current time is obtained according to the flight time of the aircraft and the initial sun orientation.
7. the flight control method of the aircraft according to any one of claim 1-6, which is characterized in that further include：
In the flight course of the aircraft, the current course of the aircraft is corrected by electronic compass and/or gyroscope.
8. a kind of flight control assemblies of aircraft, which is characterized in that including：
Bogey heading acquisition module is configured as obtaining the bogey heading of aircraft flight；
Solar azimuth acquisition module is configured as obtaining the solar azimuth at current time；
Projected position acquisition module is configured as obtaining sunlight in the projected position generated on the sunshade pointer；
Heading adjusts module, is configured as adjusting the current boat of the aircraft according to the solar azimuth and projected position
To so that the aircraft flies along the bogey heading.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
The flight control method of the aircraft described in any one of claim 1-7 is realized when processor executes.
10. a kind of electronic equipment, which is characterized in that including：
Processor；
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured as carrying out any one of perform claim requirement 1-7 via the execution executable instruction
The flight control method of the aircraft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810826636.XA CN108776493A (en) | 2018-07-25 | 2018-07-25 | Flight control method, device, storage medium and the electronic equipment of aircraft |
| PCT/CN2018/108839 WO2020019517A1 (en) | 2018-07-25 | 2018-09-29 | Flight control method and apparatus for aircraft, and storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810826636.XA CN108776493A (en) | 2018-07-25 | 2018-07-25 | Flight control method, device, storage medium and the electronic equipment of aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108776493A true CN108776493A (en) | 2018-11-09 |
Family
ID=64030076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810826636.XA Pending CN108776493A (en) | 2018-07-25 | 2018-07-25 | Flight control method, device, storage medium and the electronic equipment of aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108776493A (en) |
| WO (1) | WO2020019517A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115186233A (en) * | 2022-09-07 | 2022-10-14 | 中航信移动科技有限公司 | Data processing method for sun display position determination, storage medium and electronic equipment |
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| CN101373137A (en) * | 2007-08-21 | 2009-02-25 | 椗光堂发展有限公司 | Electric dial compass and measuring method using the same |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020019517A1 (en) | 2020-01-30 |
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