CN109782791A - A kind of landing method and device of unmanned plane - Google Patents
A kind of landing method and device of unmanned plane Download PDFInfo
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- CN109782791A CN109782791A CN201711124943.5A CN201711124943A CN109782791A CN 109782791 A CN109782791 A CN 109782791A CN 201711124943 A CN201711124943 A CN 201711124943A CN 109782791 A CN109782791 A CN 109782791A
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Abstract
The present invention provides a kind of landing method of unmanned plane and device, the method is applied to the unmanned plane of vehicle load, and the vehicle includes aircraft gate and at least one magnetic field generation device；The unmanned plane includes at least one magnetic field sensor；The described method includes: when the unmanned plane receive make a return voyage instruct when, obtain Relative Navigation parameter of the unmanned plane relative to the vehicle in real time；When the Relative Navigation parameter meets the first preset condition, the magnetic field parameter of the magnetic field sensor is obtained in real time；When the magnetic field parameter is matched with default magnetic field parameter, the unmanned plane landing is controlled；The default magnetic field parameter is corresponding with the default shutdown datum mark of the aircraft gate.The landing method of unmanned plane of the present invention realizes accurate landing of the unmanned plane on vehicle-mounted aircraft gate by Magnetic oriented.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to the landing method and device of a kind of unmanned plane.
Background technique
When vehicle front is excessively curved, because there are vision dead zones, upcoming traffic situation can not be prejudged；When vehicle front traffic is gathered around
When stifled, unknown congestion status can not prejudge the information such as duration of congestion, distance；Currently, vehicle-mounted unmanned aerial vehicle can assist driver etc.
Acquisition image, video information are transmitted in vehicle host system, driver's mobile terminal or emergency contact's equipment, are driven with reaching
Sail the purpose of information propagation.
There are a kind of unmanned planes being set in the compartment of automobile for first technology, ambient image when for emergency relief
It obtains；The unmanned plane includes body, is set to the central control system of the internal body, and is controlled respectively with the center
The GPS navigator of system connection, imaging mechanism, searchlighting mechanism and loudspeaker, laser emitter, and it is used for GPS navigation
Instrument, imaging mechanism, searchlighting mechanism and loudspeaker, the battery of laser emitter power supply.It additionally, there may be a kind of with unmanned plane
The automotive controls of detection system, including automobile and unmanned plane, by the unmanned plane shooting front road conditions for being located at vehicle front
Image, and the host system for being transmitted to automobile is shown.
But although unmanned plane is easy to take off from vehicle, but when unmanned plane needs to land recycling, it is accurate to be but difficult to
It drops on the aircraft gate of vehicle, and formerly technology does not have corresponding solution to this.
Summary of the invention
In view of this, the present invention is directed to propose a kind of landing method of unmanned plane, can not solve nothing to solve first technology
The man-machine problem precisely dropped on the aircraft gate of vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of landing method of unmanned plane, applied to the unmanned plane of vehicle load, the vehicle includes aircraft gate and at least
One magnetic field generation device；The unmanned plane includes at least one magnetic field sensor；The described method includes:
When the unmanned plane receive make a return voyage instruct when, obtain the unmanned plane in real time and being led relative to the opposite of the vehicle
Boat parameter；
When the Relative Navigation parameter meets the first preset condition, the magnetic field ginseng of the magnetic field sensor is obtained in real time
Number；
When the magnetic field parameter is matched with default magnetic field parameter, the unmanned plane landing is controlled；The default magnetic field ginseng
Number is corresponding with the default shutdown datum mark of the aircraft gate.
Further, described when the magnetic field parameter is matched with default magnetic field parameter, the unmanned plane landing is controlled
The step of before, further includes:
Pair according to the magnetic field parameter of measured in advance between the relatively described default magnetic field position parameter for shutting down datum mark
It should be related to, obtain magnetic field position parameter corresponding with the magnetic field parameter；
According to the magnetic field position parameter, unmanned plane described in real-time control is leaned on to the default shutdown datum mark of the aircraft gate
Closely.
Further, the Relative Navigation parameter includes relative distance parameter, relative position parameter and relative attitude parameter；
The Relative Navigation parameter meets the first preset condition
The relative distance parameter is less than the first pre-determined distance, and above the relative position parameter and preset aircraft gate
Region Matching, the relative attitude parameter are less than posture preset threshold.
It is further, described to obtain Relative Navigation parameter of the unmanned plane relative to the vehicle in real time, comprising:
The first GPS navigation parameter of the unmanned plane is obtained in real time；
Second GPS navigation parameter of the vehicle that vehicle described in real-time reception is sent；
According to the first GPS navigation parameter and the second GPS navigation parameter, the unmanned plane phase is calculated in real time
For the Relative Navigation parameter of the vehicle.
Further, the Relative Navigation parameter includes relative distance parameter；It is returned described when the unmanned plane receives
When boat instruction, after the step of obtaining Relative Navigation parameter of the unmanned plane relative to the vehicle in real time, further includes:
When the relative distance parameter is greater than the second pre-determined distance, according to the Relative Navigation parameter, real-time control institute
Unmanned plane is stated to fly to the vehicle.
Further, the Relative Navigation parameter includes relative distance parameter；It is returned described when the unmanned plane receives
When boat instruction, after the step of obtaining Relative Navigation parameter of the unmanned plane relative to the vehicle in real time, further includes:
When the relative distance parameter is more than or equal to the first pre-determined distance less than the second pre-determined distance, carries out inertia and lead
It navigates, unmanned plane described in real-time control flies to the vehicle.
Further, the carry out inertial navigation, unmanned plane described in real-time control fly to the vehicle, comprising:
The first inertial navigation parameter of the unmanned plane is obtained in real time；
Second inertial navigation parameter of the vehicle that vehicle described in real-time reception is sent；
According to the first inertial navigation parameter and the second inertial navigation parameter, the unmanned plane is calculated in real time
Relative Navigation parameter relative to the vehicle；
According to the Relative Navigation parameter, unmanned plane described in real-time control flies to the vehicle；
Wherein, the first inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration parameter of the unmanned plane
With corresponding timestamp parameter；The second inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration of the vehicle
Parameter and corresponding timestamp parameter.
Further, the unmanned plane includes camera；The carry out inertial navigation, unmanned plane described in real-time control is to institute
State vehicle flight, further includes:
The calibration image that vehicle described in real-time reception is sent；
The ambient image that the camera is shot is obtained in real time；
The ambient image is matched with the calibration image, calculates phase of the unmanned plane relative to the vehicle
To attitude parameter；
According to the relative attitude parameter, the attitude parameter of the unmanned plane is corrected.
Further, before the magnetic field parameter for obtaining the magnetic field sensor in real time, further includes:
The ambient image that the camera is shot is obtained in real time；
The ambient image is matched with default bit image of shutting down, the unmanned plane is calculated and stops relative to described preset
The horizontal position parameter of seat in the plane；
According to the horizontal position parameter, the horizontal motion of unmanned plane described in real-time control.
Further, the parking stall includes pressure sensor；It is described to work as the magnetic field parameter and default magnetic field parameter
Timing controls the step of unmanned plane lands, comprising:
When the magnetic field parameter is matched with default magnetic field parameter, the height of the unmanned plane is constantly reduced according to preset rules
Degree；
Pair according to the magnetic field parameter of measured in advance between the relatively described default magnetic field position parameter for shutting down datum mark
It should be related to, obtain magnetic field position parameter corresponding with the magnetic field parameter in real time；
According to the magnetic field position parameter, the horizontal motion of unmanned plane described in real-time control；
The pressure parameter for the pressure sensor that vehicle described in real-time reception is sent；
When detecting that the pressure parameter is greater than preset pressure threshold value, stop the unmanned plane.
