CN109960270A - A kind of method and device in determining unmanned plane during flying path - Google Patents
A kind of method and device in determining unmanned plane during flying path Download PDFInfo
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- CN109960270A CN109960270A CN201711338531.1A CN201711338531A CN109960270A CN 109960270 A CN109960270 A CN 109960270A CN 201711338531 A CN201711338531 A CN 201711338531A CN 109960270 A CN109960270 A CN 109960270A
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of method and apparatus in determining unmanned plane during flying path, earth station obtains the flight path point set of any of unmanned unit unmanned plane, and the unit information of the unmanned unit, wherein, the unit information of unmanned plane includes the location information of forming a team of the number of unmanned plane and each unmanned plane in unmanned unit, and the location information of forming a team of unmanned plane can characterize the unmanned plane the location of in unmanned unit.Earth station is according to the flight path point set of some unmanned plane of acquisition, with the unit information of unmanned unit, it determines the flight path point set of other unmanned planes in unmanned unit, and then sends corresponding path point set to other unmanned planes, to control the flight path of other unmanned planes.By the flight path of each unmanned plane in the unmanned unit of ground station control, even if some unmanned plane breaks down in unmanned unit, other unmanned planes will not be had an impact, other unmanned planes remain to normal flight and complete networking task.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to the method and dress in a kind of determining unmanned plane during flying path
It sets.
Background technique
Unmanned plane is a kind of unpiloted aircraft, compared with manned aircraft, unmanned plane have it is small in size, it is at low cost,
And the advantages that easy to use.Other than Military Application, unmanned plane is also widely used in civilian applications, such as: taking photo by plane, is agriculture,
Plant protection, electric inspection process, and mapping etc..
Traditional unmanned plane, in entire flight course, staff needs to manipulate remote controler always, by wireless electric-controlled
The flight path of unmanned plane processed, a staff can only manipulate a unmanned plane, can not manipulate the nothing of multiple unmanned plane compositions
Man-machine group.But in practical applications, since unmanned plane is small in size, carrying capacity is limited, and many tasks are needed using unmanned plane
Group could be completed, at this time, it may be necessary to cooperate with manipulation simultaneously by multiple staff, control mode is complicated, need to expend a large amount of people
Power resource.Therefore, the flight path for how controlling each unmanned plane in unmanned unit, becomes one of urgent problem to be solved.
Summary of the invention
Present invention solves the technical problem that be to provide a kind of method and device in determining unmanned plane during flying path, so as to
Enough flight paths that each unmanned plane in unmanned unit is determined by earth station.
For this purpose, the technical solution that the present invention solves technical problem is:
The application first aspect provides a kind of method in determining unmanned plane during flying path, which comprises
Earth station obtains the first path point set of the first unmanned plane in unmanned unit；
The earth station obtains the unit information of the unmanned unit, and the unit information includes nothing in the unmanned unit
The location information of forming a team of the location information of forming a team of man-machine number and each unmanned plane, a unmanned plane is used for
The unmanned plane is the location of in the unmanned unit when characterizing flight；
The earth station determines in the unmanned unit according to the first path point set and the unit information
Second path point set of the second unmanned plane；
The earth station sends the second path point set to second unmanned plane, controls the flight of second unmanned plane
Path.
Optionally, the method also includes:
The flying quality of each unmanned plane in unmanned unit described in the ground station reception, the flying quality include flight
Direction, flight positioning, flying speed and flying height；
The earth station monitors whether each unmanned plane normally forms into columns according to the flying quality of each unmanned plane
Flight；
The earth station monitors to send out there are when the yaw unmanned plane of no normal formation flight to the yaw unmanned plane
Flight adjustment information is sent, the flight adjustment information restores normal formation flight for controlling the yaw unmanned plane.
Optionally, whether the earth station monitors each unmanned plane according to the flying quality of each unmanned plane
Normal formation flight includes:
The earth station monitors the flight height of each unmanned plane according to the flying height of each unmanned plane
Whether degree meets the needs of normal formation flight.
Optionally, whether the earth station monitors each unmanned plane according to the flying quality of each unmanned plane
Normal formation flight includes:
The earth station positions according to the flight of each unmanned plane, and whether the flight positioning for monitoring the unmanned plane meets
The demand of normal formation flight.
Optionally, described to include: to yaw unmanned plane transmission flight adjustment information
The earth station monitors that the flight positioning of the yaw unmanned plane is unsatisfactory for the demand of normal formation flight
When, according to the flying speed and heading of the yaw unmanned plane, flight adjustment information is sent to the yaw unmanned plane.
Optionally, the method also includes:
The earth station monitors to obtain in the unmanned unit in the unmanned unit there are when the unmanned plane of failure,
The flight path of other unmanned planes in addition to the unmanned plane of the failure；
The earth station according to the flight paths of other unmanned planes in addition to the unmanned plane of the failure, determine third without
Man-machine path adjustment information；
The earth station sends the path adjustment information to the third unmanned plane, controls the third unmanned plane adjustment
Flight path.
Optionally, the earth station obtains the first path point set of the first unmanned plane in unmanned unit and includes:
The earth station obtains preset flight overlay area；
The earth station obtains the first via of the first unmanned plane in unmanned unit on the preset flight overlay area
Diameter point set.
