CN109885090A - It is a kind of to control the method and device flown automatically based on base station - Google Patents
It is a kind of to control the method and device flown automatically based on base station Download PDFInfo
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- CN109885090A CN109885090A CN201910215469.XA CN201910215469A CN109885090A CN 109885090 A CN109885090 A CN 109885090A CN 201910215469 A CN201910215469 A CN 201910215469A CN 109885090 A CN109885090 A CN 109885090A
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Abstract
The present invention provides a kind of method and device for controlling based on base station and flying automatically, comprising: receives the flight origin information of final information and aircraft, obtains the existing base station information between flight starting point and final；Obtain the control coverage area of existing base station；Obtain the base station combination for continuously covering region between flight starting point and final；It selects total distance most short and required base station number is least as Minimal Flight Path base station combination；Minimal Flight Path base station combination is sent to terminal；The destination coordinate and destination sequence for receiving terminal feedback, select the Minimal Flight Path between adjacent destination coordinate as destination track, obtain the flight path of aircraft according to destination sequence and destination track；It is flown automatically from the position of flight starting point to the position of final according to flight path and flight control strategy control aircraft.Optimum option base station range of the present invention is reasonable, improves the efficiency of aircraft flight.
Description
Technical field
This application involves the technical field of flight control more particularly to it is a kind of based on the base station method flown automatically of control and
Device.
Background technique
It is increasingly recognised that aerial region has broader development potentiality relative to ground region, it is therefore, close
It is also more and more for the research and development in aerial region over year, and flight control technology is specific for one of aerial region
Using.If flight control technology can preferably manage the aircraft flight in aerial region applied to aircraft, so that air traffic
It provides more convenient for people and efficiently services, and can also be transmitted using by ground low-latitude flying technical controlling for people
Specific information data promotes the information communication of people.
Especially modern mobile Internet is fast-developing, is provided by aircraft flight to certain altitude for specific occasion
The information or data transmission of specific customization also becomes more and more popular.With the arrival in 5G mobile communication epoch, the mobile interchange of high speed
Network provides preferably communication basis for flight control.Base station, that is, public mobile communication base station is a kind of shape of radio station
Formula refers in certain area of radio coverage, by carrying out information between mobile switching center, with mobile telephone terminal
Radio station is believed in the transceiving of transmitting.Access Control Technique in unmanned plane network is mainly based upon maximum signal to noise ratio access, leads to
Crossing the data transmission that base station provides Communication Control to aircraft can preferably realize that the management of aircraft communication controls, but such as
What maximal efficiency most steadily realizes that flight control obtains effective solution not yet.Station layout is unreasonable or station layout
The line of flight cannot be not enough completely covered in quantity, cause flight not exclusively controlled, and meeting if station layout quantity is excessive
The waste of base station resource is caused, cost is increased.
Therefore, how to provide a kind of high and at low cost flight communication control program of highly reliable, control efficiency is ability
Domain technical problem urgently to be resolved.
Summary of the invention
The application's is designed to provide a kind of method and device for controlling based on base station and flying automatically, solves the prior art
In there is no the technical issues of highly reliable, control efficiency high and at low cost flight communication control program.
In order to achieve the above objectives, the application provides a kind of method for controlling based on base station and flying automatically, comprising:
The flight origin information for receiving final information and aircraft, obtains between the flight starting point and final
Existing base station information；Signal based on each existing base station of communication signal strength precision needed for aircraft covers model
It encloses to obtain the control coverage area of the existing base station；
It is arranged according to each existing base station and its control coverage area, is continuously covered the flight starting point
The base station combination in region between final；In the base station combination, select total distance most short and required base station number most
Few is used as Minimal Flight Path base station combination；The Minimal Flight Path base station combination is sent to terminal；
The destination coordinate and destination sequence for receiving the terminal feedback, select the most short boat between the adjacent destination coordinate
Line obtains the flight path of the aircraft as destination track, according to the destination sequence and destination track；Receive the end
The flight control strategy for the correspondence destination section that end sequence is sent to each existing base station, and the flight control strategy is divided
It is sent to corresponding each existing base station；
The aircraft is controlled from the position of the flight starting point according to the flight path and the flight control strategy
It is automatic to fly to the position of the final.
