CN109032157A - Unmanned plane imitative ground operational method, device, equipment and storage medium - Google Patents
Unmanned plane imitative ground operational method, device, equipment and storage medium Download PDFInfo
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- CN109032157A CN109032157A CN201810813213.4A CN201810813213A CN109032157A CN 109032157 A CN109032157 A CN 109032157A CN 201810813213 A CN201810813213 A CN 201810813213A CN 109032157 A CN109032157 A CN 109032157A
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- Prior art keywords
- radar
- unmanned plane
- inclination angle
- speed
- vertical direction
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention discloses a kind of unmanned plane imitative ground operational method, device, equipment and storage mediums.The described method includes: calculating the radar inclination angle of the unmanned plane according to the current flight speed of unmanned plane and the delay time of radar, the radar inclination angle is the angle between the direction of the launch and vertical direction of radar wave；According to the radar inclination angle to the radar holder be adjusted after, control the radar emission radar wave and determine the detection range ground incidence point from the launch point of radar wave to radar wave；According to the detection range of acquisition and the radar inclination angle, the vertical direction flying speed of the unmanned plane is adjusted, so that unmanned plane tracking landform flight.The embodiment of the present invention can adjust unmanned plane imitative ground height in time, avoid measurement delay that unmanned plane is caused to hit accident.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique more particularly to a kind of unmanned plane imitative ground operational method, device, equipment and
Storage medium.
Background technique
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.With
The rapid development of unmanned plane industry, the characteristics of unmanned plane is fast with its speed, flexible operation be widely used, especially agricultural,
In terms of forestry plant protection, agricultural plant protection unmanned plane has big advantage relative to other agricultural machines.
The working space of agricultural plant protection unmanned plane includes flat-bottomed land and hypsography area, and hypsography area refers to hills
Area, mountainous region and terraced fields etc., in carrying out operation process, in order to enable medicaments uniformity is sprayed on crop, improves operating efficiency,
Unmanned plane at a distance from institute's long-term cropping needs are kept constant in working space, i.e. unmanned plane with the imitative ground operation of surface relief,
The height that unmanned plane is kept constant with ground always.
When the imitative ground flight of existing unmanned plane, it usually needs radar is installed in uav bottom, by radar to unmanned plane just
Lower section emits radar wave, determines unmanned plane and ground immediately below it by echo of the radar wave through ground return time immediately below it
The distance between, the flying height of unmanned plane is adjusted according to this distance.However due to radar included measurement delay time itself, no
The radar measured data at topography variation can be obtained in time to be adjusted to unmanned plane during flying posture, so as to cause unmanned plane hair
Raw shock accident, and then unmanned plane is caused to fall damage.
Summary of the invention
The embodiment of the invention provides a kind of unmanned plane imitative ground operational method, device, equipment and storage mediums, can be timely
The height that adjustment unmanned plane flies imitatively avoids measurement delay that unmanned plane is caused to hit accident.
In a first aspect, the embodiment of the invention provides a kind of unmanned plane imitative ground operational methods, comprising:
According to the current flight speed of unmanned plane and the delay time of radar, the radar inclination angle of the unmanned plane is calculated,
The radar inclination angle is the angle between the direction of the launch and vertical direction of radar wave；
According to the radar inclination angle to the radar holder be adjusted after, control the radar emission radar wave
And the detection range the determining ground incidence point from the launch point of radar wave to radar wave；
Wherein, radar wave is emitted based on the radar inclination angle, when determining the detection range, the unmanned plane can
It enters in the effective adjustment region determined by the surface of the ground incidence point；
According to the detection range of acquisition and the radar inclination angle, the vertical direction flight speed of the unmanned plane is adjusted
Degree, so that unmanned plane tracking landform flight.
Second aspect, the embodiment of the invention also provides a kind of unmanned plane imitative ground apparatus for work, comprising:
Radar inclination angle determining module, for calculating according to the current flight speed of unmanned plane and the delay time of radar
The radar inclination angle of the unmanned plane, the radar inclination angle are the angle between the direction of the launch and vertical direction of radar wave；
Detection range obtain module, for according to the radar inclination angle to the radar holder be adjusted after,
Control the radar emission radar wave and determine the detection ground incidence point from the launch point of radar wave to radar wave away from
From；Wherein, radar wave is emitted based on the radar inclination angle, when determining the detection range, the unmanned plane is able to enter
In the effective adjustment region determined to the surface by the ground incidence point；
Flying speed adjusts module, for according to acquisition the detection range and the radar inclination angle, described in adjustment
The vertical direction flying speed of unmanned plane, so that unmanned plane tracking landform flight.