The application second aspect provides a kind of device in determining unmanned plane during flying path, and described device includes:
First obtains module, and the first path point set of the first unmanned plane in unmanned unit is obtained for earth station；
Second obtains module, and the unit information of the unmanned unit, the unit information packet are obtained for the earth station
Include the location information of forming a team of the number of unmanned plane and each unmanned plane in the unmanned unit, the institute of a unmanned plane
State unmanned plane location in unmanned unit when location information of forming a team is used to characterize flight；
Determining module determines institute for the earth station according to the first path point set and the unit information
State the second path point set of the second unmanned plane in unmanned unit；
Control module sends the second path point set to second unmanned plane for the earth station, controls described the
The flight path of two unmanned planes.
Optionally, described device further include:
Receiving module, for the earth station according to the flying quality of each unmanned plane, monitor it is each it is described nobody
The whether normal formation flight of machine；
Monitoring modular is monitored there are when the yaw unmanned plane of no normal formation flight for the earth station, to institute
It states yaw unmanned plane and sends flight adjustment information, the flight adjustment information is restored normally to compile for controlling the yaw unmanned plane
Team's flight.
Optionally, the monitoring modular includes:
Flying height monitoring unit, for the earth station according to the flying height of each unmanned plane, monitoring is each
Whether the flying height of the unmanned plane meets the needs of normal formation flight.
Optionally, the monitoring modular includes:
Flight position monitor unit positions according to the flight of each unmanned plane for the earth station, monitors the unmanned plane
The flight positioning whether meet the needs of normal formation flight.
Optionally, the monitoring modular includes:
Adjustment information transmission unit monitors that the flight positioning of the yaw unmanned plane is discontented for the earth station
When the demand of the normal formation flight of foot, according to the flying speed and heading of the yaw unmanned plane, nobody is yawed to described
Machine sends flight adjustment information.
Optionally, described device further include:
Flight path obtains module, monitors that there are the unmanned planes of failure in the unmanned unit for the earth station
When, it obtains in the unmanned unit, the flight path of other unmanned planes in addition to the unmanned plane of the failure；
Adjustment information determining module, for the earth station according to other unmanned planes in addition to the unmanned plane of the failure
Flight path, determine the path adjustment information of third unmanned plane；
Flight path control module sends the path adjustment information to the third unmanned plane for the earth station,
Control the third unmanned plane adjustment flight path.
Optionally, the first acquisition module includes:
Flight overlay area acquiring unit obtains preset flight overlay area for the earth station；
First path point combination acquiring unit obtains nothing on the preset flight overlay area for the earth station
The first path point set of first unmanned plane in man-machine group.
According to the above-mentioned technical solution, the method have the advantages that:
This application provides a kind of methods in determining unmanned plane during flying path, by each nothing in the unmanned unit of ground station control
Man-machine flight path.Specifically, earth station obtains the flight path point set of any of unmanned unit unmanned plane, and should
The unit information of unmanned unit, wherein the unit information of unmanned plane includes the number of unmanned plane and each nothing in unmanned unit
Man-machine location information of forming a team, the location information of forming a team of unmanned plane can characterize unmanned plane position locating in unmanned unit
It sets.Earth station determines unmanned plane according to the flight path point set of some unmanned plane of acquisition and the unit information of unmanned unit
The flight path point set of other unmanned planes in group, and then corresponding path point set is sent to other unmanned planes, with control
Make the flight path of other unmanned planes.Flight path point set of the earth station based on some unmanned plane in unmanned unit, and
The unit information of unmanned unit, generates the flight path point set of other unmanned planes in the unmanned unit, and controls other nothings
It is man-machine correspondingly to fly according to flight path point set.This solution provides the flight roads for controlling each unmanned plane in unmanned unit
The method of diameter, and by the flight path of each unmanned plane in the unmanned unit of ground station control, even if some nothing in unmanned unit
Man-machine failure will not have an impact other unmanned planes, and other unmanned planes remain to normal flight and complete networking task.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of method flow diagram in determining unmanned plane during flying path provided by the embodiments of the present application；
Fig. 2 is a kind of schematic diagram of a scenario of to acquisite approachs point set provided by the embodiments of the present application；
Fig. 3 is the schematic diagram of a scenario of another to acquisite approachs point set provided by the embodiments of the present application；
Fig. 4 is that a kind of determining unmanned plane provided by the embodiments of the present application is formed a team the schematic diagram of a scenario of location information；
Fig. 5 is provided by the embodiments of the present application another to determine that unmanned plane is formed a team the schematic diagram of a scenario of location information；
Fig. 6 is a kind of schematic diagram of a scenario of the second path of determination point set provided by the embodiments of the present application；
Fig. 7 is a kind of method for monitoring and adjusting the state of flight of unmanned plane in unmanned unit provided by the embodiments of the present application
Flow chart；
Fig. 8 is a kind of method flow diagram for adjusting unmanned plane during flying path provided by the embodiments of the present application；
Fig. 9 is a kind of structure chart of the device in determining unmanned plane during flying path provided by the embodiments of the present application.
Specific embodiment
In order to provide the implementation for determining each unmanned plane during flying path in unmanned unit, the embodiment of the invention provides
A kind of method in determining unmanned plane during flying path, below in conjunction with Figure of description, preferred embodiment of the present invention will be described,
It should be appreciated that preferred embodiments described herein are only used to illustrate and explain the present invention, it is not intended to limit the present invention.And
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.
With the development of airmanship, unmanned plane can be according to global positioning system (Global Positioning at present
System, GPS) signal realization autonomous flight.Specifically, unmanned plane obtains the GPS information of itself, by the GPS information, road is flown through
Diameter, itself state of flight and the environmental data locating for itself are combined, and generate the flight control information of the unmanned plane, are utilized
The flight control information controls the unmanned plane during flying to predetermined flight position, or control unmanned plane and flies according to predetermined flight path
Row.
