CN108919829A - The adaptive decision-making method of unmanned plane reply adverse circumstances and corresponding unmanned plane - Google Patents
The adaptive decision-making method of unmanned plane reply adverse circumstances and corresponding unmanned plane Download PDFInfo
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Abstract
The present invention relates to unmanned plane fields, and in particular to a kind of adaptive decision-making method of unmanned plane reply adverse circumstances and corresponding unmanned plane, the method includes：Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, corresponding meteorological data is converted by the meteorological condition；The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological condition to the Threat of the unmanned plane in conjunction with the flight parameter of unmanned plane；It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains the implementation strategy of corresponding unmanned plane, unmanned plane progress task is controlled according to the implementation strategy and is planned again.The invention proposes a kind of unmanned planes can independently make decisions in experience adverse circumstances, especially bad weather condition system, allow unmanned plane that can preferably complete flight operation.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of adaptive decision-making method of unmanned plane reply adverse circumstances and
Corresponding unmanned plane.
Background technique
With the development of domestic air mail industry, UAV technology tends to mature gradually, disappears for power circuit, public security
Anti-, extra large land patrol etc. provides the technical method and means of update, and unmanned plane is a kind of machine of flight operation in the sky,
It is unmanned to need more autonomous reply risk for it, avoid risk, the flight of unmanned plane is by all when aerial work
The influence of more uncertain factors, such as the uncertain of unmanned aerial vehicle platform, the variation of target location, the variation of goal task, environment
Variation etc., and biggish external factor is weather condition, takes off, lands or execute the process of aerial mission in unmanned plane
In, once the Changes in weather to be happened suddenly, flight stability, task execution can be all affected to some extent, currently, unmanned plane
The control that ground station is often relied on when executing task under the conditions of this complicated, uncertain, by receiving ground work
Make the control instruction that the environment that station staff is presently according to unmanned plane is made, then executes phase according to the control instruction again
The operation answered, and unmanned plane disappears due to the feature that flying distance is remote, job area is wide with the information transmission needs of ground station
The regular hour is consumed, causes not making when reply mutation environment and timely respond, the flight safety of unmanned plane is influenced when serious.
Therefore, how allowing unmanned plane to be made in face of uncertain environment, to make decisions on one's own be a big problem of current unmanned plane area research.
Summary of the invention
To overcome the above technical problem, especially unmanned plane can not be autonomous in the case where meeting with bad weather condition in the prior art
The problem of decision, spy propose following technical scheme：
In a first aspect, including the following steps the present invention provides a kind of adaptive decision-making method of unmanned plane reply adverse circumstances：
Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, the meteorological condition is converted
For corresponding meteorological data；
The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological item in conjunction with the flight parameter of unmanned plane
Threat of the part to the unmanned plane；
It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains corresponding nothing
Man-machine implementation strategy controls unmanned plane progress task according to the implementation strategy and plans again.
Further, described to be planned again according to implementation strategy control unmanned plane progress task, including：
The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high preferential
The aerial mission of grade is arranged in front carry out task and plans again, and control unmanned plane executes the aerial mission of the high priority.
Further, after the control unmanned plane executes the aerial mission of the high priority, further include：
Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
Preferably, the sensor includes temperature sensor, it is described to convert corresponding meteorological number for the meteorological condition
According to later, further include：
When the meteorological condition is lower than temperature threshold value, the self-heating system for controlling unmanned plane adds the specified part of unmanned plane
Heat is to predetermined temperature.
Specifically, the sensor includes radar and infrared sensor, the bad weather condition mathematical model includes wind
Shear model, thunderstorm imagery zone model, Turbulent Model.
Second aspect, the present invention provide a kind of unmanned plane, including one or more processors；Memory；It is one or more
Computer program, wherein one or more of computer programs are stored in the memory and are configured as by described one
A or multiple processors execute, and one or more of computer programs are configured to carry out：
Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, the meteorological condition is converted
For corresponding meteorological data；
The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological item in conjunction with the flight parameter of unmanned plane
Threat of the part to the unmanned plane；
It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains corresponding nothing
Man-machine implementation strategy controls unmanned plane progress task according to the implementation strategy and plans again.