The third aspect the embodiment of the invention also provides a kind of equipment, including memory, processor and is stored in memory
Processor described in the upper and computer program that can run on a processor is realized in such as embodiment of the present invention when executing described program
Any unmanned plane imitative ground operational method.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the unmanned plane imitative ground operational method as described in any in the embodiment of the present invention when program is executed by processor.
The embodiment of the present invention is according to unmanned plane current flight speed and the delay time for the radar being loaded on unmanned plane
The radar inclination angle of the radar is adjusted, and adjustment vertical direction flying speed is finally realized based on radar inclination angle, it can be in unmanned plane
Guarantee that unmanned plane can adjust vertical direction flying speed according to landform in time when excessive velocities, realization copies landform to adjust nobody
The flying height of machine solves in the prior art since the delay time of radar causes the unmanned plane of excessive velocities that cannot adjust in time
Whole flight attitude causes the problem of smashing accident, is adapted to topography variation and flexibly adjusts the flying height of unmanned plane in time and erect
Histogram is to flying speed, to avoid the delay time of radar surveying distance that unmanned plane is caused to hit accident.
Detailed description of the invention
Fig. 1 a is a kind of flow chart for unmanned plane imitative ground operational method that the embodiment of the present invention one provides；
Fig. 1 b is a kind of schematic diagram for concrete application scene that the embodiment of the present invention one provides；
Fig. 1 c is a kind of schematic diagram for concrete application scene that the embodiment of the present invention one provides；
Fig. 1 d is a kind of schematic diagram for concrete application scene that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural schematic diagram of unmanned plane provided by Embodiment 2 of the present invention imitative ground apparatus for work；
Fig. 3 is a kind of structural schematic diagram for equipment that the embodiment of the present invention three provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
Many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be pacified again
Row.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.Institute
Stating processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 a is a kind of flow chart for unmanned plane imitative ground operational method that the embodiment of the present invention one provides, and the present embodiment can fit
For the height that unmanned plane is kept constant with ground always, changed with adaptation to the ground and carry out handling situations, this method can be by this
The unmanned plane that inventive embodiments provide imitates ground apparatus for work to execute, and the mode which can be used software and/or hardware is realized,
And it can generally be integrated in unmanned machine equipment.As shown in Figure 1a, the method for the present embodiment specifically includes:
S110 calculates the radar of the unmanned plane according to the current flight speed of unmanned plane and the delay time of radar
Inclination angle, the radar inclination angle are the angle between the direction of the launch and vertical direction of radar wave.
In the present embodiment, the current flight speed of unmanned plane can be decomposed into horizontal direction component velocity and vertical side
To component velocity, wherein the component velocity of horizontal direction can be preset constant speed for determining radar inclination angle, can also
To be the speed changed at any time；And vertical direction component velocity is for adjusting drone flying height.The delay time of radar can be with
Refer to, the time needed for distance measurement process is being carried out by radar, wherein the time may include radar emission radar wave
Emission time to receive time of the radar wave between time of reception after ground return, unmanned plane is issued to radar and is measured
The time etc. of control instruction.
It is understood that since measurement needs the time to radar during measuring height of the unmanned plane to ground, together
When measurement when can exist delay, if unmanned plane reach sensing point surface when just start to measure it to underface ground
Highly, and according to measurement the height obtained carries out the adjustment of vertical direction flying speed to realize that flying height adjusts, and leads to nothing
Man-machine flight attitude lags behind topography variation, so that unmanned plane not can guarantee its constant height apart from ground, in some instances it may even be possible to
Unmanned plane occurs and hits accident.Therefore, it is necessary to unmanned plane reach need to change vertical direction flying height place before,
Start in advance measure unmanned plane to ground height.