In the prior art, it before the unmanned unit being made of multiple unmanned planes executes networking task, needs in unmanned unit
Multiple unmanned planes in choose a unmanned plane as host, correspondingly, other unmanned planes in unmanned unit in addition to host are equal
As slave.During unmanned unit executes networking task, host can be communicated with each slave, sent and flown to each slave
Row controls signal and correspondingly flies according to flight control signal after each slave receives the flight control signal of host transmission,
To complete networking task.
However, the method for determining each unmanned plane during flying path in unmanned unit in the prior art excessively relies on unmanned unit
In host, when in unmanned unit host break down, when can not be communicated with each slave, each slave because receive not
To corresponding flight control signal, and can not fly according to scheduled networking flight path, and then be unable to complete networking task.I.e.
As long as the host in unmanned unit breaks down, the equal cisco unity malfunction of other slaves in unmanned unit can not execute networking
Task.
To solve the above-mentioned problems, it this application provides a kind of method in determining unmanned plane during flying path, is controlled by earth station
Make the flight path of each unmanned plane in unmanned unit.Specifically, earth station obtains flying for any of unmanned unit unmanned plane
The unit information of walking along the street diameter point set and the unmanned unit, wherein the unit information of unmanned plane include in unmanned unit nobody
The location information of forming a team of the location information of forming a team of the number of machine and each unmanned plane, unmanned plane can characterize the unmanned plane in nothing
The location of in man-machine group.Earth station is according to the flight path point set of some unmanned plane of acquisition and the machine of unmanned unit
Group information determines the flight path point set of other unmanned planes in unmanned unit, and then corresponding to the transmission of other unmanned planes
Path point set, to control the flight path of other unmanned planes.
The method in determining unmanned plane during flying path provided by the present application, earth station are based on some unmanned plane in unmanned unit
Flight path point set and unmanned unit unit information, generate the flight road of other unmanned planes in the unmanned unit
Diameter point set, and control other unmanned planes and correspondingly fly according to flight path point set.By in the unmanned unit of ground station control
The flight path of each unmanned plane will not generate other unmanned planes even if some unmanned plane breaks down in unmanned unit
It influences, other unmanned planes remain to normal flight and complete networking task.
Embodiment of the method one
It is a kind of method flow diagram in determining unmanned plane during flying path provided in this embodiment, this method packet referring to Fig. 1
It includes:
Step 101: earth station obtains the first path point set of the first unmanned plane in unmanned unit.
Earth station can choose any of unmanned unit unmanned plane as the first unmanned plane.First unmanned plane can be
The unmanned plane to take off at first in unmanned unit, or flight position is in the unmanned plane of marginal position in unmanned unit,
It can also be flight position unmanned plane in an intermediate position in unmanned unit, herein not to the chosen in unmanned unit
One unmanned plane does any restriction.
Earth station obtains the path point set of first unmanned plane, as first path point set.It should be noted that every
The path point set of a unmanned plane is the set of index point on the unmanned plane during flying path, the mark on each unmanned plane during flying path
Point set can correspondingly characterize the flight path of each unmanned plane, and the index point on each unmanned plane during flying path can be unmanned plane
Inflection point on flight path can also be arranged certain point as index point every a distance on flight path, not appoint herein
What is limited.
Therefore, the first path point set of the first unmanned plane can indicate the flight path of first unmanned plane, the first nothing
It is man-machine to fly in flight course according to the first path point set, that is, it realizes according to flight road represented by first path point
Diameter flight.
Specifically, earth station when the first path point set of the first unmanned plane, can first obtain in obtaining unmanned unit
Preset flight overlay area obtains the flight overlay area of the unmanned unit.It obtains on flight overlay area at nobody
The first path point set for the first unmanned plane chosen in unit.
Separately below by taking preset flight overlay area is riverbank and farmland as an example, introduces two kinds and provided in this embodiment obtain
The method for taking the first path point set of the first unmanned plane in unmanned unit:
As shown in Fig. 2, choosing the nothing taken off at first in unmanned unit when the flight overlay area of unmanned unit is riverbank
Man-machine to be used as the first unmanned plane, since flight overlay area is riverbank, correspondingly, the flight path of unmanned plane is to fly along riverbank
Row obtains every a distance and is a little used as flight path point on the flight path, is respectively provided on flight path winged
Row path point 1,2,3,4,5,6,7, the set of all flight path points on the flight path, as the first of the first unmanned plane
Path point set.
When the flight overlay area of unmanned plane is farmland, held by the unmanned unit that the similar unmanned plane of 5 performances is constituted
The work of row pesticide spraying, the spraying range of every unmanned plane be using itself perpendicular to bottom surface point as the center of circle, 2m is the circle of radius
Shape region, then when 5 unmanned plane afflights in the unmanned unit, the unmanned unit on the direction parallel with heading
Spraying range be 20m, when unmanned unit operation on the farmland that width is 100m, the unmanned plane in unmanned unit needs
5 flight is executed along the direction vertical with farmland width and sprays work, could complete the pesticide spraying work to the farmland.Specifically
, fly five times along the direction vertical with farmland width, unmanned unit can since farmland on one side execute sprinkling work, will
A flight path vertical with farmland width is as a normal trajectories, after the flight for completing a normal trajectories, unmanned plane
5 unmanned planes in group are whole along farmland width direction translation 20m, start to continue to fly in next normal trajectories, with this
Analogize, to complete the sprinkling work to full wafer farmland.