Further, the computer program controls unmanned plane progress task according to the implementation strategy and plans again, wraps
It includes：
The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high preferential
The aerial mission of grade is arranged in front carry out task and plans again, and control unmanned plane executes the aerial mission of the high priority.
Further, it after the computer program controls the aerial mission that unmanned plane executes the high priority, also wraps
It includes：
Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
The third aspect, the present invention also provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with computer program, the computer program realized when being executed by processor above-mentioned unmanned plane reply adverse circumstances from
Adapt to decision-making technique.
Compared with prior art, the present invention having the advantages that：
Adaptive, the method made decisions on one's own when adverse circumstances are coped with the present invention provides a kind of unmanned plane, by unmanned plane
Meteorological condition in preset sensor detection unmanned plane preset range, then converts corresponding meteorology for the meteorological condition
Bad weather condition mathematical model is imported after data, in conjunction with unmanned plane flight parameter calculate the meteorological condition to it is described nobody
The Threat of machine, then assessed based on artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, it obtains
Implementation strategy of the unmanned plane under the meteorological condition is taken, unmanned plane is advised again according to corresponding task is made after the implementation strategy
It draws, allows unmanned plane that can cope with the execution of adverse circumstances adjustment task accurately and in time, guarantee unmanned plane in bad weather condition
Under can it is safer, effectively complete aerial mission.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is an embodiment flow diagram of the adaptive decision-making method that unmanned plane of the present invention copes with adverse circumstances；
Fig. 2 is another embodiment flow diagram for the adaptive decision-making method that unmanned plane of the present invention copes with adverse circumstances；
Fig. 3 is the another embodiment flow diagram for the adaptive decision-making method that unmanned plane of the present invention copes with adverse circumstances；
Fig. 4 is an example structure schematic diagram of unmanned plane of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refers to that there are the feature, integer, step, operations, but it is not excluded that in the presence of or addition it is one or more other
Feature, integer, step, operation.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific term）, there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
It will be appreciated by those skilled in the art that so-called " application program " of the invention, " computer program " and similar table
The concept stated is same concept well known to those skilled in the art, refers to and is instructed by series of computation machine and related data resource
The computer software for being suitable for electronics operation of organic construction.Unless specified, it is this name itself not by programming language type,
Rank, the operating system of operation of also not rely by it or platform are limited.In the nature of things, this genus is not also by any form
Terminal limited.
In one embodiment, the present invention provides a kind of adaptive decision-making method of unmanned plane reply adverse circumstances, the party
The functional application that method is realized is equipped with picture number in the UAV system for including unmanned plane, control system, on the unmanned plane
According to shooting mould group, specifically, as shown in Figure 1, the described method comprises the following steps：
S10：Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, by the meteorological condition
It is converted into corresponding meteorological data.
Unmanned plane is a kind of machine of flight operation in the sky, the external factor being affected in the air to the flight of unmanned plane
It is meteorological condition, during unmanned plane takes off, lands or execute aerial mission, once the terrible weather item to be happened suddenly
Part, flight stability, task execution can be all affected to some extent.It is considered based on above-mentioned, in the present embodiment, on unmanned plane
It is prefixed the sensor for being able to detect meteorological condition, and the adaptive decision-making method of the reply adverse circumstances based on the present embodiment is
Unmanned plane, which executes aerial mission and provides, preferably to be guaranteed；Sensor is a kind of information detector, the measurement that can will be experienced
The output of form needed for information is converted to electric signal or other signals according to certain rule, for meeting the transmission of information, handling, deposit
Storage etc., in the present embodiment, using the meteorological condition in the preset range of sensor detection unmanned plane preset on unmanned plane, then
Corresponding meteorological data is converted by the meteorological condition, the meteorological data is transmitted, handles so as to subsequent；Wherein,
The meteorological data includes：Temperature, relative humidity, rainfall intensity, rain types, rainfall, sunshine global radiation, lightning detection,
Air pressure, wind speed and direction etc.；The preset range is determined according to the precision of sensor, such as sensor is able to detect unmanned plane
Flying height is in 500 meters of height above sea level hereinafter, meteorological condition within the scope of 1000 meters.