Optionally, wherein the signal based on each existing base station of communication signal strength precision needed for aircraft
Coverage area obtains the control coverage area of the existing base station, are as follows:
The channel gain relationship that signal transmits between the aircraft and existing base station is obtained, based on logical needed for aircraft
The signal cover of the letter each existing base station of signal strength precision obtains the control coverage area of the existing base station.
Optionally, wherein this method further include:
In flight range all existing base station combinations all fail continuously to cover the flight starting point and final it
Between region when, generate imperfect flight control information and show；Meanwhile the newly-increased communication base of needs is found out according to existing base station information
Least communication base station combination of standing is showed.
Optionally, wherein this method further include:
Compare at a distance from the endurance distance for obtaining the aircraft, with the flight path；When the endurance distance is less than
Or equal to the flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to the terminal；
The continuation of the journey control instruction of the terminal is received, analysis obtains the continuation of the journey destination letter that flight pause carries out continuation of the journey charging
Breath, the pause predetermined time carries out continuation of the journey charging when controlling the aircraft flight to the continuation of the journey destination.
Optionally, wherein receive the flight for the correspondence destination section that the terminal order is sent to each existing base station
Control strategy, and the flight control strategy is distributed to corresponding each existing base station, are as follows:
Receive flight control strategy and the institute of the correspondence destination section that the terminal order is sent to each existing base station
The task strategy to be executed；By the flight control strategy and task execution strategy distribution to corresponding each existing base
It stands；
When in the coverage area of the aircraft flight to the existing base station, the existing base station is by next stage
Flight control strategy and the task strategy to be executed are sent to the aircraft；
The aircraft controls it in the flight of next stage based on the flight control strategy, and according to the task plan
Slightly execute corresponding task operating.
On the other hand, the present invention also provides a kind of devices for being controlled based on base station and being flown automatically, comprising: flight information receives
Device, base station combination choose processor, flight control strategy distribution processors and flight controller；
The flight information receiver, with the base station combination choose processor be connected, receive final information and
The flight origin information of aircraft obtains the existing base station information between the flight starting point and final；Based on aircraft
The signal cover of each existing base station of required communication signal strength precision obtains the control of the existing base station
Coverage area；
The base station combination chooses processor, with the flight information receiver and flight control strategy distribution processors phase
Connection, according to each existing base station and its control coverage area arranged, continuously covered the flight starting point and
The base station combination in region between final；In the base station combination, selects total distance most short and required base station number is minimum
Be used as Minimal Flight Path base station combination；The Minimal Flight Path base station combination is sent to terminal；
The flight control strategy distribution processors choose processor with the base station combination and flight controller are connected
It connects, receives the destination coordinate and destination sequence of the terminal feedback, the Minimal Flight Path between the adjacent destination coordinate is selected to make
For destination track, the flight path of the aircraft is obtained according to the destination sequence and destination track；It is suitable to receive the terminal
The flight control strategy for the correspondence destination section that sequence is sent to each existing base station, and the flight control strategy is distributed to
Corresponding each existing base station；
The flight controller is connected with the flight control strategy distribution processors, according to the flight path and
The flight control strategy controls the aircraft and is flown automatically from the position of the flight starting point to the position of the final
It sets.
Optionally, wherein the flight information receiver, are as follows:
The flight origin information for receiving final information and aircraft, obtains between the flight starting point and final
Existing base station information；The channel gain relationship that signal transmits between the aircraft and existing base station is obtained, aircraft is based on
The signal cover of each existing base station of required communication signal strength precision obtains the control of the existing base station
Coverage area.
Optionally, wherein the device further include: base station supplement process device；Processor is chosen with the base station combination to be connected
It connects, all fails continuously to cover region between the flight starting point and final in existing base station combination all in flight range
When, it generates imperfect flight control information and shows；Meanwhile it being found out according to existing base station information and needing newly-increased communication base station minimum
Communication base station combination showed.