Under above-mentioned scene, unmanned plane quantity in farmland width, unmanned unit and unmanned plane working performance can be joined
In the system of number input earth station, the system of earth station designs unmanned plane during flying path according to above-mentioned parameter, and then in unmanned plane
Flight path in path selection point.As shown in figure 3, in the unmanned plane for 5 afflights that the unmanned unit includes, with
For selection flight position is in most intermediate unmanned plane as the first unmanned plane, the system of earth station automatically determines first nothing
Path point on man-machine flight path.Two endpoints in each normal trajectories are all used as to the path of the first unmanned plane
Point obtains the endpoint in all normal trajectories, the first path point set as first unmanned plane.As shown in figure 3, for
One normal trajectories chooses two endpoints of first normal trajectories, the i.e. path of endpoint 1 and endpoint 2 as the first unmanned plane
Point chooses two endpoints of Article 2 normal trajectories for Article 2 normal trajectories, i.e., endpoint 3 and endpoint 4 as first nobody
The path point of machine, and so on, endpoint 1-10 is the path point of the first unmanned plane, correspondingly, the road being made of endpoint 1-10
Diameter point set is as first path point set.
It should be noted that above-mentioned scene is only schematic scene, it is directed to different scenes, side provided in this embodiment
Method can be specific that flight overlay area, unmanned plane quantity and unmanned plane working parameters are arranged according to the actual situation, thus
Automatically determine the first path point set of the first unmanned plane in unmanned unit.
Method provided in this embodiment can be obtained the flight path of unmanned plane automatically by equipment according to practical application scene
Point set can also be chosen flight path point manually by operator on the flight path of unmanned plane, with obtain first nobody
The first path point set of machine.
Certainly, it is directed to different pre-set flight overlay areas, the method for obtaining first path point set is different, herein not
Any restriction is done to the method for obtaining first path point set.
Step 102: earth station obtains the unit information of unmanned unit.
Step 103: earth station according to first path point set and unit information, determine in unmanned unit second nobody
Second path point set of machine.
The unit information of unmanned unit includes the position of forming a team of the number of unmanned plane and each unmanned plane in unmanned unit
Information, the unmanned plane is the location of in unmanned unit when which can characterize flight.
Specifically, when each unmanned plane afflight in unmanned unit is arranged, the location information of forming a team of each unmanned plane
It can be itself flight interval between adjacent unmanned plane.As shown in figure 4, the location information of forming a team of setting unmanned plane 1 is,
It is divided into 5m between adjacent unmanned plane 2, the interval between adjacent unmanned plane 3 is also 5m.When the unmanned unit of setting
In each unmanned plane along same flight path flight when, each unmanned plane form a team location information can for itself and it is adjacent
Flight interval between unmanned plane may include the flight interval between previous adjacent unmanned plane, also may include with after
Flight interval between one unmanned plane.
When each unmanned plane is according to certain formation flight in the unmanned unit of setting, the position letter of forming a team of each unmanned plane
Breath may include itself interval between other unmanned planes, also may include itself interval between other unmanned planes, with
And the angle of two unmanned plane lines and itself flight path.
As shown in figure 5, the location information of forming a team of the unmanned plane may include between unmanned plane 1 for unmanned plane 2
Between be divided into 5m, between unmanned plane 3 between be divided into 2.5m, between unmanned plane 4 between be divided into 5m；For unmanned plane 3,
The location information of forming a team of unmanned plane 3 may include between unmanned plane 1 between be divided into 4.25m, with unmanned plane 2 and unmanned plane 4 it
Between interval be 2.5m.The location information of forming a team of unmanned plane 2 can also be, between unmanned plane 1 between be divided into 5m, unmanned plane
2 itself angle between 1 flight path of line and unmanned plane of unmanned plane 1 are 120 °；Unmanned plane 3 forms a team location information also
It can be to be divided into 4.25m between unmanned plane 1, flight path is identical as the flight path of unmanned plane 1.
Certainly, the location information of forming a team of each unmanned plane can be set according to the actual situation, herein not to each nothing
The concrete form of man-machine location information of forming a team carries out any restriction.
Using other unmanned planes in unmanned unit in addition to the first unmanned plane as the second unmanned plane, according to the first unmanned plane
The unit information of path point set and unmanned unit generates the second path that can characterize each second unmanned plane during flying path
Point set.Under normal circumstances, in a unmanned unit, there are multiple second unmanned planes.
Due in the unit information of unmanned plane including the number of unmanned plane in unmanned unit, and each nothing can be characterized
When man-machine flight in unmanned unit present position location information of forming a team, wherein the location information of forming a team of each unmanned plane is equal
Each unmanned plane can correspondingly be characterized in unmanned unit relative to other unmanned plane positions, therefore, the unit of unmanned unit is believed
Breath produces in conjunction with the first path point set of the first unmanned plane during flying of the characterization absolute position obtained in a step 101
The path point set in other unmanned plane during flying paths in unmanned unit can be characterized, correspondingly, characterizes other nothings in unmanned unit
The absolute position of man-machine flight.
For example, as shown in figure 4, having 5 unmanned planes in unmanned unit, the formation of each unmanned plane is straight in unmanned unit
Line, the lateral distance between two adjacent unmanned planes is 5m, i.e., in flight course, in unmanned unit each unmanned plane relative to
5m is divided between its adjacent unmanned plane.By taking unmanned plane 1 centrally located in unmanned unit is the first unmanned plane as an example, nobody
The first path point set of machine 1 is it is known that according to first path point set and unit information, and the second of available second unmanned plane
Path point set.Wherein, unmanned plane 2, unmanned plane 3, unmanned plane 4 and unmanned plane 5 are all the second unmanned planes.Due to unmanned plane
In group the formation of each unmanned plane be straight line, thus, the second path point set of the second unmanned plane be formed by flight path with
First path point set is formed by flight path and is parallel to each other, also, each unmanned plane corresponds to the path point of synchronization
A straight line perpendicular to heading can be formed.