S20：The meteorological data is imported into bad weather condition mathematical model, calculates institute in conjunction with the flight parameter of unmanned plane
Meteorological condition is stated to the Threat of the unmanned plane.
After obtaining the meteorological data in unmanned plane preset range, the meteorological data is transmitted, is handled, this implementation
The meteorological data is imported into bad weather condition mathematical model in example, the method for terrible weather mathematical model mathematics features
A certain meteorological most essential mechanism and prototype, different terrible weather mathematical models can be described accurately and analyze the evil
The meteorological data is imported terrible weather by the phenomenon and rule of bad meteorology, the development trend and situation of predicting the terrible weather
Conditional mathematical model restores the practical terrible weather situation suffered from of unmanned plane；Such as the meteorological data is imported severe
Meteorological condition mathematical model, obtain the wind speed in unmanned plane preset range in both horizontally and vertically unexpected change dramatically, in turn
Show that unmanned plane suffers from the bad weather condition of wind shear；Or, the meteorological data is for example imported bad weather condition number
Model is learned, show that the atmospheric structure in unmanned plane preset range generates strong convection current, current potential between Yun Yuyun, cloud and ground
Difference reaches a certain level, and then show that unmanned plane suffers from the bad weather condition of thunderstorm；Or, for example the meteorological data is led
Enter bad weather condition mathematical model, obtains at the different location in the airspace in unmanned plane preset range, air speed
There are biggish difference and change dramaticallies between vector, and then show that unmanned plane suffers from the bad weather condition of turbulent flow.It is different
Meteorological condition it is different to the Threat of unmanned plane, and different meteorological conditions to the Threat of different types of unmanned plane not
Together, the flight parameter in the present embodiment then in conjunction with unmanned plane calculates the meteorological condition to the Threat of the unmanned plane, institute
State longitude and latitude, height above sea level that flight parameter includes unmanned plane, components temperature, power source surplus, wind and water preventing rank.
S30：It is assessed, is obtained according to aerial mission of the Threat to unmanned plane by artificial taste intelligent system
The implementation strategy of corresponding unmanned plane controls unmanned plane progress task according to the implementation strategy and plans again.
The flight of unmanned plane is for completing certain particular tasks, for example, military detective, mapping of taking photo by plane, environmental monitoring,
Fire big flood rescue etc., after determining meteorological condition to the Threat of unmanned plane, through artificial taste intelligent system according to
Threat assesses the aerial mission of unmanned plane, and expert system is the program system with a large amount of special knowledges and experience
System is carried out using artificial intelligence and computer technology according to the knowledge and experience that unmanned plane field one or more expert provides
Reasoning and judgement can simulate human expert and suffer from the assessment of same case, decision, additionally it is possible to which independently developing out, the mankind be not
The other situations suffered from are assessed, decision, and expert system contains original knowledge library, i.e. with differentiation in original knowledge library
Factor inputs the actual conditions of historical experiences, such as the meteorological condition A1+A2+A3 that unmanned plane suffers from, expert's
The execution implementation strategy assessed and made is B1+B2, and obtained result is C1+C2, and the satisfaction evaluation to result is C1:70%,
C2:60%；The original knowledge library for constructing expert system a step by a step with this, then when unmanned plane suffers from bad weather condition,
It can be assessed according to aerial mission of the Threat to unmanned plane according to the knowledge base, when assessment exists according to unmanned plane
At present under meteorological condition, execute which aerial mission the satisfaction of getable result whether be greater than desired value, to obtain
Then the implementation strategy of unmanned plane can control unmanned plane progress task according to the implementation strategy and plan again, for example, currently
Meteorological condition be wind shear, wind shear is S+ for the Threat of unmanned plane, and aerial mission R1, R3 is maximum when Threat S+
As a result satisfaction only has 45%, is less than desired value 70%, so obtaining implementation strategy is to be not suitable for executing under the meteorological condition flying
Row task R1, R3, carry out task just wouldn't execute aerial mission R1, R3 after planning again；The task plans to include setting again
Fixed new aerial mission executes original aerial mission, it is preferred that no matter the bad weather to the Threat of unmanned plane such as
What, be required to makes unmanned plane carry out task through the above way plans again.