Compared with the existing technology, the landing method of unmanned plane of the present invention has the advantage that
(1) magnetic field that unmanned plane landing method of the present invention can be generated for the magnetic field generation device of vehicle, leads to
The magnetic field sensor for crossing unmanned plane obtains magnetic field parameter, when the magnetic field parameter matches default magnetic field parameter, determines unmanned plane
Position it is corresponding with the default shutdown datum mark of vehicle-mounted aircraft gate, then control unmanned plane landing；The embodiment of the present invention passes through magnetic
Field positioning realizes accurate landing of the unmanned plane on vehicle-mounted aircraft gate.
(2) unmanned plane landing method of the present invention can by GPS navigation, inertial navigation, Magnetic oriented by remote and
Near-earth navigates, and improves the accuracy and efficiency of unmanned plane descent.
(3) unmanned plane landing method of the present invention is positioned by assistant images, improves unmanned plane descent
Efficiency.
(4) unmanned plane landing method of the present invention avoids the neutralization of unmanned plane descent by pressure sensor
The problem of automobile crash, is realized to stablize and stop.
Another object of the present invention is to propose a kind of landing-gear of unmanned plane, nothing can not be solved to solve first technology
The man-machine problem precisely dropped on the aircraft gate of vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of landing-gear of unmanned plane, applied to the unmanned plane of vehicle load, the vehicle includes aircraft gate and at least
One magnetic field generation device；The unmanned plane includes at least one magnetic field sensor；Described device includes:
Navigation module, for when the unmanned plane receive make a return voyage instruct when, obtain the unmanned plane in real time relative to institute
State the Relative Navigation parameter of vehicle；
Magnetic field detection module, for obtaining the magnetic in real time when the Relative Navigation parameter meets the first preset condition
The magnetic field parameter of field sensor；
Landing module, for when the magnetic field parameter is matched with default magnetic field parameter, controlling the unmanned plane landing；Institute
It is corresponding with the default shutdown datum mark of the aircraft gate to state default magnetic field parameter.
Further, described device further include:
Magnetic oriented module, for according to the magnetic field parameter of measured in advance and the magnetic field of the relatively described default shutdown datum mark
Corresponding relationship between location parameter obtains magnetic field position parameter corresponding with the magnetic field parameter；
Magnetic field navigation module, for according to the magnetic field position parameter, unmanned plane described in real-time control is to the aircraft gate
Default shutdown datum mark it is close.
Further, the Relative Navigation parameter includes relative distance parameter, relative position parameter and relative attitude parameter；
The Relative Navigation parameter meets the first preset condition
The relative distance parameter is less than the first pre-determined distance, and above the relative position parameter and preset aircraft gate
Region Matching, the relative attitude parameter are less than posture preset threshold.
Further, the navigation module includes:
First GPS navigation unit, for obtaining the first GPS navigation parameter of the unmanned plane in real time；
Second GPS navigation unit, the second GPS navigation parameter for the vehicle that vehicle described in real-time reception is sent；
Relative GPS navigation elements are used for according to the first GPS navigation parameter and the second GPS navigation parameter, in real time
Relative Navigation parameter of the unmanned plane relative to the vehicle is calculated.
Further, described device further include:
GPS navigation control module is used for when the relative distance parameter is greater than the second pre-determined distance, according to described opposite
Navigational parameter, unmanned plane described in real-time control fly to the vehicle.
Further, described device further include:
Inertial navigation control module, for being more than or equal to the first pre-determined distance in advance less than second when the relative distance parameter
If apart from when, carry out inertial navigation, unmanned plane described in real-time control flies to the vehicle.
Further, the inertial navigation control module includes:
First inertial navigation unit, for obtaining the first inertial navigation parameter of the unmanned plane in real time；
Second inertial navigation unit, the second inertial navigation parameter for the vehicle that vehicle described in real-time reception is sent；
Relative inertness navigation elements are used for according to the first inertial navigation parameter and the second inertial navigation parameter,
Relative Navigation parameter of the unmanned plane relative to the vehicle is calculated in real time；
Inertial navigation control unit, for according to the Relative Navigation parameter, unmanned plane described in real-time control is to the vehicle
Flight；
Wherein, the first inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration parameter of the unmanned plane
With corresponding timestamp parameter；The second inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration of the vehicle
Parameter and corresponding timestamp parameter.
Further, the unmanned plane includes camera；The inertial navigation control module further include:
Image receiving unit, the calibration image sent for vehicle described in real-time reception；
Image capturing unit, the ambient image shot for obtaining the camera in real time；
Image processing unit calculates the unmanned plane for matching the ambient image with the calibration image
Relative attitude parameter relative to the vehicle；
Image correction unit, for correcting the attitude parameter of the unmanned plane according to the relative attitude parameter.
Further, described device further include:
Image taking module, the ambient image shot for obtaining the camera in real time；
Image processing module, for the ambient image to be matched with default bit image of shutting down, calculate it is described nobody
Horizontal position parameter of the machine relative to the default aircraft gate；
Image correction module, for according to the horizontal position parameter, the horizontal direction fortune of unmanned plane described in real-time control
It is dynamic.
Further, the parking stall includes pressure sensor；The landing module includes:
Unit is reduced, for constantly being reduced according to preset rules when the magnetic field parameter is matched with default magnetic field parameter
The height of the unmanned plane；
Magnetic field position parameter acquiring unit, for the magnetic field parameter and the relatively described default shutdown benchmark according to measured in advance
Corresponding relationship between the magnetic field position parameter of point obtains magnetic field position parameter corresponding with the magnetic field parameter in real time；
Magnetic field position control unit, for according to the magnetic field position parameter, the level side of unmanned plane described in real-time control
To movement；
Pressure sensing cell, the pressure parameter for the pressure sensor that vehicle described in real-time reception is sent；
Unit is shut down, for stopping the unmanned plane when detecting that the pressure parameter is greater than preset pressure threshold value.
The landing method of the landing-gear of the unmanned plane and above-mentioned unmanned plane compared with the existing technology possessed by advantage
Identical, details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of step flow chart of the landing method of unmanned plane described in the embodiment of the present invention；
Fig. 2 is a kind of configuration schematic diagram of unmanned plane described in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the data interaction described in the embodiment of the present invention between unmanned plane and vehicle；
Fig. 4 is a kind of schematic diagram of vehicle described in the embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of unmanned plane described in the embodiment of the present invention；
Fig. 6 is the step flow chart of the landing method of another unmanned plane described in the embodiment of the present invention；
Fig. 7 is a kind of structural block diagram of the landing-gear of unmanned plane described in the embodiment of the present invention；
Fig. 8 is the structural block diagram of the landing-gear of another unmanned plane described in the embodiment of the present invention.