When executing networking task, 5 unmanned planes take off simultaneously, and the flight path between each unmanned plane is parallel.Ground
Face station obtains the first flight path point set of the first unmanned plane, according to the absolute position that can characterize the first unmanned plane during flying
First path point set determines second unmanned plane adjacent with the first unmanned plane at away from the first unmanned plane during flying path 5m
The second flight path point set, correspondingly, which characterizes the absolute position of second unmanned plane during flying
It sets, and so on, determine the flight path that can characterize the absolute position of other second unmanned plane during flyings in the unmanned unit
Point set.
For example, the formation of each unmanned plane is three in unmanned unit as shown in fig. 6, unmanned unit includes three unmanned planes
Angular, unmanned plane 1 is used as the first unmanned plane, and unmanned plane 2 and unmanned plane 3 are used as the second unmanned plane, with unmanned plane 1, unmanned plane 2
In the unmanned unit constituted with unmanned plane 3, the relative position information of each unmanned plane is as shown in fig. 6, i.e. unmanned plane 1,2 and of unmanned plane
Unmanned plane 3 remains triangle flight formation when executing networking task.Obtain the absolute position of the first unmanned plane during flying of characterization
The first path point set combines, in conjunction with the location information of forming a team that can characterize each unmanned plane relative positional relationship in unmanned unit,
It determines the path point set of other second unmanned planes in unmanned unit, that is, determines the path point set of unmanned plane 2 and unmanned plane 3.
Since the formation of each unmanned plane is triangle in unmanned unit, so that each unmanned plane corresponds to the path point of synchronization
A triangle identical with formation can be formed.
It should be noted that the possible identical or each unmanned plane of the path point set of each unmanned plane in unmanned unit
Flight path may be overlapped, but synchronization, the relative positional relationship in unmanned unit between each unmanned plane, correspondingly
Meet the relative positional relationship in the location information of forming a team of each unmanned plane.
Step 104: earth station sends the second path point set to the second unmanned plane, controls the flight road of the second unmanned plane
Diameter.
Earth station sends the second path point set, the second unmanned plane root to correspondingly each second unmanned plane by core net
The the second path point set received according to itself determines the flight path of itself, and then flies according to the flight path.
The method in determining unmanned plane during flying path provided in this embodiment, earth station are based in unmanned unit some nobody
The flight path point set of machine and the unit information of unmanned unit, generate the flight of other unmanned planes in the unmanned unit
Path point set, and control other unmanned planes and correspondingly fly according to flight path point set.By the unmanned unit of ground station control
In each unmanned plane flight path, even if in unmanned unit some unmanned plane break down, other unmanned planes will not be produced
Raw to influence, other unmanned planes remain to normal flight and complete networking task.
In addition, the application still further provides a kind of method for monitoring each unmanned plane during flying state in unmanned unit, ground
The flying quality that face station is fed back according to unmanned plane each in unmanned unit, whether the flight path for monitoring each unmanned plane is normal,
It, can be further to the state of flight of the unmanned plane when the flight path for monitoring some unmanned plane deviates predetermined flight path
It is modulated.
Embodiment of the method two
Referring to Fig. 7, for a kind of method for monitoring and adjusting the state of flight of unmanned plane in unmanned unit provided by the present application
Flow chart, this method comprises:
Step 701: the flying quality of each unmanned plane in the unmanned unit of ground station reception.
Due to during unmanned unit executes networking task, between each unmanned plane in earth station and unmanned unit
Remain communication, therefore, each unmanned plane in unmanned unit ground station can be sent in real time during flight
The flying quality of itself, flying quality include heading, flight positioning, flying speed and altitude, correspondingly, earth station
Receive the flying quality of each unmanned plane in unmanned unit.
Step 702: earth station is according to the flying quality of each unmanned plane, and monitoring each unmanned plane, normally whether formation flies
Row.
Step 703: earth station monitors there are when the yaw unmanned plane of no normal formation flight, to the yaw unmanned plane
Send flight adjustment information.
Earth station is according to the flying quality of each unmanned plane received, correspondingly, monitor in unmanned unit it is each nobody
The whether normal formation flight of machine, that is, monitor each unmanned plane in unmanned unit whether according to itself predetermined flight path and
Predetermined state of flight normal flight.
In a scenario, monitor each unmanned plane whether normal formation flight when, earth station can according to it is each nobody
Whether the flying height of machine, the flying height for monitoring each unmanned plane meet the needs of normal formation flight.
When unmanned unit executes networking task, need to preset the flying height of each unmanned plane, unmanned plane during flying
In the process, ground station sends itself flying height in real time, and whether the flying height that earth station monitors each unmanned plane meets
Pre-set flight height, specifically, may determine that the difference between itself flying height and pre-set flight height of unmanned plane feedback
Whether value is within the scope of preset difference value, if the difference between itself flying height and pre-set flight height of unmanned plane feedback is super
The preset difference value range out then illustrates drone flying height exception, without normal formation flight.
Correspondingly, when detecting drone flying height exception of depositing cash in unmanned unit, without the feelings of normal formation flight
When condition, the flying height of the unmanned plane of flying height exception is adjusted, so that the flying height of the unmanned plane restores normal, that is, is adjusted
The whole normal formation flight of the unmanned plane.
