CN110162088B - Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium - Google Patents

Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium Download PDF

Info

Publication number
CN110162088B
CN110162088B CN201910411403.8A CN201910411403A CN110162088B CN 110162088 B CN110162088 B CN 110162088B CN 201910411403 A CN201910411403 A CN 201910411403A CN 110162088 B CN110162088 B CN 110162088B
Authority
CN
China
Prior art keywords
control signal
target control
time
unmanned aerial
aerial vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910411403.8A
Other languages
Chinese (zh)
Other versions
CN110162088A (en
Inventor
李天博
苏烨
梅森
张力超
宋大雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Woozoom Technology Co ltd
Original Assignee
Shenyang Woozoom Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Woozoom Technology Co ltd filed Critical Shenyang Woozoom Technology Co ltd
Priority to CN201910411403.8A priority Critical patent/CN110162088B/en
Publication of CN110162088A publication Critical patent/CN110162088A/en
Application granted granted Critical
Publication of CN110162088B publication Critical patent/CN110162088B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Business, Economics & Management (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The disclosure relates to an unmanned aerial vehicle control method and device, an unmanned aerial vehicle, wearable equipment and a storage medium, and can solve the problem of inaccurate unmanned aerial vehicle control caused by micro-jitter of a control signal of the wearable equipment in the related art. The unmanned aerial vehicle control method comprises the following steps: acquiring a target control signal, wherein the target control signal is a k-th-order square value of an actual control signal corresponding to the head rotation angle of the user detected by the wearable device, and k is a number greater than 1; and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.