Description of symbols:
40- vehicle, the aircraft gate 41-, 42- magnetic field generation device, 43- shut down branch slot, 44- lockable mechanism, 45- charging electrode
Frame, 46- pressure sensor, 50- unmanned plane, 51- magnetic field sensor, 52- shut down bracket, 53- charging electrode.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Shown in referring to Fig.1, the embodiment of the invention provides a kind of landing methods of unmanned plane, the nothing applied to vehicle load
Man-machine, above-mentioned vehicle includes aircraft gate and at least one magnetic field generation device；Above-mentioned unmanned plane includes at least one magnetic field sensing
Device；The above method can specifically include step 101-103:
Step 101: when above-mentioned unmanned plane receive make a return voyage instruct when, obtain above-mentioned unmanned plane in real time relative to above-mentioned vehicle
Relative Navigation parameter.
In embodiments of the present invention, above-mentioned unmanned plane can be rotor wing unmanned aerial vehicle, fixed-wing unmanned plane etc..
After unmanned plane takes off, above-mentioned unmanned plane can carry out autonomous control, can also receive the control letter of vehicle transmission
Number control.
Referring to shown in Fig. 2, above-mentioned unmanned plane may include or part includes:
WLAN (Wireless Loc.al Area Networks, WLAN) antenna can be with above-mentioned vehicle
WLAN hot spot, for, by carrying out short range data transmission, saving campus network, communication distance can be between unmanned plane and vehicle
Reach 100-400 meters；
4G/5G (fourth generation mobile communication technology/the 5th third-generation mobile communication technology) antenna is used for above-mentioned vehicle and unmanned plane
Between carried out data transmission by signal base station, can be used as WLAN signal it is weaker when supplement, suitable for long range data pass
It is defeated；
GPS (Global Positioning System, global positioning system) antenna, for obtaining unmanned plane in real time
GPS coordinate；
Camera may include the camera of taking photo by plane for shooting environmental image, the short focus camera for auxiliary positioning
Deng, obtain image simultaneously be transferred to micro-control unit；Camera should have stabilization function；
Camera motor, for adjusting the shooting angle of above-mentioned camera；
Camera position sensor cooperates above-mentioned camera motor adjustment camera shooting for obtaining the position of above-mentioned camera
Head；
Gyroscope, as a part of inertial navigation system, for obtaining the angular movement parameter of above-mentioned unmanned plane, i.e. posture
Parameter；
Acceleration transducer, as a part of inertial navigation system, for obtaining the acceleration parameter of above-mentioned unmanned plane；
Battery sensor, for detecting the battery capacity of above-mentioned unmanned plane；
Unmanned plane motor, for driving the movement of above-mentioned unmanned plane；
Magnetic field sensor, for detecting the size and Orientation of magnetic field strength.
It is understood that above-mentioned unmanned plane includes micro-control unit, memory, battery etc., which is not described herein again.
Above-mentioned vehicle may include Telematics (the telecommunications Telecommunications and Information Center of telecommunication
Learn the compound word of Informatics), that is, the vehicle-mounted computer system of wireless communication technique is applied, carries out data with above-mentioned unmanned plane
Interaction.
Referring to shown in Fig. 3, when driver changes destination, pilotage information is sent to unmanned plane by Telematics；On
Stating unmanned plane can receive the pilotage information of vehicle transmission, by pilotage planning module, search corresponding with above-mentioned pilotage information
Default cruise path；Or receive the default cruise path that above-mentioned vehicle is sent, to cruise, and lead vehicle to navigate by water simultaneously.
Above-mentioned unmanned plane can be according to default cruise path, the ambient images hairs such as captured in real-time front road conditions, traffic condition
It gives vehicle to show, judges front environment for user；It can also be compared by unmanned plane by ambient image and template image,
Judge whether environment is suitable, whether there is blind area etc., and can be that vehicle plans road by preset path planning module
Diameter.
Certainly, above-mentioned unmanned plane can also earthquake relief work, speedily carry out rescue work, personage searches etc. in scenes, carry out all kinds of complicated rings
Acquisition, transmitting of information of border image etc.；The embodiment of the present invention to this with no restriction.
Due to the electricity limitation etc. of the limitation (avoiding communication delay, jitter) of communication distance, unmanned plane, when nobody
When the relative distance parameter of machine and vehicle is greater than pre-determined distance threshold value, unmanned plane is needed actively close to vehicle.
When above-mentioned cruise path non-blind area or blind area are not enough to influence normal vehicle operation, it can send and return to vehicle
Boat request；Or after user's judgement, instruction of making a return voyage is sent by vehicle, invalid to avoid invalid cruise and therefore bring
Electric quantity consumption.
When the battery capacity for detecting above-mentioned unmanned plane is lower than default power threshold, it can send and make a return voyage to above-mentioned vehicle
Request；Waiting receive is maked a return voyage when instructing, and is maked a return voyage.
In embodiments of the present invention, unmanned plane can be various using PID (proportional-integral-differential) control, fuzzy control etc.
Control method realizes the motion control of above-mentioned unmanned plane.
It should be noted that for rotor wing unmanned aerial vehicle, can by controlling revolving speed and the direction of each rotor motor,
Control turns to and pose adjustment；For fixed-wing unmanned plane, the modes such as the deflection of control rudder or aileron can be passed through
Control turns to and pose adjustment.
After unmanned plane takes off, then the Relative Navigation parameter for calculating unmanned plane and vehicle in real time is needed, it is ensured that unmanned plane normally returns
It receives.
Above-mentioned Relative Navigation parameter can be the Relative Navigation parameter obtained by GPS navigation mode, be also possible to pass through
The Relative Navigation parameter that inertial navigation mode obtains, or obtained using the comprehensive a variety of air navigation aids of the methods of Kalman filtering
Relative Navigation parameter.
Illustratively, above-mentioned Relative Navigation parameter may include relative distance parameter, relative position parameter and relative attitude
Parameter.
The navigational parameter of above-mentioned vehicle includes or part includes:Respectively indicate vehicle x
Coordinate, vehicle y-coordinate, vehicle z standard, lateral direction of car inclination angle, longitudinal direction of car inclination angle, vehicle yaw angle；It is above-mentioned nobody
The navigational parameter of machine includes or part includes:Respectively indicate unmanned plane x coordinate, unmanned plane y
Coordinate, unmanned plane z standard, unmanned plane superelevation angle, unmanned plane fore-and-aft tilt angle, unmanned plane yaw angle.Above-mentioned transverse direction is inclined
Oblique angle, fore-and-aft tilt angle, yaw angle, can be corresponding with the roll angle of description attitude of flight vehicle, pitch angle, yaw angle respectively.
Relative distance parameter of the above-mentioned relative distance parameter between above-mentioned unmanned plane and above-mentioned vehicle.
Relative position parameter of the above-mentioned relative position parameter between above-mentioned unmanned plane and above-mentioned vehicle calculates respective coordinates
Difference can obtain.
Relative attitude parameter between the above-mentioned above-mentioned unmanned plane of relative attitude parameter and above-mentioned vehicle calculates corresponding angle ginseng
Several differences obtains；Above-mentioned attitude parameter may include: superelevation angle, fore-and-aft tilt angle, yaw angle, can respectively with description
The roll angle of attitude of flight vehicle, pitch angle, yaw angle are corresponding.
Because vehicle is generally at flat ground run, above-mentioned lateral direction of car inclination angle and above-mentioned longitudinal direction of car inclination angle one
As it is smaller；Above-mentioned unmanned plane generally remains parallel to ground run, therefore above-mentioned unmanned plane superelevation angle and above-mentioned unmanned plane
Fore-and-aft tilt angle is general also smaller, therefore can be ignored in several cases.