Adaptive, the method made decisions on one's own when present embodiments providing a kind of unmanned plane reply adverse circumstances, pass through nothing
Meteorological condition in man-machine preset sensor detection unmanned plane preset range, then converts the meteorological condition to accordingly
Meteorological data after import bad weather condition mathematical model, calculate the meteorological condition to institute in conjunction with the flight parameter of unmanned plane
The Threat of unmanned plane is stated, then is commented based on artificial taste intelligent system according to aerial mission of the Threat to unmanned plane
Estimate, obtain implementation strategy of the unmanned plane under the meteorological condition, unmanned plane is according to making corresponding task after the implementation strategy
Again it plans, allows unmanned plane that can cope with the execution of adverse circumstances adjustment task accurately and in time, guarantee unmanned plane in severe gas
As under the conditions of can it is safer, effectively complete aerial mission.
Further, a kind of embodiment of the invention, as shown in Fig. 2, described control unmanned plane according to the implementation strategy
Carry out task plans again, including：
S31：The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high
The aerial mission of priority is arranged in front carry out task and plans again, and the flight that control unmanned plane executes the high priority is appointed
Business.
The flight of unmanned plane is for completing certain particular tasks, and in the present embodiment, unmanned plane is suffering from severe gas
After condition, the aerial mission of unmanned plane is commented according to the Threat of the meteorological condition by artificial taste intelligent system
It after estimating, determines that unmanned plane still is able to complete certain aerial mission under the meteorological condition, then obtains unmanned plane currently not
The aerial mission of completion, and determine the priority of each unfinished aerial mission, then the unfinished of high priority is flown
Row task order is planned preceding to carry out task again, is then controlled unmanned plane and is executed the Gao You under the conditions of limited resources
The aerial mission of first grade.Such as original unmanned plane is made according to the aerial mission of " 3-task of task 1-task, 2-task 4 "
Industry gets unfinished aerial mission when suffering from bad weather condition as task 2, task 3, task 4, and task 3
The priority of highest priority, task 4 is minimum, carries out task at this time and plans again, and aerial mission is adjusted to " task 3-times
2-tasks 4 " of business, control unmanned plane execute the aerial mission of the high priority（That is task 3）, guarantee that unmanned plane can be more preferable
Complete prior aerial mission in ground.
Further, in above-described embodiment, as shown in figure 3, the control unmanned plane executes the flight of the high priority
After task, further include：
S32：Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
After above-described embodiment, further, it is contemplated that unmanned plane completes a certain item aerial mission under bad weather condition
Consumed resource ratio is more under the conditions of normal meteorological, controls unmanned plane progress task according to the implementation strategy and plans again,
Unmanned plane is determined after the aerial mission for executing high priority, abandons the aerial mission for executing low priority, and return unmanned plane
Go back to preset landing destination.Such as under the conditions of normal meteorological, completion task 3 needs to consume 15% power source, and severe
Under meteorological condition, complete the power source that this task 3 needs to consume 25%, when by artificial taste intelligent system according to the gas
After assessing as the Threat of condition the aerial mission of unmanned plane, determines and only have 25% power source to can be used in executing flight
Task, remaining power source is that unmanned plane makes a return voyage required power source, at this point, determining after the task of progress plan again and controlling nothing
It is man-machine to only carry out task 3 and abandon execution task 2 and task 4, it is prior on the one hand to guarantee that unmanned plane can be completed preferably
On the other hand aerial mission guarantees that unmanned plane can safely return to preset landing destination, avoid unmanned plane because of power source
It is insufficient and landing destination can not be returned to, to cause more huge economic loss.