Description

Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and device, an unmanned aerial vehicle, wearable equipment and a storage medium.
Background
An Unmanned Aerial Vehicle (UAV) is an Unmanned Aerial Vehicle that is operated by a radio remote control device and a self-contained program control device, or an Unmanned Aerial Vehicle that is autonomously operated by an onboard computer, either completely or intermittently. In order to control the flight stability of the unmanned aerial vehicle, the actual control instruction of the unmanned aerial vehicle corresponds to the small change of the control signal of the control terminal.
However, in the related art, the control signal amount of the control terminal and the actual control amount of the drone are linearly changed, so when the drone performs flight control on the drone through the control terminal, the control signal variation amount of the terminal needs to be controlled particularly carefully, otherwise, the drone may be controlled inaccurately due to a slight change of the control signal, thereby affecting stable flight of the drone.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control method and device, an unmanned aerial vehicle, wearable equipment and a storage medium, so as to solve the problem of inaccurate unmanned aerial vehicle control in the related art.
In order to achieve the above object, in a first aspect, the present disclosure provides an unmanned aerial vehicle control method, applied to an unmanned aerial vehicle, including:
acquiring a target control signal, wherein the target control signal is a k-th-order square value of an actual control signal corresponding to the head rotation angle of the user detected by the wearable device, and k is a number greater than 1;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.
Optionally, before the acquiring the target control signal, the method includes:
receiving an actual control signal corresponding to the head rotation angle of the user and sent by the wearable device;
the acquiring of the target control signal includes:
and performing k-power calculation on the actual control signal to obtain the target control signal.
Optionally, the acquiring the target control signal includes:
receiving the target control signal sent by the wearable device.
Optionally, the generating a flight control instruction for controlling a flight state of the drone according to the target control signal includes:
determination of TiTarget control signal and T of timei-1Target control signal of time of dayA difference between, wherein Ti-1At a time TiThe previous time of the time;
when the difference value is greater than a first preset threshold value, the T is measured according to the following formulaiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000021
wherein,
Figure BDA0002062912410000022
is TiThe target control signal at the time of day,
Figure BDA0002062912410000023
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000024
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the primary filtered target control signal.
Optionally, the generating a flight control instruction for controlling a flight state of the unmanned aerial vehicle according to the once-filtered target control signal includes:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000031
wherein,
Figure BDA0002062912410000032
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000033
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000034
is at TiCarrying out secondary filtering on the target control signal at any moment;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal after the secondary filtering.
In a second aspect, the present disclosure further provides an unmanned aerial vehicle control method, applied to a wearable device, the method including:
detecting a head rotation angle of a user;
determining an actual control signal corresponding to the head rotation angle;
determining a k power value of the actual control signal as a target control signal, wherein k is a number greater than 1;
and sending the target control signal to the unmanned aerial vehicle.
Optionally, sending the target control signal to the drone includes:
determination of TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe previous time of the time;
when the difference value is greater than a first preset threshold value, the T is measured according to the following formulaiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000035
wherein,
Figure BDA0002062912410000036
is TiThe target control signal at the time of day,
Figure BDA0002062912410000037
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000041
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and sending the target control signal subjected to primary filtering to the unmanned aerial vehicle.
Optionally, the sending the primary filtered target control signal to the drone includes:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000042
wherein,
Figure BDA0002062912410000043
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000044
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000045
is at TiCarrying out secondary filtering on the target control signal at any moment;
and sending the target control signal subjected to the secondary filtering to the unmanned aerial vehicle.
In a third aspect, the present disclosure further provides an unmanned aerial vehicle control apparatus applied to an unmanned aerial vehicle, the apparatus including:
the wearable device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target control signal, the target control signal is a k-th-power value of an actual control signal corresponding to a head rotation angle of a user detected by the wearable device, and k is a number greater than 1;
and the generating module is used for generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.
In a fourth aspect, the present disclosure also provides an unmanned aerial vehicle control apparatus applied to a wearable device, the apparatus including:
the detection module is used for detecting the head rotation angle of a user;
the first determining module is used for determining an actual control signal corresponding to the head rotating angle;
a second determining module, configured to determine a k-th power value of the actual control signal as a target control signal, where k is a number greater than 1;
and the sending module is used for sending the target control signal to the unmanned aerial vehicle.
In a fifth aspect, the present disclosure also provides an unmanned aerial vehicle, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of the first aspect.
In a sixth aspect, the present disclosure also provides a wearable device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any of the second aspects.
In a seventh aspect, the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the first and second aspects.
Through above-mentioned technical scheme, target control signal can be the k square value of the actual control signal that user's head turned angle that wearable equipment detected corresponds, can be wearing equipment's the control signal volume and to the change curve between unmanned aerial vehicle's the actual control volume can be high order curve. Because the middle part of the high-order curve changes more gently, the parts of both sides change more obviously, consequently can be so that near the control semaphore meso position of wearable equipment, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is less, and near the biggest minimum control semaphore, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is great, thereby can avoid the inaccurate problem of unmanned aerial vehicle control that leads to because the small change of wearable equipment control semaphore, guarantee unmanned aerial vehicle's stable flight.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flow chart illustrating a method of drone control according to an exemplary embodiment of the present disclosure;