In embodiments of the present invention, above-mentioned vehicle, which can be, remains static, and also may be at motion state.
Step 102: when above-mentioned Relative Navigation parameter meets the first preset condition, obtaining above-mentioned magnetic field sensor in real time
Magnetic field parameter.
Referring to shown in Fig. 4, above-mentioned vehicle 40 may include aircraft gate 41 and at least one magnetic field generation device 42；Accordingly
Ground, referring to Figure 5, above-mentioned unmanned plane 50 may include at least one magnetic field sensor 51.
Above-mentioned magnetic field sensor can be the magnetic field sensor based on Hall effect, the magnetic field sensing based on magnetoresistance
Device or other magnetic field sensors.
Hall effect can be described as when electric current passes through conductor perpendicular to external magnetic field, in conductor perpendicular to magnetic field and electricity
Flowing will appear potential difference between two end faces in direction；By size to Electromotive Difference Of Potential and polar detection, that you can get it is vertical
In the magnetic field strength of front-back.
Magnetoresistance is because magnetoresistance material itself resistance value is sensitive to the intensity in locating magnetic field and the change in direction, i.e.,
The strong and weak variation in magnetic field will lead to magnetoresistance material self-resistance value and change；It can be by detecting MR using Wheatstone bridge
The variation of (Magneto resistance, magnetoresistance) resistance value, measures magnetic field strength indirectly.
Above-mentioned magnetic field parameter includes size and the direction of magnetic field strength.
To which three orthogonal hall devices or three orthogonal above-mentioned Wheatstone bridges only need to be arranged, just
Magnetic field strength Hx, Hy, Hz on three directions, i.e. magnetic field parameter can be calculated, to complete the detection to three-axle magnetic field.
Above-mentioned vehicle further includes at least one magnetic field generation device, for generating magnetic field；Above-mentioned unmanned plane includes at least one
A magnetic field sensor, when above-mentioned unmanned plane and when being closer of above-mentioned vehicle, for detect the magnetic field sensor of unmanned plane with
The magnetic field parameter of relative position locating for above-mentioned vehicle.
Above-mentioned magnetic field generation device can be permanent magnet, or electromagnet or other magnetic field generation devices.
It is understood that on the basis of above-mentioned vehicle, because above-mentioned magnetic field generation device is relative to above-mentioned vehicle location
Fixed, the distribution of the magnetic field strength of generation is also fixed；Therefore above-mentioned relative position is to close correspondingly with magnetic field parameter
System.
In embodiments of the present invention, need it is pre- first pass through the modes such as test calibration, establish magnetic field parameter and relative position
Corresponding relationship.
Such as the magnetic field position parameter of the magnetic field parameter of measured in advance and the default shutdown datum mark of relatively above-mentioned aircraft gate
Between corresponding relationship；Therefore, the magnetic field parameter that can be detected according to the magnetic field sensor of above-mentioned unmanned plane, searches above-mentioned magnetic field
The corresponding relationship of parameter and above-mentioned magnetic field position parameter, the magnetic field position parameter of available above-mentioned unmanned plane.
Above-mentioned default shutdown datum mark is located in aircraft gate；Illustratively, it can be the center of aircraft gate, can be shutdown
The position of magnetic field generation device in position.
In order to improve the signal-to-noise ratio of magnetic field sensor, need to shorten as much as possible the magnetic field sensor and vehicle of unmanned plane
The distance between magnetic field generation device, above-mentioned magnetic field sensor can generally be installed on the lower abdomen of above-mentioned unmanned plane, Huo Zheting
On machine support；Above-mentioned magnetic field generation device is installed on above-mentioned aircraft gate.
Above-mentioned aircraft gate is located at the top of vehicle or other regions convenient for unmanned plane landing of vehicle.
Optionally, above-mentioned Relative Navigation parameter includes relative distance parameter, relative position parameter and relative attitude parameter；On
Stating Relative Navigation parameter to meet the first preset condition includes: above-mentioned relative distance parameter less than the first pre-determined distance, and above-mentioned phase
Location parameter is matched with preset aircraft gate upper area, above-mentioned relative attitude parameter is less than posture preset threshold.
Certainly, in order to guarantee above-mentioned magnetic field parameter and magnetic field position parameter corresponding relationship accuracy, improve inspection indirectly
The accuracy of the magnetic field position parameter measured；Before the magnetic field parameter for obtaining above-mentioned magnetic field sensor in real time, it is above-mentioned nobody
Relative distance between machine and vehicle should less than the first pre-determined distance, avoid the magnetic field parameter detected excessively it is faint cause it is huge
Big error.
Above-mentioned first pre-determined distance is generally strong with the magnetic field of the sensitivity of above-mentioned magnetic field sensor, above-mentioned magnetic field generation device
Degree distribution is related；It can be obtained by test calibration, can be 0.1-2 meters, such as 0.2 meter.
Specifically, above-mentioned relative distance can be on the basis of the default shutdown datum mark of above-mentioned aircraft gate.Certainly, in this hair
In bright embodiment, the parameters of relatively above-mentioned vehicle can be on the basis of the default shutdown datum mark of above-mentioned aircraft gate, here
It repeats no more.
In addition, the relative attitude parameter between above-mentioned unmanned plane and vehicle should also be less than posture preset threshold；Guarantee nothing
Man-machine and vehicle attitude parameter is approximate or identical, keeps stablizing in the short time.It is understood that the magnetic of above-mentioned measured in advance
Corresponding relationship between field parameters and the magnetic field position parameter of the default shutdown datum mark of relatively above-mentioned aircraft gate, generally at nobody
The attitude parameter of machine and vehicle is approximate or is tested under the same conditions.
Above-mentioned relative position parameter is matched with preset aircraft gate upper area, i.e., above-mentioned unmanned plane is located at above-mentioned vehicle
Preset aircraft gate upper area is located at the surface of above-mentioned aircraft gate, rather than is located at above-mentioned aircraft gate all around
Or lower zone all around；So that the distance between the magnetic field sensor and the magnetic field generation device of vehicle of unmanned plane
It is shorter, improve signal-to-noise ratio；The risk of unmanned plane and automobile crash is avoided simultaneously.
In embodiments of the present invention, it can control above the above-mentioned preset aircraft gate of relative position parameter matching of unmanned plane
Region, can also by the camera of unmanned plane shoot lower section aircraft gate image and preset aircraft gate standard picture into
Row compares, to adjust the direction of motion of above-mentioned unmanned plane.
Certainly, above-mentioned vehicle may include the multiple magnetic field generation devices being distributed on above-mentioned aircraft gate；Above-mentioned unmanned plane
It may include at least three magnetic field sensors, further increase signal-to-noise ratio, improve the accuracy positioned by magnetic field data
And stability.
Illustratively, a magnetic field generation device is arranged in the preset standard anchor point in above-mentioned aircraft gate；Are produced from other magnetic fields
Generating apparatus can be located at the surrounding of above-mentioned aircraft gate.In the lower abdomen of above-mentioned unmanned plane, one magnetic field generation device is set；It is other
Magnetic field generation device can be located at the underbelly surrounding of above-mentioned unmanned plane.
The embodiment of the present invention and limit above-mentioned each field generator for magnetic or above-mentioned each magnetic field sensor arranged direction,
Arrangement mode.