Further, a kind of embodiment of the invention, the sensor include temperature sensor, described by the meteorological item
Part is converted into after corresponding meteorological data, further includes：
When the meteorological condition is lower than temperature threshold value, the self-heating system for controlling unmanned plane adds the specified part of unmanned plane
Heat is to predetermined temperature.
In view of unmanned plane operation in the sky, usually there are strong cold air, violent wind speed to become along with bad weather condition
Phenomena such as changing with moist air-flow, those phenomenons will lead to sharp temperature drop, and the electronic component on unmanned plane is made in severe cold
It can not work normally under or precision be decreased obviously, in the present embodiment, preset sensor includes temperature sensor on unmanned plane,
After converting corresponding meteorological data for the meteorological condition, when determining current weather condition lower than temperature threshold value, control
The specified heat parts of unmanned plane to predetermined temperature, the specified part are included battery, taken the photograph by the self-heating system of unmanned plane processed
As mould group, barometer, compass etc.；Preferably, the operating temperature of different unmanned machine parts is different, in the present embodiment, according to
To the settings of different parts by the specified heat parts to different predetermined temperatures, allow different parts can be each adaptive
At a temperature of more efficiently operation.
Specifically, the sensor includes radar and infrared sensor, the bad weather condition in the embodiment of the present invention
Mathematical model includes wind shear model, thunderstorm influence area model, Turbulent Model.The radar is synthetic aperture radar
（Synthetic Aperture Radar, SAR）, utilize Doppler's frequency of relative motion generation between radar carrier and target
It moves, Coherent processing will be carried out in the received echo of different location, be that a kind of active declines to obtain the imaging of high-resolution
Wave sensor is mounted on unmanned plane and can be realized round-the-clock, round-the-clock the characteristics of detecting meteorological condition over the ground；The infrared biography
Sensor is forward-looking infrared（Forward-looking Infrared, FLIR）, can be by optical system the infrared spoke of object
Penetrate imaging.The characteristics of based on wind shear " wind speed is in both horizontally and vertically unexpected change dramatically ", establishes wind shear model, principle
It is the Doppler frequency shift special efficacy of radar return, the horizontal wind speed difference in wind shear region is bigger, the center frequency of corresponding Doppler frequency shift
Rate difference is bigger；The form of thunderstorm phenomenon is more complicated, generally indicates the thunderstorm zone of influence with the cylindrical body within the scope of certain altitude
Domain model, by the plane distribution and vertical distribution of SAR echo distribution and strength investigation thunderstorm region, to obtain thunderstorm influence
Regional model；By turbulent flow phenomenon specific, " at the different location in airspace, there are biggish between air speed vector
Difference and change dramatically " establishes Turbulent Model.
In another embodiment, the present invention provides a kind of unmanned planes, as shown in figure 4, the unmanned plane includes calculating
The devices such as machine program 401, processor 403, memory 405, input unit 407.It will be understood by those skilled in the art that Fig. 4 shows
Structure devices out do not constitute all restrictions to unmanned plane, may include than illustrating more or fewer components or group
Close certain components.Memory 405 can be used for storing computer program 401 and each functional module, and the operation of processor 403 is stored in
The computer program 401 of memory 405, thereby executing the various function application and data processing of equipment.Memory 405 can be with
It is built-in storage or external memory, or including both built-in storage and external memory.Input unit 407 is for receiving signal
Input, and receive the input of user.Input unit 407 may include touch panel and other input equipments.Processor 403 is
The control centre of unmanned plane is deposited using each electronic component of various interfaces and connection unmanned plane by running or executing
Store up computer program 401 in memory 403, and call the data being stored in memory 403, perform various functions and
Handle data.
In one embodiment, the unmanned plane includes one or more processors 403, and one or more storages
Device 405, one or more computer programs 401, wherein one or more of computer programs 401 are stored in memory
It in 405 and is configured as being executed by one or more of processors 403, one or more of computer programs 401 configure
The adaptive decision-making method of adverse circumstances is coped with for executing unmanned plane described in above embodiments, including：
Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, the meteorological condition is converted
For corresponding meteorological data；
The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological item in conjunction with the flight parameter of unmanned plane
Threat of the part to the unmanned plane；
It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains corresponding nothing
Man-machine implementation strategy controls unmanned plane progress task according to the implementation strategy and plans again.