Optionally, wherein the device further include: continuation of the journey control processor, with the flight control strategy distribution processors
And flight controller is connected,
Compare at a distance from the endurance distance for obtaining the aircraft, with the flight path；When the endurance distance is less than
Or equal to the flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to the terminal；
The continuation of the journey control instruction of the terminal is received, analysis obtains the continuation of the journey destination letter that flight pause carries out continuation of the journey charging
Breath, the pause predetermined time carries out continuation of the journey charging when controlling the aircraft flight to the continuation of the journey destination.
Optionally, wherein the flight control strategy distribution processors, are as follows:
Receive flight control strategy and the institute of the correspondence destination section that the terminal order is sent to each existing base station
The task strategy to be executed；By the flight control strategy and task execution strategy distribution to corresponding each existing base
It stands；
When in the coverage area of the aircraft flight to the existing base station, the existing base station is by next stage
Flight control strategy and the task strategy to be executed are sent to the aircraft；The aircraft is based on the flight and controls plan
It is slightly controlled in the flight of next stage, and corresponding task operating is executed according to the task strategy.
Described herein that the method and device flown automatically is controlled based on base station, realization has the beneficial effect that:
(1) method and device of the application flown automatically based on base station control, using between flight Origin And Destination
Communication base station sends the control strategy of corresponding mission phase to aircraft, effectively compensates for traditional unmanned plane point-to-point communication
The defect that mode rate is low, delay is high, reliability is weak, and optimum option base station range is reasonable, so that aircraft flies
Row stability-of-path improves the efficiency of aircraft flight.
(2) the application based on base station controls the method and device flown automatically, by each aircraft base station destination it
Between each mission phase for flying the task strategy of different flight control strategy and required execution is respectively set, it is straight using base station
It connects and is transmitted to aircraft and is controlled, improve the stability and high efficiency of flying vehicles control.
(3) method and device of the application flown automatically based on base station control, using between flight Origin And Destination
Communication base station sends the control strategy of corresponding mission phase, setting aircraft continuation of the journey monitoring and base station range to aircraft
Monitoring further ensure that aircraft carries out the flight integrality of communication control based on base station.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application can also be obtained according to these attached drawings other attached for those skilled in the art
Figure.
Fig. 1 is the flow diagram of the first method flown automatically based on base station control of the embodiment of the present invention；
Fig. 2 is the flow diagram of second of method flown automatically based on base station control of the embodiment of the present invention；
Fig. 3 is the flow diagram of the third method flown automatically based on base station control of the embodiment of the present invention；
Fig. 4 is the flow diagram of the 4th kind of method flown automatically based on base station control of the embodiment of the present invention；
Fig. 5 is the flow diagram of the 5th kind of method flown automatically based on base station control of the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the device to be flown automatically based on base station control in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of second of device to be flown automatically based on base station control of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the third device to be flown automatically based on base station control of the embodiment of the present invention.
Specific embodiment
Below with reference to the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on the application
In embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the range of the application protection.
Embodiment
A kind of method for being controlled based on base station and being flown automatically is provided in the present embodiment, is provided by setting base station for aircraft
Flight control, the coverage area for refining base station signal preferably provide flight control for user, and stability is stronger.It can apply
It in agriculture unmanned aerial vehicles sowing, applies fertilizer, spray insecticide, can be also used for the network environment of enhancing some regions, such as acquire some
The Web vector graphic environment in region, carrying network by unmanned plane when user is more enhances the better network clothes of signal offer
Business, and stopped using when user is few, the utilization rate of network can be promoted with higher efficiency and accurately, mentioned in network
Speed, especially 5G cybertimes at hand, have important practical significance.By mobile terminal select control flight path and
Countermeasures can realize flight using the flight control system whenever and wherever possible, improve the service efficiency flown automatically.This reality
The method flown automatically based on base station control applied is included the following steps:
Step 101, the flight origin information for receiving final information and aircraft obtain flight starting point and final
Between existing base station information；Signal based on each existing base station of communication signal strength precision needed for aircraft covers model
It encloses to obtain the control coverage area of existing base station.