Step 103: when above-mentioned magnetic field parameter is matched with default magnetic field parameter, controlling above-mentioned unmanned plane landing；It is above-mentioned pre-
If magnetic field parameter is corresponding with the default shutdown datum mark of above-mentioned aircraft gate.
When the default magnetic field parameter matching corresponding with the default shutdown datum mark of above-mentioned aircraft gate of above-mentioned magnetic field parameter, i.e.,
Above-mentioned unmanned plane is located at the default shutdown datum mark of above-mentioned aircraft gate, or the default shutdown datum mark positioned at above-mentioned aircraft gate
Within the scope of the preset height of surface.
In embodiments of the present invention, a series of and above-mentioned default matched magnetic of magnetic field parameter can be obtained by test calibration
Field parameters, which is not described herein again.
It certainly, in embodiments of the present invention, can also be according to the magnetic field parameter of measured in advance and relatively above-mentioned default shutdown
Corresponding relationship between the magnetic field position parameter of datum mark obtains magnetic field position parameter corresponding with above-mentioned magnetic field parameter in real time.
It is if the default magnetic field position parameter of the default shutdown datum mark of above-mentioned aircraft gate is matched with above-mentioned magnetic field position parameter, i.e., above-mentioned
Unmanned plane be located at above-mentioned aircraft gate default shutdown datum mark or positioned at above-mentioned aircraft gate default shutdown datum mark just on
Within the scope of the preset height of side, then above-mentioned unmanned plane landing is controlled.
The magnetic field that the above-mentioned unmanned plane landing method of the present invention can be generated for the magnetic field generation device of vehicle, passes through nothing
Man-machine magnetic field sensor obtains magnetic field parameter, when above-mentioned magnetic field parameter matches default magnetic field parameter, determines the position of unmanned plane
Set, then control unmanned plane landing corresponding with the default shutdown datum mark of vehicle-mounted aircraft gate；The embodiment of the present invention realizes nobody
Accurate landing of the machine on vehicle-mounted aircraft gate.
Referring to shown in Fig. 6, the embodiment of the invention provides a kind of landing methods of unmanned plane, the nothing applied to vehicle load
Man-machine, above-mentioned vehicle includes aircraft gate and at least one magnetic field generation device；Above-mentioned unmanned plane includes at least one magnetic field sensing
Device；The above method can specifically include step 601-607:
Step 601: when above-mentioned unmanned plane receive make a return voyage instruct when, obtain above-mentioned unmanned plane in real time relative to above-mentioned vehicle
Relative Navigation parameter.
It is above-mentioned to obtain Relative Navigation parameter of the above-mentioned unmanned plane relative to above-mentioned vehicle in real time, comprising:
The first GPS navigation parameter of above-mentioned unmanned plane is obtained in real time；
Second GPS navigation parameter of the vehicle that the above-mentioned vehicle of real-time reception is sent；
According to above-mentioned first GPS navigation parameter and above-mentioned second GPS navigation parameter, above-mentioned unmanned plane phase is calculated in real time
For the Relative Navigation parameter of above-mentioned vehicle.
Above-mentioned unmanned plane and above-mentioned vehicle are provided with GPS navigation system；Above-mentioned unmanned plane can obtain above-mentioned nothing in real time
The first man-machine GPS navigation parameter, the second GPS navigation parameter of the vehicle that can also be sent with the above-mentioned vehicle of real-time reception, therefore
Relative Navigation parameter of the above-mentioned unmanned plane relative to above-mentioned vehicle can be calculated in real time；Above-mentioned GPS navigation parameter is at least wrapped
Include GPS coordinate parameter.
Above-mentioned unmanned plane and above-mentioned vehicle are also provided with inertial navigation system, include at least acceleration transducer and top
Spiral shell instrument can obtain corresponding acceleration parameter, speed parameter, attitude parameter etc..It, can also only with above-mentioned inertial navigation system
To obtain the coordinate parameters of above-mentioned unmanned plane and above-mentioned vehicle by integral operation etc..It is therefore possible to use Kalman filtering side
The navigational parameter of the method in summary navigational parameter of GPS navigation system and inertial navigation system obtains more accurate navigational parameter.
In embodiments of the present invention, above-mentioned GPS navigation parameter further includes corresponding timestamp, because above-mentioned unmanned plane obtains
There may be the times between first GPS navigation parameter of above-mentioned unmanned plane and the second GPS navigation parameter for receiving above-mentioned vehicle to prolong
Late；Therefore above-mentioned GPS navigation parameter can be modified using above-mentioned inertial navigation system during above-mentioned GPS navigation,
To obtain in real time accurately Relative Navigation parameter, avoid because of error caused by postponing.
Certainly, the vehicle that the first inertial navigation parameter of the unmanned plane that above-mentioned unmanned plane obtains and received above-mentioned vehicle are sent
The second inertial navigation parameter also include corresponding timestamp.
Above-mentioned timestamp can stab for GPS time, i.e., using the time of unified GPS navigation system as common clock,
It is relatively more accurate.
In embodiments of the present invention, above-mentioned vehicle also can receive each navigational parameter that above-mentioned unmanned plane is sent, in acquisition
Each navigational parameter for stating vehicle calculates above-mentioned Relative Navigation parameter and is sent to above-mentioned unmanned plane, is improved and is navigated by dual redundant
Stability, be also convenient for the position that above-mentioned vehicle obtains above-mentioned unmanned plane in real time, reasonable arrangement navigation task and processing burst shape
Condition.
Step 602: real according to above-mentioned Relative Navigation parameter when above-mentioned relative distance parameter is greater than the second pre-determined distance
When control above-mentioned unmanned plane and fly to above-mentioned vehicle.
Above-mentioned Relative Navigation parameter includes relative distance parameter.
In embodiments of the present invention, above-mentioned GPS navigation system is suitable for long distance positioning, inaccurate in short distance；
And inertial navigation is not suitable for navigating for a long time, because being easy because the time causes the accumulation of error, and positions in short distance
Inaccuracy；In present example, short-range positioning is positioned using above-mentioned magnetic field data.
When above-mentioned relative distance parameter is greater than the second pre-determined distance, illustratively above-mentioned second pre-determined distance is 3-30
Rice, according to the Relative Navigation parameter of above-mentioned unmanned plane and above-mentioned vehicle, the above-mentioned unmanned plane of real-time control flies to above-mentioned vehicle.
Illustratively, because above-mentioned Relative Navigation parameter is real-time update, can be joined according to above-mentioned Relative Navigation
Number controls the attitude parameters, such as the yaw angle of unmanned plane etc. of above-mentioned unmanned planes, adjusts the yaw angle of unmanned plane towards vehicle, can
Can also be flown with speed change using flying at a constant speed；The embodiment of the present invention is without limitation；Certainly, the movement of above-mentioned unmanned plane
Speed needs the movement velocity greater than above-mentioned vehicle.
Step 603: when above-mentioned relative distance parameter is more than or equal to the first pre-determined distance less than the second pre-determined distance, carrying out
Inertial navigation, the above-mentioned unmanned plane of real-time control fly to above-mentioned vehicle.