In the present embodiment, the sensor for being able to detect meteorological condition is prefixed on unmanned plane, using preset on unmanned plane
Sensor detection unmanned plane preset range in meteorological condition, then convert corresponding meteorological number for the meteorological condition
According to being transmitted, handled to the meteorological data so as to subsequent.It, will after obtaining the meteorological data in unmanned plane preset range
The meteorological data imports bad weather condition mathematical model, restores the practical terrible weather situation suffered from of unmanned plane；Example
Meteorological data imports bad weather condition mathematical model as will be described, obtains the wind speed in unmanned plane preset range horizontal and vertical
Histogram show that unmanned plane suffers from the bad weather condition of wind shear to unexpected change dramatically；Then in conjunction with unmanned plane
Flight parameter calculates the meteorological condition to the Threat of the unmanned plane, the flight parameter include unmanned plane longitude and latitude,
Height above sea level, components temperature, power source surplus, wind and water preventing rank.Determining meteorological condition to the Threat of unmanned plane
Afterwards, it is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, when unmanned plane is met with
When to bad weather condition, it can be assessed according to aerial mission of the Threat to unmanned plane according to the knowledge base,
To obtain the implementation strategy of unmanned plane, unmanned plane progress task can be controlled according to the implementation strategy and planned again.
Further, the computer program 401 controls unmanned plane progress task according to the implementation strategy and plans again,
Including：
The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high preferential
The aerial mission of grade is arranged in front carry out task and plans again, and control unmanned plane executes the aerial mission of the high priority.
Further, after the computer program 401 controls the aerial mission that unmanned plane executes the high priority, also
Including：
Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
Unmanned plane provided in an embodiment of the present invention, can it is adaptive when coping with adverse circumstances, make decisions on one's own, by nobody
Meteorological condition on machine in preset sensor detection unmanned plane preset range, then converts the meteorological condition to accordingly
Bad weather condition mathematical model is imported after meteorological data, calculates the meteorological condition to described in conjunction with the flight parameter of unmanned plane
The Threat of unmanned plane, then commented based on artificial taste intelligent system according to aerial mission of the Threat to unmanned plane
Estimate, obtain implementation strategy of the unmanned plane under the meteorological condition, unmanned plane is according to making corresponding task after the implementation strategy
Again it plans, allows unmanned plane that can cope with the execution of adverse circumstances adjustment task accurately and in time, guarantee unmanned plane in severe gas
As under the conditions of can it is safer, effectively complete aerial mission.
In another embodiment, the present invention provides a kind of computer readable storage medium, computer-readable storage mediums
Computer program is stored in matter, which realizes that unmanned plane described in above-described embodiment copes with severe ring when being executed by processor
The adaptive decision-making method in border.Wherein, the computer readable storage medium includes but is not limited to any kind of disk（Including soft
Disk, hard disk, CD, CD-ROM and magneto-optic disk）,ROM（Read-Only Memory, read-only memory）,RAM（Random
AcceSS Memory, immediately memory）,EPROM（EraSable Programmable Read-Only Memory, it is erasable
Programmable read only memory）,EEPROM（Electrically EraSable Programmable Read-Only Memory,
Electrically Erasable Programmable Read-Only Memory）, flash memory, magnetic card or light card.It is, storage equipment includes by equipment（Example
Such as, computer, mobile phone）With any medium for the form storage or transmission information that can be read, can be read-only memory, disk or
CD etc..