There is oneself specific signal cover in each base station, can guarantee to cover by different signal covers
Under the premise of cover area, cost required for building excessive base station is reduced.Mobile base station is applied present very well, sets base
Overlay area of standing also just becomes more easily and quickly.It meanwhile can be with cross-reference between base station, it might even be possible to realize base
The multiple use stood provides base station communication service using mobile communication base station for automatic flight, utilizes limited money to a greater extent
Source.
Step 102 is arranged according to each existing base station and its control coverage area, obtains continuously covering flight starting point
The base station combination in region between final；In base station combination, selects total distance most short and required base station number is least
As Minimal Flight Path base station combination；Minimal Flight Path base station combination is sent to terminal.
Aircraft flight Minimal Flight Path has extremely important effect for flying vehicles control, can both reduce flight
Time, additionally it is possible to save flight cost, be more conducive to the control of aircraft, have for unmanned plane during flying and more importantly anticipate
Justice.
After step 103, terminal receive Minimal Flight Path base station combination, the destination coordinate according to selected by user and destination sequence
It generates feedback message and is sent to flight control system.
Step 104, the destination coordinate for receiving terminal feedback and destination sequence, select the most short boat between adjacent destination coordinate
Line obtains the flight path of aircraft as destination track, according to destination sequence and destination track；Terminal order is received to each
The flight control strategy for the correspondence destination section that existing base station is sent, and flight control strategy is distributed to corresponding each existing base
It stands.
By the way that the control strategy of each course line section is sent to base station stored, and by base station when aircraft reaches the position
Line of flight control and countermeasures by next stage are transmitted to aircraft and carry out flight control, improve flying vehicles control
Fluency and stability, the trouble for avoiding aircraft from bringing flight inconvenient because of control confusion.
Step 105 is flown according to flight path and flight control strategy control aircraft from the position of flight starting point automatically
To the position of final.
Can also be arranged when aircraft complete all flight it is any after, the location point of automatic flight to starting point, and connecting
Good charging equipment.The status message for connecting charging equipment is sent to terminal, terminal is connected to after instruction to be charged according to user
Charging instruction generate charging instruction be transmitted to aircraft so that aircraft charges.More preferentially, flight connects charging
Equipment voluntarily charges, and when charging is not detected within the predetermined time after aircraft connects charging equipment, automatic to disconnect
Charging equipment and generate charge fault remind to terminal.
In some alternative embodiments, as shown in Fig. 2, for second in the present embodiment based on the automatic flight of base station control
Method flow diagram, it is each existing based on communication signal strength precision needed for aircraft unlike Fig. 1
The signal cover of base station obtains the control coverage area of existing base station, are as follows:
Step 201, the channel gain relationship for obtaining signal transmission between aircraft and existing base station.
Step 202, the signal cover based on each existing base station of communication signal strength precision needed for aircraft
Obtain the control coverage area of existing base station.
In some alternative embodiments, as shown in figure 3, being based on the automatic flight of base station control for the third in the present embodiment
Method flow diagram, unlike Fig. 1, further includes:
Step 301, existing base station combination all in flight range all fail continuously to cover flight starting point and flight eventually
Between point when region, generates imperfect flight control information and show.
Step 302 is found out according to existing base station information the least communication base station combination of newly-increased communication base station is needed to be opened up
It is existing.
In some alternative embodiments, as shown in figure 4, for the 4th kind in the present embodiment based on the automatic flight of base station control
Method flow diagram, unlike Fig. 1, further includes:
Step 401, the endurance distance for obtaining aircraft, compare at a distance from flight path；When endurance distance is less than or waits
In flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to terminal.