Under another scene, monitor each unmanned plane whether normal formation flight when, earth station can also be according to each
The flight of unmanned plane positions, and whether the flight positioning for monitoring the unmanned plane meets the needs of normal formation flight.
Unmanned plane can be obtained using GPS technology reflects that the flight of itself absolute location information positions, which is positioned
Information is sent to earth station, the flight location information that each unmanned plane is sent in the unmanned unit of ground station reception, according to current
The flight location information that each unmanned plane is sent determines the relative positional relationship of each unmanned plane in current unmanned unit.Root
According to the location information of forming a team of each unmanned plane in unmanned unit, in available preset unmanned unit between each unmanned plane
Relative position information.In turn, whether a relative position information judged between current each unmanned plane meets preset opposite
Location information, if some unmanned plane in unmanned unit is believed relative to the location information of other unmanned planes and preset relative position
It ceases inconsistent, then illustrates that this unmanned plane does not have normal formation flight.
For example, earth station presets unmanned unit when executing networking task, each unmanned plane in unmanned unit flies
Walking along the street diameter is parallel, each unmanned plane afflight and distance each other is 5m.Unmanned plane in unmanned unit is in execution group
When net task, each unmanned plane ground station sends the flight positioning of itself, and what ground station reception to each unmanned plane was sent flies
Row positioning, monitor some unmanned plane with other unmanned plane afflights, and the unmanned plane and adjacent unmanned plane it
Between distance have reached 10m, therefore, can be with it can be seen that the unmanned plane has been unsatisfactory for preset relative positional relationship
Determine that the unmanned plane is unsatisfactory for the demand of normal formation flight.
It can certainly judge whether the unmanned plane is unsatisfactory for normally forming into columns by other flying qualities of monitoring unmanned plane
The demand of flight does not do any restriction herein.
Wherein, yaw unmanned plane refers to the unmanned plane for being unsatisfactory for normal formation flight demand, i.e. the yaw unmanned plane
Flying quality and preset flying quality are inconsistent.Specifically, may be the flying height and pre-set flight of the yaw unmanned plane
Height differs more, it is also possible to which the relative position of the yaw unmanned plane and other unmanned planes in unmanned unit is unsatisfactory for preset
Relative positional relationship, it is of course also possible to be the yaw unmanned plane other flying qualities and preset flying quality it is inconsistent.
Earth station monitors to be flown according to preset unmanned plane there are when the yaw unmanned plane of no normal formation flight
Row data calculate flight adjustment information for itself flying quality that the yaw unmanned plane is sent, and send out to the yaw unmanned plane
It send earth station calculated flight adjustment information, controls the yaw unmanned plane and restore normal formation flight.
Specifically, when earth station monitors that the flight positioning of yaw unmanned plane is unsatisfactory for the demand of normal formation flight, it can
To send flight adjustment information to yaw unmanned plane according to the flying speed and heading of yaw unmanned plane.
Earth station monitors the relative positional relationship between yaw unmanned plane and other unmanned planes, is unsatisfactory for preset opposite
When positional relationship, the flight tune of yaw unmanned plane can be calculated according to the flying speed and heading that yaw unmanned plane is sent
Whole information adjusts the flying speed and heading of yaw unmanned plane according to the flight adjustment information, so that the yaw nothing
The man-machine normal formation flight of recovery.
For example, being lagged behind side by side when monitoring the normal pre-set flight path of some unmanned plane deviation in unmanned unit
Other unmanned planes of flight, and heading deviates eastwards 30 ° of pre-set flight direction angle.Ground station reception is to the yaw unmanned plane
Flying quality after, according to the practical flight speed and heading of the yaw unmanned plane, calculate the flight of the yaw unmanned plane
Adjustment information specifically, accelerating the flying speed of the yaw unmanned plane, and the heading of the unmanned plane is westwards adjusted
It is whole, so that the yaw unmanned plane can restore normal formation flight, after monitoring that the unmanned plane restores normal formation flight,
Stop sending flight adjustment information to the yaw unmanned plane.
It is of course also possible to be that yaw unmanned plane formulates flight adjustment information according to the other parameters in flying quality, herein
Any restriction is not carried out to the method for specified flight adjustment information.
Monitoring provided in this embodiment and the method for adjusting the state of flight of unmanned plane in unmanned unit, earth station can be real
When monitor whether each unmanned plane in unmanned unit meets normal formation flight demand, it is inclined when monitoring to exist in unmanned unit
When endurance unmanned plane, according to itself flying quality that the yaw unmanned plane is sent, flight adjustment information is formulated for the yaw unmanned plane,
So that the normal formation flight of yaw unmanned plane.Method i.e. provided in this embodiment can guarantee each in unmanned unit
Unmanned plane guarantees normal formation flight, when there is the abnormal formation flight of some unmanned plane, to the state of flight of the unmanned plane
It is adjusted.
When some unmanned plane in unmanned unit due to failure cannot normal formation flight when, the application further mentions
The method for having supplied the other unmanned plane during flying paths of adjustment, according to the unmanned planes that can be operated normally other in unmanned unit, again
Flight path is set, and carries out the adjustment of flight path to the unmanned plane that can be operated normally, to complete networking task.
Embodiment of the method three
Referring to Fig. 8, for a kind of method flow diagram for adjusting unmanned plane during flying path provided in this embodiment, this method packet
It includes:
Step 801: earth station monitors to obtain in unmanned unit in unmanned unit there are when the unmanned plane of failure, except event
The flight path of other unmanned planes other than the unmanned plane of barrier.
Step 802: earth station according to the flight paths of other unmanned planes in addition to the unmanned plane of failure, determine third without
Man-machine path adjustment information.