A kind of computer readable storage medium provided in an embodiment of the present invention is, it can be achieved that based on sensing preset on unmanned plane
Device detects the meteorological condition in unmanned plane preset range, converts corresponding meteorological data for the meteorological condition；By the gas
Image data imports bad weather condition mathematical model, in conjunction with unmanned plane flight parameter calculate the meteorological condition to it is described nobody
The Threat of machine；It is assessed, is obtained according to aerial mission of the Threat to unmanned plane by artificial taste intelligent system
The implementation strategy of corresponding unmanned plane controls unmanned plane progress task according to the implementation strategy and plans again.By providing one
Adaptive, the method made decisions on one's own when kind of unmanned plane reply adverse circumstances, pass through sensor preset on unmanned plane and detect nothing
Meteorological condition in man-machine preset range imports terrible weather after then converting corresponding meteorological data for the meteorological condition
Conditional mathematical model calculates the meteorological condition to the Threat of the unmanned plane in conjunction with the flight parameter of unmanned plane, then is based on
Artificial taste intelligent system is assessed according to aerial mission of the Threat to unmanned plane, obtains unmanned plane in the meteorology item
Implementation strategy under part, unmanned plane plan again according to corresponding task is made after the implementation strategy, allow unmanned plane can and
When, accurately reply adverse circumstances adjustment task execution, guarantee unmanned plane can be safer, effective under bad weather condition
Complete aerial mission in ground.
Above-mentioned unmanned plane reply adverse circumstances may be implemented in computer readable storage medium provided in an embodiment of the present invention
The embodiment of adaptive decision-making method, concrete function realize the explanation referred in embodiment of the method, and details are not described herein.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of adaptive decision-making method of unmanned plane reply adverse circumstances, which is characterized in that include the following steps：
Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, the meteorological condition is converted
For corresponding meteorological data；
The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological item in conjunction with the flight parameter of unmanned plane
Threat of the part to the unmanned plane；
It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains corresponding nothing
Man-machine implementation strategy controls unmanned plane progress task according to the implementation strategy and plans again.
2. the method according to claim 1, wherein described appointed according to implementation strategy control unmanned plane
It is engaged in planning again, including：
The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high preferential
The aerial mission of grade is arranged in front carry out task and plans again, and control unmanned plane executes the aerial mission of the high priority.
3. according to the method described in claim 2, it is characterized in that, the control unmanned plane executes the flight of the high priority
After task, further include：
Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
4. the method according to claim 1, wherein the sensor includes temperature sensor, it is described will be described
Meteorological condition is converted into after corresponding meteorological data, further includes：
When the meteorological condition is lower than temperature threshold value, the self-heating system for controlling unmanned plane adds the specified part of unmanned plane
Heat is to predetermined temperature.
5. described the method according to claim 1, wherein the sensor includes radar and infrared sensor
Bad weather condition mathematical model includes wind shear model, thunderstorm imagery zone model, Turbulent Model.
6. a kind of unmanned plane, which is characterized in that including one or more processors；Memory；One or more computer programs,
Wherein one or more of computer programs are stored in the memory and are configured as by one or more of
It manages device to execute, one or more of computer programs are configured to carry out：
Based on the meteorological condition in sensor detection unmanned plane preset range preset on unmanned plane, the meteorological condition is converted
For corresponding meteorological data；
The meteorological data is imported into bad weather condition mathematical model, calculates the meteorological item in conjunction with the flight parameter of unmanned plane
Threat of the part to the unmanned plane；
It is assessed by artificial taste intelligent system according to aerial mission of the Threat to unmanned plane, obtains corresponding nothing
Man-machine implementation strategy controls unmanned plane progress task according to the implementation strategy and plans again.
7. unmanned plane according to claim 6, which is characterized in that the computer program is controlled according to the implementation strategy
Unmanned plane carries out task and plans again, including：
The currently outstanding aerial mission of unmanned plane is obtained, determines the priority of the unfinished aerial mission, it will be high preferential
The aerial mission of grade is arranged in front carry out task and plans again, and control unmanned plane executes the aerial mission of the high priority.
8. unmanned plane according to claim 7, which is characterized in that the computer program control unmanned plane executes the height
After the aerial mission of priority, further include：
Control unmanned plane abandons executing the aerial mission of low priority, and unmanned plane is made to return to preset landing destination.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program realize unmanned plane reply adverse circumstances described in any one of claim 1 to 5 when being executed by processor
Adaptive decision-making method.
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