Step 402, the continuation of the journey control instruction for receiving terminal, analysis obtain the continuation of the journey destination that flight pause carries out continuation of the journey charging
Information, the pause predetermined time carries out continuation of the journey charging when controlling aircraft flight to the continuation of the journey destination.
In some alternative embodiments, as shown in figure 5, for the 5th kind in the present embodiment based on the automatic flight of base station control
Method flow diagram, unlike Fig. 1, further includes:
The flight control strategy for the correspondence destination section that terminal order is sent to each existing base station is received, and flight is controlled
Strategy distribution to corresponding each existing base station, are as follows:
Step 501, the flight control strategy for receiving the correspondence destination section that terminal order is sent to each existing base station and institute
The task strategy to be executed；By flight control strategy and task execution strategy distribution to corresponding each existing base station.
Step 502, in the coverage area of aircraft flight to existing base station when, existing base station is by the flight of next stage
Control strategy and the task strategy to be executed are sent to aircraft.
Step 503, aircraft control it based on flight control strategy and hold in the flight of next stage, and according to task strategy
The corresponding task operating of row.
In other optional embodiments, as shown in fig. 6, being that a kind of controlled based on base station is flown automatically in this implementation
The structural schematic diagram of device 600, the device can be used for implementing the above-mentioned method for controlling based on base station and flying automatically, the device
600 include: flight information receiver 601, base station combination choose processor 602, flight control strategy distribution processors 603 and fly
Line control unit 604.
Flight information receiver 601 chooses processor 602 with base station combination and is connected, and receives final information and flies
The flight origin information of row device obtains the existing base station information between flight starting point and final；Based on needed for aircraft
The signal cover of each existing base station of communication signal strength precision obtains the control coverage area of existing base station.
Optionally, flight information receiver 601, or: receive the flight starting point of final information and aircraft
Information obtains the existing base station information between flight starting point and final；Signal between aircraft and existing base station is obtained to pass
Defeated channel gain relationship, the signal cover based on each existing base station of communication signal strength precision needed for aircraft
Obtain the control coverage area of existing base station.
Base station combination chooses processor 602, with flight information receiver 601 and flight control strategy distribution processors 603
It is connected, is arranged according to each existing base station and its control coverage area, obtains continuously covering flight starting point and flight eventually
The base station combination in region between point；In base station combination, selects total distance most short and required base station number is least as most short
Course line base station combination；Minimal Flight Path base station combination is sent to terminal.
Flight control strategy distribution processors 603 choose processor 602 with base station combination and flight controller 604 are connected
It connects, receives the destination coordinate and destination sequence of terminal feedback, select the Minimal Flight Path between adjacent destination coordinate as destination rail
Mark obtains the flight path of aircraft according to destination sequence and destination track；Terminal order is received to send to each existing base station
Correspondence destination section flight control strategy, and flight control strategy is distributed to corresponding each existing base station.
Optionally, flight control strategy distribution processors 603, can be with are as follows: receives terminal order to each existing base station
The flight control strategy of the correspondence destination section of transmission and the task strategy to be executed；By flight control strategy and task execution plan
Slightly it is distributed to corresponding each existing base station.
When in the coverage area of aircraft flight to existing base station, existing base station is by the flight control strategy of next stage
Aircraft is sent to the task strategy to be executed；Aircraft controls it based on flight control strategy and flies in next stage
Row, and corresponding task operating is executed according to task strategy.
Flight controller 604 is connected with flight control strategy distribution processors 603, is controlled according to flight path and flight
Policy control aircraft processed is flown automatically from the position of flight starting point to the position of final.
In other optional embodiments, as shown in fig. 7, for second in this implementation based on the automatic flight of base station control
Device 700 structural schematic diagram, unlike Fig. 6, further includes: base station supplement process device 701；It is chosen with base station combination
Processor 602 is connected, and all existing base station combinations all fail continuously to cover flight starting point and flight eventually in flight range
Between point when region, generates imperfect flight control information and show；Meanwhile it finding out needs according to existing base station information and increasing newly and leading to
The least communication base station combination in letter base station is showed.