Above-mentioned carry out inertial navigation, the above-mentioned unmanned plane of real-time control fly to above-mentioned vehicle, comprising:
The first inertial navigation parameter of above-mentioned unmanned plane is obtained in real time；
Second inertial navigation parameter of the vehicle that the above-mentioned vehicle of real-time reception is sent；
According to above-mentioned first inertial navigation parameter and above-mentioned second inertial navigation parameter, above-mentioned unmanned plane is calculated in real time
Relative Navigation parameter relative to above-mentioned vehicle；
According to above-mentioned Relative Navigation parameter, the above-mentioned unmanned plane of real-time control flies to above-mentioned vehicle；
Wherein, above-mentioned first inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration parameter of above-mentioned unmanned plane
With corresponding timestamp parameter；Above-mentioned second inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration of above-mentioned vehicle
Parameter and corresponding timestamp parameter.
The above-mentioned description as described in inertial navigation is referred to explanation above, and which is not described herein again.
Above-mentioned unmanned plane includes camera；Above-mentioned carry out inertial navigation, the above-mentioned unmanned plane of real-time control fly to above-mentioned vehicle
Row, further includes:
The calibration image that the above-mentioned vehicle of real-time reception is sent；
The ambient image that above-mentioned camera is shot is obtained in real time；
Above-mentioned ambient image is matched with above-mentioned calibration image, calculates phase of the above-mentioned unmanned plane relative to above-mentioned vehicle
To attitude parameter；
According to above-mentioned relative attitude parameter, the attitude parameter of above-mentioned unmanned plane is corrected.
In embodiments of the present invention, when carrying out inertial navigation, because being between unmanned plane and vehicle closely
It in range, can determine that vehicle is in unmanned plane coverage by the camera shooting environmental image of unmanned plane, can incite somebody to action
The vehicle and vehicle-periphery image of shooting are sent to vehicle；Common reference, such as vehicle are selected by the user in vehicle
The static object of reference in the distant place on course, and shoot the calibration image including above-mentioned common reference and be sent to unmanned plane.
Illustratively, above-mentioned unmanned plane passes through the environment map around camera motor and the shooting of camera position sensor
Picture, and above-mentioned ambient image and above-mentioned received calibration image are compared；If above-mentioned ambient image and above-mentioned correction image
Similarity be greater than pre-set image similarity, then may further use image processing method, calculate above-mentioned ambient image and upper
State the similitude of correction image；According to the vector relations between similitude, above-mentioned ambient image and above-mentioned correction image are determined
Relative vector relationship, and then according to above-mentioned relative vector relationship, adjusts the attitude parameter of unmanned plane, so that above-mentioned unmanned plane and upper
Both it states vehicle to be located on same course line, i.e., yaw angle is identical, cooperates with above-mentioned inertial navigation, improves navigation efficiency and accurate
Property.
Certainly, because above-mentioned unmanned plane and above-mentioned vehicle are all likely to be in movement, nothing is carried out above by image
The step of man-machine pose calibrating, can be real-time perfoming.
Step 604: when above-mentioned Relative Navigation parameter meets the first preset condition, obtaining above-mentioned magnetic field sensor in real time
Magnetic field parameter.
Before the above-mentioned magnetic field parameter for obtaining above-mentioned magnetic field sensor in real time, further includes:
The ambient image that above-mentioned camera is shot is obtained in real time；
Above-mentioned ambient image is matched with default bit image of shutting down, above-mentioned unmanned plane is calculated and stops relative to above-mentioned preset
The horizontal position parameter of seat in the plane；
According to above-mentioned horizontal position parameter, the horizontal motion of the above-mentioned unmanned plane of real-time control.
The camera of above-mentioned unmanned plane can control above-mentioned camera by camera motor and camera position sensor,
Or cradle head camera shooting direction is controlled towards preset direction perpendicular to the ground；Because the flight of above-mentioned unmanned plane is generally parallel
In ground, therefore above-mentioned preset direction perpendicular to the ground can be preset.
It certainly, in embodiments of the present invention, can be according to the relative attitude parameter of above-mentioned unmanned plane and above-mentioned vehicle, opposite
The Relative Navigations parameter such as location parameter, controls the shooting direction of the camera of above-mentioned unmanned plane towards the parking stall of above-mentioned vehicle,
Above-mentioned shooting direction can also be identical as the course of above-mentioned vehicle.
It is referred to foregoing description above by the specific descriptions that shooting image is positioned, which is not described herein again.
Step 605: according to the magnetic field parameter of measured in advance and the relatively above-mentioned default magnetic field position parameter for shutting down datum mark
Between corresponding relationship, obtain corresponding with above-mentioned magnetic field parameter magnetic field position parameter.
In embodiments of the present invention, by test calibration can establish measured in advance magnetic field parameter and relatively above-mentioned shutdown
Corresponding relationship between the magnetic field position parameter of the default shutdown datum mark of position；It therefore, can be according to the magnetic field of above-mentioned unmanned plane
The magnetic field parameter of sensor detection, searches the corresponding relationship of above-mentioned magnetic field parameter Yu above-mentioned magnetic field position parameter, it is available on
State the magnetic field position parameter of unmanned plane.
Step 606: according to above-mentioned magnetic field position parameter, default shutdown of the above-mentioned unmanned plane of real-time control to above-mentioned aircraft gate
Datum mark is close.
Above-mentioned magnetic field position parameter is exactly on the basis of the default shutdown datum mark of above-mentioned aircraft gate；In the form of vectors
For above-mentioned magnetic field position parameter, the opposite direction of above-mentioned vector is the course of above-mentioned unmanned plane, and the length of above-mentioned vector is
The voyage of above-mentioned unmanned plane.
Certainly, in embodiments of the present invention, above-mentioned vehicle is likely to be at motion state, therefore above-mentioned unmanned plane needs constantly
Adjust course, i.e. attitude parameter.
Step 607: when above-mentioned magnetic field parameter is matched with default magnetic field parameter, controlling above-mentioned unmanned plane landing；It is above-mentioned pre-
If magnetic field parameter is corresponding with the default shutdown datum mark of above-mentioned aircraft gate.
Above-mentioned parking stall includes pressure sensor；It is above-mentioned when above-mentioned magnetic field parameter is matched with default magnetic field parameter, control
The step of above-mentioned unmanned plane lands, comprising:
When above-mentioned magnetic field parameter is matched with default magnetic field parameter, the height of above-mentioned unmanned plane is constantly reduced according to preset rules
Degree；
Pair according to the magnetic field parameter of measured in advance between the relatively above-mentioned default magnetic field position parameter for shutting down datum mark
It should be related to, obtain magnetic field position parameter corresponding with above-mentioned magnetic field parameter in real time；
According to above-mentioned magnetic field position parameter, the horizontal motion of the above-mentioned unmanned plane of real-time control；
The pressure parameter for the above-mentioned pressure sensor that the above-mentioned vehicle of real-time reception is sent；
When detecting that above-mentioned pressure parameter is greater than preset pressure threshold value, stop above-mentioned unmanned plane.
Referring to shown in Fig. 4, above-mentioned aircraft gate 41 can also include shutting down branch slot 43, lockable mechanism 44, charging electrode frame 45,
Pressure sensor 46 etc..
Referring to Figure 5, above-mentioned unmanned plane 50 can also include shutting down bracket 52 and charging electrode 53.
During the landing of above-mentioned unmanned plane, still to guarantee the opposite position between above-mentioned unmanned plane and above-mentioned parking stall
It sets constant as far as possible, guarantees that above-mentioned unmanned plane is constantly in above the default shutdown datum mark for rising aircraft gate, and with above-mentioned nothing
Man-machine landing is without the nearly above-mentioned default shutdown datum mark of disconnecting.