Specifically, measurement unmanned plane to ground height calculation method it is as shown in Figure 1 b, the radar inclination angle of unmanned plane is
α, unmanned plane imitative ground height (i.e. apart from the constant altitude on ground) are H0, when unmanned plane during flying is to X point, at this point, unmanned plane is logical
The radar wave emitted according to radar inclination alpha is crossed, determines that unmanned plane (launch point of X point namely radar wave) enters to the ground of radar wave
The distance R of exit point, correspondingly, can be determined based on following formula unmanned plane to radar wave ground incidence point horizontal distance L
And unmanned plane reaches the time Δ t of the surface of the ground incidence point of radar wave:
L=Rgsin α
It is available based on above-mentioned formula:
Further,
Wherein, V0For the horizontal direction component velocity of the current flight speed.It is understood that since radar is measuring
When there are delay times, if starting the height for measuring it apart from ground when unmanned plane is right above C point, will lead to unmanned plane and exist
It lags behind the position right above C point just to start to carry out flying speed adjustment according to the position of C point, so that it is imitative not can guarantee unmanned plane
Ground flight.Therefore, it is desirable to the delay time T of time Δ t and radardIt is equal, so that unmanned plane reaches the position right above C point
When can just obtain distance R, it might even be possible to unmanned plane is obtained based on distance R and needs mobile height (scheming in vertical direction
Δ H corresponds to the climb altitude of unmanned plane in 1b).
In general, such as Δ t < TdWhen, if front landform is raised landform (C point as shown in Figure 1 b), unmanned plane
Start to measure the distance that unmanned plane arrives high spot C point at this time at A point, also not when unmanned plane has arrived at the surface of C point
Measurement data is obtained, unmanned plane can not make flight attitude (flying speed and altitude etc.) adjustment, to fly in unmanned plane
In a lower height of situation of row, unmanned plane may strike the raised landform in front, cause to damage.
For another example, as Δ t > TdWhen, if front landform is lower concave relief, (C point as illustrated in figure 1 c), unmanned plane is at A point
Start to measure the distance that unmanned plane arrives lower recess C point at this time, unmanned plane is before the surface for reaching C point, namely does not reach
Unmanned plane during flying pose adjustment is had begun at topography variation, just so as to which there is a phenomenon where hit ground.
Therefore, as Δ t=TdWhen determine that unmanned plane during flying speed (is primarily referred to as the horizontal direction point of current flight speed
Speed) and radar inclination angle between relationship it is best.
Optionally, as shown in Figure 1 d, vertical direction acceleration a can be determined based on following formula2:
Δ H=H0-Rcosα
Wherein, Δ H is the height of the mobile height of unmanned plane vertical direction namely C point boss, H0For imitative ground height, R is
The detection range the incidence point of ground from the launch point of radar wave to radar wave, α are radar inclination angle, V1For vertical direction speed
Degree, Δ t be unmanned plane from X point to C point right above needed for flight time, and Δ t=Td, TdFor the delay time of radar, V0For
The horizontal direction component velocity of the current flight speed.
Final solve obtains:
In conjunction with following formula:
Δ t=Td
It can determine:
Namely:
So as to obtain:
Wherein, ground height H is imitated0It is the preset operation height of user, vertical direction acceleration a2It can refer to unmanned plane
The vertical acceleration that can be born, value range are [- 4,4], specifically can according to need and are configured, such as can be set vertical
Straight directional acceleration a2It is 2, the delay time T of radardIt is to be determined by radar itself, can be determined in advance through overtesting, it is current to fly
The horizontal direction component velocity V of scanning frequency degree0It can be obtained according to current flight resolution of velocity.Radar inclination angle is by current flight as a result,
Speed determines, to realize that unmanned plane speed and radar inclination angle are adapted.
It is thus possible to obtain the current flight speed of unmanned plane in real time, radar inclination angle is calculated based on following formula:
It is only made of the speed of horizontal direction it should be noted that the current flight speed of unmanned plane can be, i.e., currently
Flying speed is equal to its horizontal direction component velocity.
In addition, such as Fig. 1 b- Fig. 1 c, when radar inclination angle is bigger, according to L=Rgsin α determining unmanned plane to the ground of radar wave
The horizontal distance L of face incidence point is bigger, that is to say, that when the component velocity of the horizontal direction of unmanned plane is faster, radar inclination angle needs
It is corresponding to increase, it is incident to the ground of radar wave just to can guarantee that unmanned plane obtains unmanned plane when reaching right above sensing point just
The distance R of point.
S120, according to the radar inclination angle to the radar holder be adjusted after, control the radar emission
Detection range radar wave and the determining ground incidence point from the launch point of radar wave to radar wave；Wherein, based on described
Radar inclination angle emits radar wave, and when determining the detection range, the unmanned plane is able to enter incident by the ground
In effective adjustment region that the surface of point determines.