In other optional embodiments, as shown in figure 8, being based on the automatic flight of base station control for the third in this implementation
Device 800 structural schematic diagram, further includes: continuation of the journey control processor 801, with flight control strategy distribution processors 603 and
Flight controller 604 is connected, and for obtaining the endurance distance of aircraft, compares at a distance from flight path；Work as endurance distance
Less than or equal to flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to terminal.
The continuation of the journey control instruction of terminal is received, analysis obtains the continuation of the journey way point information that flight pause carries out continuation of the journey charging, control
The pause predetermined time carries out continuation of the journey charging when aircraft flight processed to the continuation of the journey destination.
It is network-based in the present embodiment that the method and device flown automatically is controlled based on base station, communication can also be based on
Base station is chosen the most suitable cellular network version of control flight automatically according to environmental condition, is realized under various varying environments
Unmanned flight's control, improves the applicability of flight control.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.Obviously, those skilled in the art can be to the application
Various modification and variations are carried out without departing from spirit and scope.If in this way, these modifications and variations of the application
Belong within the scope of the claim of this application and its equivalent technologies, then the application is also intended to encompass these modification and variations and exists
It is interior.
Claims (10)
1. a kind of control the method flown automatically based on base station characterized by comprising
The flight origin information for receiving final information and aircraft, obtains showing between the flight starting point and final
There is base station information；Signal cover based on each existing base station of communication signal strength precision needed for aircraft obtains
To the control coverage area of the existing base station；
It is arranged, continuously covered the flight starting point and is flown according to each existing base station and its control coverage area
The base station combination in region between row terminal；In the base station combination, selects total distance most short and required base station number is least
As Minimal Flight Path base station combination；The Minimal Flight Path base station combination is sent to terminal；
The destination coordinate and destination sequence for receiving the terminal feedback, select the Minimal Flight Path between the adjacent destination coordinate to make
For destination track, the flight path of the aircraft is obtained according to the destination sequence and destination track；It is suitable to receive the terminal
The flight control strategy for the correspondence destination section that sequence is sent to each existing base station, and the flight control strategy is distributed to
Corresponding each existing base station；
The position for controlling the aircraft from the flight starting point according to the flight path and the flight control strategy is automatic
It flies to the position of the final.
2. according to claim 1 control the method flown automatically based on base station, which is characterized in that based on needed for aircraft
The each existing base station of communication signal strength precision signal cover obtain the existing base station control covering
Range, are as follows:
The channel gain relationship that signal transmits between the aircraft and existing base station is obtained, is believed based on communication needed for aircraft
The signal cover of number each existing base station of intensity precision obtains the control coverage area of the existing base station.
3. according to claim 1 control the method flown automatically based on base station, which is characterized in that further include:
All fail continuously to cover area between the flight starting point and final in existing base station combination all in flight range
When domain, generates imperfect flight control information and show；Meanwhile it being found out according to existing base station information and needing newly-increased communication base station most
Few communication base station combination is showed.
4. according to claim 1 control the method flown automatically based on base station, which is characterized in that further include:
Compare at a distance from the endurance distance for obtaining the aircraft, with the flight path；When the endurance distance is less than or waits
In the flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to the terminal；
The continuation of the journey control instruction of the terminal is received, analysis obtains the continuation of the journey way point information that flight pause carries out continuation of the journey charging, control
The pause predetermined time carries out continuation of the journey charging when making the aircraft flight to the continuation of the journey destination.
5. according to claim 1 control the method flown automatically based on base station, which is characterized in that it is suitable to receive the terminal
The flight control strategy for the correspondence destination section that sequence is sent to each existing base station, and the flight control strategy is distributed to
Corresponding each existing base station, are as follows:
It receives the flight control strategy for the correspondence destination section that the terminal order is sent to each existing base station and to be held
Capable task strategy；By the flight control strategy and task execution strategy distribution to corresponding each existing base station；
When in the coverage area of the aircraft flight to the existing base station, the existing base station is by the flight of next stage
Control strategy and the task strategy to be executed are sent to the aircraft；
The aircraft controls it in the flight of next stage based on the flight control strategy, and is held according to the task strategy
The corresponding task operating of row.