Step 803: earth station controls third unmanned plane and adjusts flight road to third unmanned plane transmitting path adjustment information
Diameter.
When earth station monitor in unmanned unit there are it is faulty cannot normal formation flight unmanned plane when, it is available
In the unmanned unit, the flight path of other unmanned planes other than the failure unmanned plane.
Earth station according to the flight paths of the other unmanned planes in addition to failure unmanned plane got, design third nobody
The path adjustment information of machine, the third unmanned plane are the unmanned plane for needing to adjust flight path, i.e., the third unmanned plane can be
Some or certain several unmanned planes in other unmanned planes in addition to failure unmanned plane, which may be except failure
Other all unmanned planes other than unmanned plane.
Earth station needs according to the flight paths of other unmanned planes in addition to failure unmanned plane, and normal formation flight
It asks, for the new flight path of the unmanned aerial vehicle design in the unmanned unit, so that other unmanned functions in addition to failure unmanned plane
Enough continue to complete networking task.
Earth station is to above-mentioned third unmanned plane transmitting path adjustment information, and correspondingly, third unmanned plane is received according to itself
Path adjustment information, the flight path of itself is adjusted, so that unmanned unit can normally complete networking task.
For example, unmanned unit is made of five unmanned planes, five unmanned plane afflights, and between every two unmanned plane between
It is divided into 4m.Existing earth station monitors that one of unmanned plane breaks down, and cannot continue to execute networking task, earth station obtains it
The flight path of unmanned plane that four are capable of normal flight of remaininging according to the actual demand of networking task is remaining four unmanned plane
Flight path design path adjustment information, change every two unmanned plane between be divided into 5m, by the path adjustment information send out
It send and is respectively capable of the unmanned plane of normal flight path adjustment information based on the received to each unmanned plane for capableing of normal flight, change
Become itself flight path, to complete networking task.
The method in adjustment unmanned plane during flying path provided in this embodiment, can break down unmanned plane in unmanned unit
When, according to the flight path of remaining unmanned plane for capableing of normal flight, design path adjustment information is adjusted according to the path
Information is adjusted the flight path of remaining unmanned plane for capableing of normal flight, so that remaining unmanned plane can normally complete
Networking task.
Installation practice one
It is a kind of structure drawing of device in determining unmanned plane during flying path provided in this embodiment, the device packet referring to Fig. 9
It includes:
First obtains module 901, and the first path point set of the first unmanned plane in unmanned unit is obtained for earth station；
Second obtains module 902, and the unit information of the unmanned unit, the unit information are obtained for the earth station
Including the number of unmanned plane in the unmanned unit and the location information of forming a team of each unmanned plane, unmanned plane
The location information of forming a team is for unmanned plane when characterizing flight the location of in the unmanned unit；
Determining module 903, for the earth station according to the first path point set and the unit information, really
Second path point set of the second unmanned plane in the fixed unmanned unit；
Control module 904 sends the second path point set to second unmanned plane for the earth station, described in control
The flight path of second unmanned plane.
Optionally, described device further include:
Receiving module, for the earth station according to the flying quality of each unmanned plane, monitor it is each it is described nobody
The whether normal formation flight of machine；
Monitoring modular is monitored there are when the yaw unmanned plane of no normal formation flight for the earth station, to institute
It states yaw unmanned plane and sends flight adjustment information, the flight adjustment information is restored normally to compile for controlling the yaw unmanned plane
Team's flight.
Optionally, the monitoring modular includes:
Flying height monitoring unit, for the earth station according to the flying height of each unmanned plane, monitoring is each
Whether the flying height of the unmanned plane meets the needs of normal formation flight.
Optionally, the monitoring modular includes:
Flight position monitor unit positions according to the flight of each unmanned plane for the earth station, monitors the unmanned plane
The flight positioning whether meet the needs of normal formation flight.
Optionally, the monitoring modular includes:
Adjustment information transmission unit monitors that the flight positioning of the yaw unmanned plane is discontented for the earth station
When the demand of the normal formation flight of foot, according to the flying speed and heading of the yaw unmanned plane, nobody is yawed to described
Machine sends flight adjustment information.
Optionally, described device further include:
Flight path obtains module, monitors that there are the unmanned planes of failure in the unmanned unit for the earth station
When, it obtains in the unmanned unit, the flight path of other unmanned planes in addition to the unmanned plane of the failure；
Adjustment information determining module, for the earth station according to other unmanned planes in addition to the unmanned plane of the failure
Flight path, determine the path adjustment information of third unmanned plane；
Flight path control module sends the path adjustment information to the third unmanned plane for the earth station,
Control the third unmanned plane adjustment flight path.
Optionally, the first acquisition module includes:
Flight overlay area acquiring unit obtains preset flight overlay area for the earth station；
First path point combination acquiring unit obtains nothing on the preset flight overlay area for the earth station
The first path point set of first unmanned plane in man-machine group.
The device in determining unmanned plane during flying path provided in this embodiment, earth station are based in unmanned unit some nobody
The flight path point set of machine and the unit information of unmanned unit, generate the flight of other unmanned planes in the unmanned unit
Path point set, and control other unmanned planes and correspondingly fly according to flight path point set.By the unmanned unit of ground station control
In each unmanned plane flight path, even if in unmanned unit some unmanned plane break down, other unmanned planes will not be produced
Raw to influence, other unmanned planes remain to normal flight and complete networking task.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (14)
1. a kind of method in determining unmanned plane during flying path, which is characterized in that the described method includes:
Earth station obtains the first path point set of the first unmanned plane in unmanned unit；
The earth station obtains the unit information of the unmanned unit, and the unit information includes unmanned plane in the unmanned unit
Number and each unmanned plane location information of forming a team, the location information of forming a team of unmanned plane is for characterizing
The unmanned plane is the location of in the unmanned unit when flight；
The earth station determines second in the unmanned unit according to the first path point set and the unit information
Second path point set of unmanned plane；
The earth station sends the second path point set to second unmanned plane, controls the flight road of second unmanned plane
Diameter.