In order to guarantee that above-mentioned unmanned plane is shut down again with practical contact in above-mentioned aircraft gate, avoid because empty touching just stops nothing
Man-machine the problem of causing unmanned plane and above-mentioned aircraft gate to be bumped against, thus detected by pressure sensor above-mentioned unmanned plane with it is above-mentioned
Pressure between vehicle.
Above-mentioned pressure sensor can be capacitance sensor, since pressure change leads to the detection capacitor board of capacitance sensor
Between distance change cause the variation of capacitance to detect pressure, i.e. Cd=ε A/d, wherein Cd is the measured value of capacitance sensor；
ε dielectric constant between capacitor board is fixed value；A is fixed value, is capacitor board relative area；Capacitor distance between plates d becomes with pressure
Change.
The above-mentioned above-mentioned unmanned plane of stopping can be the operating of the motor of the above-mentioned unmanned plane of stopping.
After stopping above-mentioned unmanned plane, the shutdown bracket of above-mentioned unmanned plane should be located at the shutdown branch slot on above-mentioned parking stall
Place, can start the motor of above-mentioned lockable mechanism by the locking structure of above-mentioned unmanned plane, by rotating machinery link mechanism,
The shutdown bracket for lockking above-mentioned unmanned plane, the vibration during avoiding because of vehicle movement cause unmanned plane to stop unstable ask
Topic.
After the landing of above-mentioned unmanned plane, the charging electrode frame on the charging electrode of above-mentioned unmanned plane and above-mentioned parking stall connects
Touching, may be implemented the power source charges to above-mentioned unmanned plane.
Above-mentioned unmanned plane can also include range sensor, can be set in unmanned plane lower abdomen or shut down on bracket；
When the detecting distance of above-mentioned range sensor is less than pre-determined distance, stop the landing of unmanned plane, avoids unmanned plane and vehicle
Bump against.
Compared with the existing technology, the landing method of the above-mentioned unmanned plane of the present invention has the advantage that
(1) magnetic field that the above-mentioned unmanned plane landing method of the present invention can be generated for the magnetic field generation device of vehicle, leads to
The magnetic field sensor for crossing unmanned plane obtains magnetic field parameter, when above-mentioned magnetic field parameter matches default magnetic field parameter, determines unmanned plane
Position it is corresponding with the default shutdown datum mark of vehicle-mounted aircraft gate, then control unmanned plane landing；The embodiment of the present invention passes through magnetic
Field positioning realizes accurate landing of the unmanned plane on vehicle-mounted aircraft gate.
(2) the above-mentioned unmanned plane landing method of the present invention can by GPS navigation, inertial navigation, Magnetic oriented by remote and
Near-earth navigates, and improves the accuracy and efficiency of unmanned plane descent.
(3) the above-mentioned unmanned plane landing method of the present invention is positioned by assistant images, improves unmanned plane descent
Efficiency.
(4) the above-mentioned unmanned plane landing method of the present invention avoids the neutralization of unmanned plane descent by pressure sensor
The problem of automobile crash, is realized to stablize and stop.
Referring to shown in Fig. 7, the embodiment of the invention provides a kind of landing-gears of unmanned plane, the nothing applied to vehicle load
Man-machine, above-mentioned vehicle includes aircraft gate and at least one magnetic field generation device；Above-mentioned unmanned plane includes at least one magnetic field sensing
Device；Above-mentioned apparatus may include:
Navigation module 701, for when above-mentioned unmanned plane receive make a return voyage instruct when, obtain in real time above-mentioned unmanned plane relative to
The Relative Navigation parameter of above-mentioned vehicle；
Magnetic field detection module 702, for obtaining in real time above-mentioned when above-mentioned Relative Navigation parameter meets the first preset condition
The magnetic field parameter of magnetic field sensor；
Landing module 703, for when above-mentioned magnetic field parameter is matched with default magnetic field parameter, controlling above-mentioned unmanned plane drop
It falls；Above-mentioned default magnetic field parameter is corresponding with the default shutdown datum mark of above-mentioned aircraft gate.
Referring to shown in Fig. 8, on the basis of above-mentioned Fig. 7, further, above-mentioned apparatus can also include:
Magnetic oriented module 704, for the magnetic field parameter and relatively above-mentioned default shutdown datum mark according to measured in advance
Corresponding relationship between magnetic field position parameter obtains magnetic field position parameter corresponding with above-mentioned magnetic field parameter；
Magnetic field navigation module 705, for according to above-mentioned magnetic field position parameter, the above-mentioned unmanned plane of real-time control is to above-mentioned shutdown
The default shutdown datum mark of position is close.
Further, above-mentioned Relative Navigation parameter includes relative distance parameter, relative position parameter and relative attitude parameter；
Above-mentioned Relative Navigation parameter meets the first preset condition
Above-mentioned relative distance parameter is less than the first pre-determined distance, and above above-mentioned relative position parameter and preset aircraft gate
Region Matching, above-mentioned relative attitude parameter are less than posture preset threshold.
Further, above-mentioned navigation 701 may include:
First GPS navigation unit, for obtaining the first GPS navigation parameter of above-mentioned unmanned plane in real time；
Second GPS navigation unit, the second GPS navigation parameter for the vehicle that the above-mentioned vehicle of real-time reception is sent；
Relative GPS navigation elements are used for according to above-mentioned first GPS navigation parameter and above-mentioned second GPS navigation parameter, in real time
Relative Navigation parameter of the above-mentioned unmanned plane relative to above-mentioned vehicle is calculated.
Further, above-mentioned apparatus can also include:
GPS navigation control module 706 is used for when above-mentioned relative distance parameter is greater than the second pre-determined distance, according to above-mentioned
Relative Navigation parameter, the above-mentioned unmanned plane of real-time control fly to above-mentioned vehicle.
Further, above-mentioned apparatus can also include:
Inertial navigation control module 707, for being more than or equal to the first pre-determined distance less than the when above-mentioned relative distance parameter
When two pre-determined distances, inertial navigation is carried out, the above-mentioned unmanned plane of real-time control flies to above-mentioned vehicle.
Further, above-mentioned inertial navigation control module 707 may include:
First inertial navigation unit, for obtaining the first inertial navigation parameter of above-mentioned unmanned plane in real time；
Second inertial navigation unit, the second inertial navigation parameter for the vehicle that the above-mentioned vehicle of real-time reception is sent；
Relative inertness navigation elements are used for according to above-mentioned first inertial navigation parameter and above-mentioned second inertial navigation parameter,
Relative Navigation parameter of the above-mentioned unmanned plane relative to above-mentioned vehicle is calculated in real time；
Inertial navigation control unit, for according to above-mentioned Relative Navigation parameter, the above-mentioned unmanned plane of real-time control is to above-mentioned vehicle
Flight；
Wherein, above-mentioned first inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration parameter of above-mentioned unmanned plane
With corresponding timestamp parameter；Above-mentioned second inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration of above-mentioned vehicle
Parameter and corresponding timestamp parameter.
Further, above-mentioned unmanned plane includes camera；Above-mentioned inertial navigation control module 707 can also include:
Image receiving unit, the calibration image sent for the above-mentioned vehicle of real-time reception；
Image capturing unit, the ambient image shot for obtaining above-mentioned camera in real time；
Image processing unit calculates above-mentioned unmanned plane for matching above-mentioned ambient image with above-mentioned calibration image
Relative attitude parameter relative to above-mentioned vehicle；
Image correction unit, for correcting the attitude parameter of above-mentioned unmanned plane according to above-mentioned relative attitude parameter.