6. a kind of control the device to fly automatically based on base station characterized by comprising flight information receiver, base station combination
Choose processor, flight control strategy distribution processors and flight controller；
The flight information receiver chooses processor with the base station combination and is connected, receives final information and flight
The flight origin information of device obtains the existing base station information between the flight starting point and final；Based on needed for aircraft
The each existing base station of communication signal strength precision signal cover obtain the existing base station control covering
Range；
The base station combination chooses processor, is connected with the flight information receiver and flight control strategy distribution processors
It connects, is arranged according to each existing base station and its control coverage area, continuously covered the flight starting point and flown
The base station combination in region between row terminal；In the base station combination, selects total distance most short and required base station number is least
As Minimal Flight Path base station combination；The Minimal Flight Path base station combination is sent to terminal；
The flight control strategy distribution processors choose processor with the base station combination and flight controller are connected, connect
The destination coordinate and destination sequence for receiving the terminal feedback, select the Minimal Flight Path between the adjacent destination coordinate as destination
Track obtains the flight path of the aircraft according to the destination sequence and destination track；The terminal order is received to each
The flight control strategy for the correspondence destination section that a existing base station is sent, and the flight control strategy is distributed to corresponding
Each existing base station；
The flight controller is connected with the flight control strategy distribution processors, according to the flight path and described
Flight control strategy controls the aircraft and is flown automatically from the position of the flight starting point to the position of the final.
7. according to claim 6 control the device to fly automatically based on base station, which is characterized in that the flight information connects
Device is received, are as follows:
The flight origin information for receiving final information and aircraft, obtains showing between the flight starting point and final
There is base station information；The channel gain relationship that signal transmits between the aircraft and existing base station is obtained, based on needed for aircraft
The each existing base station of communication signal strength precision signal cover obtain the existing base station control covering
Range.
8. according to claim 6 control the device to fly automatically based on base station, which is characterized in that further include: it mends base station
Fill processor；It chooses processor with the base station combination to be connected, all existing base station combinations all fail in flight range
When continuously covering region between the flight starting point and final, generates imperfect flight control information and show；Meanwhile root
It is found out according to existing base station information and the least communication base station combination of newly-increased communication base station is needed to be showed.
9. according to claim 1 control the device to fly automatically based on base station, which is characterized in that further include: continuation of the journey control
Processor processed is connected with the flight control strategy distribution processors and flight controller,
Compare at a distance from the endurance distance for obtaining the aircraft, with the flight path；When the endurance distance is less than or waits
In the flight path apart from when, generate insufficient warning message of continuing a journey and simultaneously show to the terminal；
The continuation of the journey control instruction of the terminal is received, analysis obtains the continuation of the journey way point information that flight pause carries out continuation of the journey charging, control
The pause predetermined time carries out continuation of the journey charging when making the aircraft flight to the continuation of the journey destination.
10. according to claim 6 control the device to fly automatically based on base station, which is characterized in that the flight control
Strategy distribution processor, are as follows:
It receives the flight control strategy for the correspondence destination section that the terminal order is sent to each existing base station and to be held
Capable task strategy；By the flight control strategy and task execution strategy distribution to corresponding each existing base station；
When in the coverage area of the aircraft flight to the existing base station, the existing base station is by the flight of next stage
Control strategy and the task strategy to be executed are sent to the aircraft；The aircraft is based on the flight control strategy control
It is made in the flight of next stage, and corresponding task operating is executed according to the task strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910215469.XA CN109885090B (en) | 2019-03-20 | 2019-03-20 | Method and device for controlling automatic flight based on base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910215469.XA CN109885090B (en) | 2019-03-20 | 2019-03-20 | Method and device for controlling automatic flight based on base station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109885090A true CN109885090A (en) | 2019-06-14 |
| CN109885090B CN109885090B (en) | 2021-03-23 |
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