In the present embodiment, the radar on unmanned plane is mounted on a 2 axis follower steering devices, which specifically refers to
Pitching, yaw twin shaft holder can be turned to moving before or after unmanned plane, to detect obliquely downward landform (front or rear).It needs
Illustrate, to radar carry out angle adjustment actually refer to radar holder carry out angle adjustment.On unmanned plane
Flight controller adjusts radar inclination angle according to unmanned plane during flying speed (being mainly horizontally oriented component velocity) in real time, nobody
When machine travels forward, radar leans forward detection, to detect the oblique front lower place landform in unmanned plane during flying direction；Unmanned plane moves backward
When, holder back track makes it detect oblique back lower place landform to adjust radar.Moreover, unmanned plane during flying speed is faster, radar
Tilt angle namely radar are bigger.
Specifically, ground incidence point can refer to the point on emitting radar waves to ground, it may also mean that and visited for measuring
Ranging from target point, such as the C point of Fig. 1 b- Fig. 1 d.Unmanned plane can determine it to the sensing point on ground by radar
Distance, specifically radar are along the direction at radar inclination angle, and direction emits radar wave to the ground, by radar wave through ground below
The echo being reflected back determines the distance between unmanned plane ground incidence point opposite with radar wave, determines unmanned plane according to this distance
The flying height of unmanned plane is adjusted at a distance from immediately below it, wherein sensing point is incidence point of the radar wave on ground.It is practical
On, unmanned plane carries out range measurement by transmitting radar wave in advance, and when unmanned plane is just past sensing point, at this time without
It is man-machine the distance between with sensing point, as height of the unmanned plane apart from ground at this time.
It is understood that there is error in distance, speed that measurement obtains, thus, as long as guaranteeing unmanned plane in determination
When detection range in effective adjustment region of the surface of ground incidence point, specifically, effectively adjustment region can be
Refer to the range areas of default settings.Wherein, which can be according to the radar ranging accuracy of unmanned plane, unmanned plane
The rate accuracy or other parameters of velocity sensor determine, are not specifically limited to this embodiment of the present invention.
The embodiment of the present invention passes through 1 thunder being arranged on the holder (2 axis follower steering device) of angle rotatable as a result,
Up to the radar inclination angle for realizing adjustment radar emission radar wave, and then realize the distance for obtaining unmanned plane in time to radar detection point.
S130 adjusts the current flight of the unmanned plane according to the detection range of acquisition and the radar inclination angle
Speed, so that unmanned plane tracking landform flight.
In the present embodiment, unmanned plane can be obtained according to script flight path according to detection range and radar Dip countion
Height when reaching the surface of ground incidence point apart from ground determines that unmanned plane needs further according to preset imitative ground height
The mobile height and the corresponding target vertical direction speed risen or fallen risen or fallen, thus vertical based on target
Direction speed and mobile Level Change throttle amount adjust vertical direction flying speed, adjust vertical direction flying height to realize,
It flies imitatively to realize.
As a result, only by carrying a radar, it can be realized that unmanned plane is flat to fly, fly imitatively under pitching and roll attitude
Row reduces body occupied space and body load, is conducive to improve unmanned plane cruise duration, meanwhile, only also by the radar
It may be implemented to adjust unmanned plane during flying posture in time, improve the safety of the flight of unmanned plane.
It, can be according to the detection range and the radar Dip countion mesh in another optional embodiment of the invention
Vertical direction speed is marked, and the vertical direction flying speed of the unmanned plane is adjusted to the target vertical direction speed.Tool
Body, it is described according to the detection range and the radar Dip countion target vertical direction speed, it may include: based on as follows
Formula calculates target vertical direction speed:
Δ H=H0-Rcosα
Wherein, Δ H is the mobile height of the unmanned plane vertical direction, H0For imitative ground height, R is the transmitting from radar wave
For point to the detection range between the ground incidence point of radar wave, α is radar inclination angle, V1For target vertical direction speed, V0It is described
The horizontal direction component velocity of current flight speed.
The flight controller of unmanned plane adjusts throttle according to the mobile height and target vertical direction speed of acquisition as a result,
Amount changes vertical direction flying speed, and then changes current flying altitude, and control unmanned plane moves acquisition in the vertical direction
Mobile height, finally makes unmanned plane that setting height be kept to fly imitatively.