2. the method according to claim 1, wherein the method also includes:
The flying quality of each unmanned plane in unmanned unit described in the ground station reception, the flying quality include flight side
To flight positions, flying speed and flying height；
The earth station is according to the flying quality of each unmanned plane, and monitoring each unmanned plane, normally whether formation flies
Row；
The earth station monitors to send and fly to the yaw unmanned plane there are when the yaw unmanned plane of no normal formation flight
Row adjustment information, the flight adjustment information restore normal formation flight for controlling the yaw unmanned plane.
3. according to the method described in claim 2, it is characterized in that, the earth station is according to the flight number of each unmanned plane
According to monitoring each whether normal formation flight of the unmanned plane includes:
According to the flying height of each unmanned plane, the flying height for monitoring each unmanned plane is for the earth station
It is no to meet the needs of normal formation flight.
4. according to the method described in claim 2, it is characterized in that, the earth station is according to the flight number of each unmanned plane
According to monitoring each whether normal formation flight of the unmanned plane includes:
The earth station positions according to the flight of each unmanned plane, and whether the flight positioning for monitoring the unmanned plane meets normally
The demand of formation flight.
5. according to the method described in claim 2, it is characterized in that, described send flight adjustment information to the yaw unmanned plane
Include:
When the earth station monitors that the flight positioning of the yaw unmanned plane is unsatisfactory for the demand of normal formation flight, root
According to the flying speed and heading of the yaw unmanned plane, flight adjustment information is sent to the yaw unmanned plane.
6. method described in -5 any one according to claim 1, which is characterized in that the method also includes:
The earth station monitors to obtain in the unmanned unit there are when the unmanned plane of failure in the unmanned unit, remove institute
State the flight path of other unmanned planes other than the unmanned plane of failure；
The earth station determines third unmanned plane according to the flight path of other unmanned planes in addition to the unmanned plane of the failure
Path adjustment information；
The earth station sends the path adjustment information to the third unmanned plane, controls the third unmanned plane adjustment flight
Path.
7. method described in -6 any one according to claim 1, which is characterized in that the earth station obtains in unmanned unit the
The first path point set of one unmanned plane includes:
The earth station obtains preset flight overlay area；
The earth station obtains the first path point of the first unmanned plane in unmanned unit on the preset flight overlay area
Set.
8. a kind of device in determining unmanned plane during flying path, which is characterized in that described device includes:
First obtains module, and the first path point set of the first unmanned plane in unmanned unit is obtained for earth station；
Second obtains module, the unit information of the unmanned unit is obtained for the earth station, the unit information includes institute
State the location information of forming a team of the number of unmanned plane and each unmanned plane in unmanned unit, described group of a unmanned plane
Team's location information is for unmanned plane when characterizing flight the location of in the unmanned unit；
Determining module determines the nothing for the earth station according to the first path point set and the unit information
Second path point set of the second unmanned plane in man-machine group；
Control module sends the second path point set to second unmanned plane for the earth station, controls second nothing
Man-machine flight path.
9. device according to claim 8, which is characterized in that described device further include:
Receiving module, for the earth station according to the flying quality of each unmanned plane, monitoring each unmanned plane is
No normal formation flight；
Monitoring modular monitors for the earth station there are when the yaw unmanned plane of no normal formation flight, to it is described partially
Endurance unmanned plane sends flight adjustment information, and the flight adjustment information flies for controlling normal form into columns of yaw unmanned plane recovery
Row.
10. device according to claim 9, which is characterized in that the monitoring modular includes:
Flying height monitoring unit monitors each described for the earth station according to the flying height of each unmanned plane
Whether the flying height of unmanned plane meets the needs of normal formation flight.
11. device according to claim 9, which is characterized in that the monitoring modular includes:
Flight position monitor unit positions according to the flight of each unmanned plane for the earth station, monitors the institute of the unmanned plane
State whether flight positioning meets the needs of normal formation flight.
12. device according to claim 9, which is characterized in that the monitoring modular includes:
Adjustment information transmission unit monitors that the flight positioning of the yaw unmanned plane is unsatisfactory for just for the earth station
When the demand of normal formation flight, according to the flying speed and heading of the yaw unmanned plane, sent out to the yaw unmanned plane
Send flight adjustment information.
13. according to device described in claim 8-12 any one, which is characterized in that described device further include:
Flight path obtains module, monitors to obtain in the unmanned unit there are when the unmanned plane of failure for the earth station
It takes in the unmanned unit, the flight path of other unmanned planes in addition to the unmanned plane of the failure；
Adjustment information determining module, for the earth station flying according to other unmanned planes in addition to the unmanned plane of the failure
Walking along the street diameter determines the path adjustment information of third unmanned plane；
Flight path control module sends the path adjustment information, control to the third unmanned plane for the earth station
The third unmanned plane adjusts flight path.
14. according to device described in claim 8-13 any one, which is characterized in that described first, which obtains module, includes:
Flight overlay area acquiring unit obtains preset flight overlay area for the earth station；
First path point combination acquiring unit obtains unmanned plane on the preset flight overlay area for the earth station
The first path point set of first unmanned plane in group.
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