Further, above-mentioned apparatus can also include:
Image taking module, the ambient image shot for obtaining above-mentioned camera in real time；
Image processing module, for above-mentioned ambient image to be matched with default bit image of shutting down, calculate it is above-mentioned nobody
Horizontal position parameter of the machine relative to above-mentioned default aircraft gate；
Image correction module, for being transported according to the horizontal direction of above-mentioned horizontal position parameter, the above-mentioned unmanned plane of real-time control
It is dynamic.
Further, above-mentioned parking stall includes pressure sensor；Above-mentioned landing module 603 may include:
Unit is reduced, for constantly being reduced according to preset rules when above-mentioned magnetic field parameter is matched with default magnetic field parameter
The height of above-mentioned unmanned plane；
Magnetic field position parameter acquiring unit, for the magnetic field parameter and relatively above-mentioned default shutdown benchmark according to measured in advance
Corresponding relationship between the magnetic field position parameter of point obtains magnetic field position parameter corresponding with above-mentioned magnetic field parameter in real time；
Magnetic field position control unit, for according to above-mentioned magnetic field position parameter, the level side of the above-mentioned unmanned plane of real-time control
To movement；
Pressure sensing cell, the pressure parameter for the above-mentioned pressure sensor that the above-mentioned vehicle of real-time reception is sent；
Unit is shut down, for stopping above-mentioned unmanned plane when detecting that above-mentioned pressure parameter is greater than preset pressure threshold value.
The landing method of the landing-gear of above-mentioned unmanned plane and above-mentioned unmanned plane compared with the existing technology possessed by advantage
Identical, details are not described herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of landing method of unmanned plane, which is characterized in that applied to the unmanned plane of vehicle load, the vehicle includes shutting down
Position and at least one magnetic field generation device；The unmanned plane includes at least one magnetic field sensor；The described method includes:
When the unmanned plane receive make a return voyage instruct when, obtain in real time the unmanned plane relative to the vehicle Relative Navigation join
Number；
When the Relative Navigation parameter meets the first preset condition, the magnetic field parameter of the magnetic field sensor is obtained in real time；
When the magnetic field parameter is matched with default magnetic field parameter, the unmanned plane landing is controlled；The default magnetic field parameter with
The default shutdown datum mark of the aircraft gate is corresponding.
2. the method according to claim 1, wherein working as the magnetic field parameter and default magnetic field parameter described
Timing, control the unmanned plane landing the step of before, further includes:
According to the corresponding pass between the magnetic field parameter of measured in advance and the relatively described default magnetic field position parameter for shutting down datum mark
System obtains magnetic field position parameter corresponding with the magnetic field parameter；
According to the magnetic field position parameter, default shutdown datum mark of the unmanned plane described in real-time control to the aircraft gate is close.
3. the method according to claim 1, wherein the Relative Navigation parameter includes relative distance parameter, phase
To location parameter and relative attitude parameter；The Relative Navigation parameter meets the first preset condition
The relative distance parameter is less than the first pre-determined distance, and the relative position parameter and preset aircraft gate upper area
Matching, the relative attitude parameter are less than posture preset threshold.
4. the method according to claim 1, wherein described obtain the unmanned plane relative to the vehicle in real time
Relative Navigation parameter, comprising:
The first GPS navigation parameter of the unmanned plane is obtained in real time；
Second GPS navigation parameter of the vehicle that vehicle described in real-time reception is sent；
According to the first GPS navigation parameter and the second GPS navigation parameter, be calculated in real time the unmanned plane relative to
The Relative Navigation parameter of the vehicle.
5. the method according to claim 1, wherein the Relative Navigation parameter includes relative distance parameter；?
It is described when the unmanned plane receive make a return voyage instruct when, obtain in real time the unmanned plane relative to the vehicle Relative Navigation join
After several steps, further includes:
When the relative distance parameter is greater than the second pre-determined distance, according to the Relative Navigation parameter, nothing described in real-time control
It is man-machine to fly to the vehicle.
6. the method according to claim 1, wherein the Relative Navigation parameter includes relative distance parameter；?
It is described when the unmanned plane receive make a return voyage instruct when, obtain in real time the unmanned plane relative to the vehicle Relative Navigation join
After several steps, further includes:
When the relative distance parameter is more than or equal to the first pre-determined distance less than the second pre-determined distance, inertial navigation is carried out, it is real
When control the unmanned plane and fly to the vehicle.
7. according to the method described in claim 6, it is characterized in that, the carry out inertial navigation, unmanned plane described in real-time control
It flies to the vehicle, comprising:
The first inertial navigation parameter of the unmanned plane is obtained in real time；
Second inertial navigation parameter of the vehicle that vehicle described in real-time reception is sent；
According to the first inertial navigation parameter and the second inertial navigation parameter, it is opposite that the unmanned plane is calculated in real time
In the Relative Navigation parameter of the vehicle；
According to the Relative Navigation parameter, unmanned plane described in real-time control flies to the vehicle；
Wherein, the first inertial navigation parameter includes inertial coordinate, attitude parameter, acceleration parameter and the phase of the unmanned plane
The timestamp parameter answered；The second inertial navigation parameter includes the inertial coordinate, attitude parameter, acceleration parameter of the vehicle
With corresponding timestamp parameter.
8. the method according to claim 1, wherein the parking stall includes pressure sensor；It is described when described
When magnetic field parameter is matched with default magnetic field parameter, the step of unmanned plane lands is controlled, comprising:
When the magnetic field parameter is matched with default magnetic field parameter, the height of the unmanned plane is constantly reduced according to preset rules；
According to the corresponding pass between the magnetic field parameter of measured in advance and the relatively described default magnetic field position parameter for shutting down datum mark
System obtains magnetic field position parameter corresponding with the magnetic field parameter in real time；
According to the magnetic field position parameter, the horizontal motion of unmanned plane described in real-time control；
The pressure parameter for the pressure sensor that vehicle described in real-time reception is sent；
When detecting that the pressure parameter is greater than preset pressure threshold value, stop the unmanned plane.
9. a kind of landing-gear of unmanned plane, which is characterized in that applied to the unmanned plane of vehicle load, the vehicle includes shutting down
Position and at least one magnetic field generation device；The unmanned plane includes at least one magnetic field sensor；Described device includes:
Navigation module, for when the unmanned plane receive make a return voyage instruct when, obtain the unmanned plane in real time relative to the vehicle
Relative Navigation parameter；
Magnetic field detection module, for obtaining the magnetic field in real time and passing when the Relative Navigation parameter meets the first preset condition
The magnetic field parameter of sensor；
Landing module, for when the magnetic field parameter is matched with default magnetic field parameter, controlling the unmanned plane landing；It is described pre-
If magnetic field parameter is corresponding with the default shutdown datum mark of the aircraft gate.
10. device according to claim 9, which is characterized in that described device further include:
Magnetic oriented module, for according to the magnetic field parameter of measured in advance and the magnetic field position of the relatively described default shutdown datum mark
Corresponding relationship between parameter obtains magnetic field position parameter corresponding with the magnetic field parameter；
Magnetic field navigation module, for according to the magnetic field position parameter, unmanned plane described in real-time control is to the pre- of the aircraft gate
If it is close to shut down datum mark.
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