In a specific example, as shown in Figure 1 d, imitative ground height is preset in the flight controller of unmanned plane
H0, vertical direction acceleration a2, the delay time T of radard.Unmanned plane, can be real-time by velocity sensor in flight course
It obtains current flight speed and sends flight controller to, holder is controlled after flight controller is handled and adjusts radar inclination alpha.Tool
Body is: when unmanned plane is at X point, flight controller obtains current flight speed and is calculated according to current flight speed and obtains and be somebody's turn to do
The corresponding radar inclination angle of speed, control holder movement is to adjust radar inclination angle.X point is measured to C based on radar inclination angle adjusted
The detection range of point.Unmanned plane continues to fly, by the delay time T of radard, obtained when right above unmanned plane during flying to C point
Obtain the radar detection range of X point to C point measured by X point.According to the detection range calculate after obtain unmanned plane C point just on
The target vertical direction speed of side, and the vertical direction flying speed of unmanned plane is adjusted to target vertical direction speed, in turn
Realize that the flying height adaptation to the ground variation of adjustment unmanned plane fly imitatively.
It is thus possible to the multi-faceted measurement of multi-angle is realized by the radar for carrying a usable rotational direction on unmanned plane,
The flying speed and flying height for not only realizing adjustment unmanned plane in time, can also reduce unmanned plane load number and body accounts for
With space, be conducive to mitigate body weight, improve unmanned plane cruise duration, in turn, improves unmanned plane (plant protection) operating efficiency, change
Kind (plant protection) operation effectiveness.
The embodiment of the present invention is according to unmanned plane current flight speed and the delay time for the radar being loaded on unmanned plane
The radar inclination angle of the radar is adjusted, and adjustment vertical direction flying speed is finally realized based on radar inclination angle, it can be in unmanned plane
Guarantee that unmanned plane can adjust vertical direction flying speed according to landform in time when excessive velocities, realization copies landform to adjust nobody
The flying height of machine solves in the prior art since the delay time of radar causes the unmanned plane of excessive velocities that cannot adjust in time
Whole flight attitude causes the problem of smashing accident, is adapted to topography variation and flexibly adjusts the flying height of unmanned plane in time and erect
Histogram is to flying speed, to avoid the delay time of radar surveying distance that unmanned plane is caused to hit accident.
On the basis of the above embodiments, optionally, it is set when the horizontal direction component velocity of the current flight speed is less than
When determining threshold speed, adjust the radar inclination angle be 0 ° so that the detections of radar immediately below landform, unmanned plane keep hovering with
Track.
It is understood that the flying speed of unmanned plane is slower, the time that unmanned plane reaches ground incidence point is longer, from
And radar inclination angle is smaller, when the flying speed of unmanned plane is excessively slow, radar can detect ground immediately below unmanned plane vertically downward
Shape keeps hovering tracking landform flight.
Embodiment two
Fig. 2 is a kind of structural schematic diagram of unmanned plane imitative ground provided by Embodiment 2 of the present invention apparatus for work.Such as Fig. 2 institute
Show, described device includes:
Radar inclination angle determining module 210, for according to the current flight speed of unmanned plane and the delay time of radar, meter
The radar inclination angle of the unmanned plane is calculated, the radar inclination angle is the angle between the direction of the launch and vertical direction of radar wave；
Detection range obtain module 220, for according to the radar inclination angle to the radar holder be adjusted
Afterwards, it controls the radar emission radar wave and determines the detection the ground incidence point from the launch point of radar wave to radar wave
Distance；Wherein, radar wave is emitted based on the radar inclination angle, when determining the detection range, the unmanned plane can be into
Enter in the effective adjustment region determined to the surface by the ground incidence point；
Flying speed adjust module 230, for according to acquisition the detection range and the radar inclination angle, adjust institute
The vertical direction flying speed of unmanned plane is stated, so that unmanned plane tracking landform flight.
The embodiment of the present invention is according to unmanned plane current flight speed and the delay time for the radar being loaded on unmanned plane
The radar inclination angle of the radar is adjusted, and adjustment vertical direction flying speed is finally realized based on radar inclination angle, it can be in unmanned plane
Guarantee that unmanned plane can adjust vertical direction flying speed according to landform in time when excessive velocities, realization copies landform to adjust nobody
The flying height of machine solves in the prior art since the delay time of radar causes the unmanned plane of excessive velocities that cannot adjust in time
Whole flight attitude causes the problem of smashing accident, is adapted to topography variation and flexibly adjusts the flying height of unmanned plane in time and erect
Histogram is to flying speed, to avoid the delay time of radar surveying distance that unmanned plane is caused to hit accident.
Further, the radar Inclination maneuver module 210, is used for: obtaining the current flight speed of unmanned plane, and is based on
Following formula calculates radar inclination angle:
Wherein, α is radar inclination angle, H0For imitative ground height, a2For vertical direction acceleration, TdFor the radar delay when
Between, V0For the horizontal direction component velocity of current flight speed.
Further, the flying speed adjusts module 230, is used for: according to the detection range and the radar inclination angle
Target vertical direction speed is calculated, and the vertical direction flying speed of the unmanned plane is adjusted to the target vertical direction speed
Degree.
Further, the flying speed adjusts module 230, is used for: calculating target side vertically based on following formula
To speed:
Δ H=H0-Rcosα
Wherein, Δ H is the mobile height of the unmanned plane vertical direction, H0For imitative ground height, R is the transmitting from radar wave
For point to the detection range between the ground incidence point of radar wave, α is radar inclination angle, V1For target vertical direction speed, V0It is described
The horizontal direction component velocity of current flight speed.
Further, described device further include: when the horizontal direction component velocity of the current flight speed is less than setting speed
When spending threshold value, adjusting the radar inclination angle is 0 °, so that landform immediately below the detections of radar, unmanned plane keeps hovering tracking.
Unmanned plane provided by any embodiment of the invention imitative ground operator can be performed in above-mentioned unmanned plane imitative ground apparatus for work
Method has the corresponding functional module of unmanned plane imitative ground operational method and beneficial effect of execution.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for equipment that the embodiment of the present invention three provides, as shown in figure 3, the equipment includes place
Manage device 310, memory 320, input unit 330 and output device 340；In equipment the quantity of processor 310 can be one or
It is multiple, in Fig. 3 by taking a processor 310 as an example；Processor 310, memory 320, input unit 330 and output dress in equipment
Setting 340 can be connected by bus or other modes, in Fig. 3 for being connected by bus.
Memory 320 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as the unmanned plane in the embodiment of the present invention imitates the ground corresponding program instruction of operation or module (for example, unmanned plane is imitative
Radar inclination angle determining module 210, detection range in ground apparatus for work obtain module 220 and flying speed adjusts module 230).
Software program, instruction and the module that processor 310 is stored in memory 320 by operation, thereby executing the various of equipment
The imitative ground operation of above-mentioned unmanned plane is realized in functional application and data processing.
Memory 320 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 320 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 320 can be into one
Step includes the memory remotely located relative to processor 310, these remote memories can pass through network connection to equipment.On
The example for stating network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 330 can be used for receiving the number or character information of input, and generate with the user setting of equipment with
And the related key signals input of function control.
Example IV
The embodiment of the present invention four provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The unmanned plane imitative ground operational method provided such as all inventive embodiments of the application is provided when sequence is executed by processor:
That is, realization when the program is executed by processor: according to the current flight speed of unmanned plane and the delay of radar
Time, the radar inclination angle of the unmanned plane is calculated, the radar inclination angle is between the direction of the launch and vertical direction of radar wave
Angle；According to the radar inclination angle to the radar holder be adjusted after, control the radar emission radar wave simultaneously
Determine the detection range the ground incidence point from the launch point of radar wave to radar wave；Wherein, it is based on the radar inclination angle
Emit radar wave, when determining the detection range, the unmanned plane be able to enter by the ground incidence point just on
In the effective adjustment region just determined；According to the detection range of acquisition and the radar inclination angle, the unmanned plane is adjusted
Vertical direction flying speed so that the unmanned plane tracking landform flight.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, RAM, read-only memory (Read Only of one or more conducting wires
Memory, ROM), erasable programmable read only memory (Erasable Programmable Read Only Memory,
EPROM), flash memory, optical fiber, portable CD-ROM, light storage device, magnetic memory device or above-mentioned any appropriate combination.
In this document, it includes or the tangible medium of storage program that the program can be by that computer readable storage medium, which can be any,
Instruction execution system, device or device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, radio frequency (RadioFrequency, RF) etc. or above-mentioned any appropriate group
It closes.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
It is related in the situation of remote computer, remote computer can pass through the network of any kind --- including LAN or WAN --- even
It is connected to subscriber computer, or, it may be connected to outer computer (such as pass through internet using ISP
Connection).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of unmanned plane imitative ground operational method characterized by comprising
According to the current flight speed of unmanned plane and the delay time of radar, the radar inclination angle of the unmanned plane is calculated, it is described
Radar inclination angle is the angle between the direction of the launch and vertical direction of radar wave；
According to the radar inclination angle to the radar holder be adjusted after, control the radar emission radar wave and true
Detection range the fixed ground incidence point from the launch point of radar wave to radar wave；
Wherein, radar wave is emitted based on the radar inclination angle, when determining the detection range, the unmanned plane is able to enter
In the effective adjustment region determined to the surface by the ground incidence point；
According to the detection range of acquisition and the radar inclination angle, the vertical direction flying speed of the unmanned plane is adjusted,
So that the unmanned plane tracking landform flight.
2. the method according to claim 1, wherein the current flight speed and radar according to unmanned plane
Delay time, calculate the radar inclination angle of the unmanned plane, comprising:
The current flight speed of unmanned plane is obtained in real time, and radar inclination angle is calculated based on following formula:
Wherein, α is radar inclination angle, H0For imitative ground height, a2For vertical direction acceleration, TdFor the delay time of the radar, V0
For the horizontal direction component velocity of the current flight speed.
3. the method according to claim 1, wherein the detection range and the thunder according to acquisition
Up to inclination angle, the vertical direction flying speed of the unmanned plane is adjusted, comprising:
According to the detection range and the radar Dip countion target vertical direction speed, and by the vertical side of the unmanned plane
It adjusts to flying speed to the target vertical direction speed.
4. according to the method described in claim 3, it is characterized in that, described according to the detection range and the radar inclinometer
Calculate target vertical direction speed, comprising:
Target vertical direction speed is calculated based on following formula:
Δ H=H0-Rcosα
Wherein, Δ H is the mobile height of the unmanned plane vertical direction, H0For imitative ground height, R be from the launch point of radar wave to
Detection range between the ground incidence point of radar wave, α are radar inclination angle, V1For target vertical direction speed, V0It is described current
The horizontal direction component velocity of flying speed.
5. the method according to claim 1, wherein further include:
When the horizontal direction component velocity of the current flight speed is less than setting speed threshold value, adjusting the radar inclination angle is
0 °, so that landform immediately below the detections of radar, unmanned plane keeps hovering tracking.
6. a kind of unmanned plane imitative ground apparatus for work characterized by comprising
Radar inclination angle determining module, for according to the current flight speed of unmanned plane and the delay time of radar, described in calculating
The radar inclination angle of unmanned plane, the radar inclination angle are the angle between the direction of the launch and vertical direction of radar wave；
Detection range obtain module, for according to the radar inclination angle to the radar holder be adjusted after, control
Detection range the radar emission radar wave and the determining ground incidence point from the launch point of radar wave to radar wave；Its
In, radar wave is emitted based on the radar inclination angle, when determining the detection range, the unmanned plane is able to enter by institute
It states in effective adjustment region of surface determination of ground incidence point；
Flying speed adjust module, for according to acquisition the detection range and the radar inclination angle, adjust it is described nobody
The vertical direction flying speed of machine, so that unmanned plane tracking landform flight.
7. device according to claim 6, which is characterized in that the radar Inclination maneuver module is used for:
The current flight speed of unmanned plane is obtained, and radar inclination angle is calculated based on following formula:
Wherein, α is radar inclination angle, H0For imitative ground height, a2For vertical direction acceleration, TdFor the delay time of the radar, V0
For the horizontal direction component velocity of current flight speed.
8. device according to claim 6, which is characterized in that the flying speed adjusts module, is used for: according to the spy
Ranging from the radar Dip countion target vertical direction speed, and by the vertical direction flying speed of the unmanned plane adjust
To the target vertical direction speed.
9. a kind of equipment including memory, processor and stores the computer journey that can be run on a memory and on a processor
Sequence, which is characterized in that the processor is realized when executing described program as unmanned plane as claimed in any one of claims 1 to 5 is imitative
Operational method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
It is realized when execution such as unmanned plane as claimed in any one of claims 1 to 5 imitative ground operational method.
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| CN109828274A (en) * | 2019-01-07 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar |
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