fig. 2 is a flow chart illustrating a method of drone control according to another exemplary embodiment of the present disclosure;
fig. 3 is a block diagram illustrating a drone control method according to an exemplary embodiment of the present disclosure;
fig. 4 is a block diagram illustrating a drone control method according to another example embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
First, it is explained that the drone in the embodiment of the present disclosure may be a vector drone, a multi-rotor drone, and other different types of drones, and the embodiment of the present disclosure does not limit the form and kind of the drone.
Fig. 1 is a diagram illustrating a drone controlling method, which may be applied to a drone, according to an exemplary embodiment of the present disclosure, including:
step S101, a target control signal is obtained, wherein the target control signal is a k-th power value of an actual control signal corresponding to the head rotation angle of the user detected by the wearable device, and k is a number greater than 1.
And S102, generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.
For example, the wearable device in step S201 may be an electronic device, such as a VR (Virtual Reality) device, which may detect the rotation angle of the head of the user. The angle of rotation of the user's head may be detected by an angle sensor built into the wearable device. Of course, the wearable device may also detect the head rotation angle of the user in other ways, which is not limited in this disclosure.
For example, the wearable device may pre-store a correspondence between the head rotation angle of the user and the actual control signal to the unmanned aerial vehicle, and thus, after the wearable device detects the head rotation angle of the user, the actual control signal to the unmanned aerial vehicle may be determined according to the head rotation angle and the correspondence.
The actual control signal of the unmanned aerial vehicle can be used for representing the signal change amount when the flying hand controls the unmanned aerial vehicle through the wearable device (control terminal). In the related art, since the signal variation of the control terminal and the actual control amount of the drone (for example, the control amount of the heading, roll or pitch of the drone) are linearly changed, there is a problem that the drone may be controlled inaccurately due to a slight change of the control signal.
In order to solve this problem, the target control signal obtained in the embodiment of the present disclosure is a k-th-order square value of an actual control signal corresponding to a user head rotation angle detected by the wearable device, and therefore, a variation curve between a control signal amount of the wearable device and an actual control amount for the unmanned aerial vehicle may be a high-order curve. Because the middle part of the high-order curve changes more gently, the parts of both sides change more obviously, consequently can be so that near the control semaphore meso position of wearable equipment, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is less, and near the biggest minimum control semaphore, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is great, thereby can avoid the inaccurate problem of unmanned aerial vehicle control that leads to because the small change of wearable equipment control semaphore, guarantee unmanned aerial vehicle's stable flight.
It should be understood that the actual control signal corresponding to the rotation angle of the head of the user detected by the wearable device may be a value in a large range (e.g., 0 to 20000), and therefore, for the convenience of subsequent calculation, the actual control signal may be subjected to an equal scaling process, for example, the actual control signal may be converted into a variable a in a range of (-1, 1) after the equal scaling process.
In one possible approach, for further ease of calculation, the scaled actual control signal may also be clipped and the range reallocated according to the following formula:
Figure BDA0002062912410000081
wherein, A is the actual control signal after the equal scaling, A' is the control signal after the amplitude limiting and the range redistribution, and m is a preset positive number which is more than 0 and less than 1. It should be understood that the value of m may be set according to the actual situation of the unmanned aerial vehicle, and the specific value of m is not limited in the embodiment of the present disclosure.
In a possible manner, the manner of obtaining the target control signal may be to receive an actual control signal corresponding to the rotation angle of the head of the user sent by the wearable device, and then perform k-th power calculation on the actual control signal to obtain the target control signal.
In this kind of mode, wearable equipment can send the actual control signal that user's head turned angle corresponds for unmanned aerial vehicle, can carry out k power to this actual control signal and calculate after unmanned aerial vehicle receives this actual control signal to obtain target control signal. Or, after receiving the actual control signal that wearable equipment sent, unmanned aerial vehicle can also carry out the preliminary treatment to this actual control signal according to above-mentioned mode, then carries out k power to the actual control signal after this preliminary treatment and calculates.
For example, the value of k may be selected by the aircraft according to the actual feeling when the aircraft controls the drone by rotating the head, or may be selected by the aircraft according to the actual flight scene, and so on. For example, in consideration of the actual flight requirement of the unmanned aerial vehicle, the value of k may be set to any value between 1 and 2, for example, the value of k may be set to 1.5, or may also be set to 2, and so on.
It should be understood that the larger the value of k, the larger the radian of the high-order curve between the actual control signal corresponding to the head rotation angle of the user and the actual control quantity of the unmanned aerial vehicle, that is, the more gradual the change of the middle part of the high-order curve, and the more obvious the change of the two parts, so that when the signal control quantity of the wearable device is near the middle position, the smaller the actual control quantity corresponding to the head rotation angle of the user is, and when the wearable device is near the maximum and minimum signal control quantity, the larger the actual control quantity corresponding to the head rotation angle of the user is. On the contrary, when the signal controlled quantity of the wearable device is near the middle position, the actual controlled quantity corresponding to the head rotation of the user is larger, and when the signal controlled quantity of the wearable device is near the maximum minimum signal controlled quantity, the actual controlled quantity corresponding to the head rotation of the user is smaller.
In another possible manner, the target control signal may be obtained by receiving a target control signal corresponding to a rotation angle of the head of the user sent by the wearable device. That is to say, can be that wearable equipment carries out k power value to the actual control signal that user's head turned angle corresponds earlier and calculates and obtain the target control signal, then sends target control signal for unmanned aerial vehicle, and under this kind of condition, unmanned aerial vehicle can obtain target control signal through receiving the target control signal that wearable equipment sent, then generates the flight control instruction according to this target control signal, guarantees unmanned aerial vehicle's stable flight.
After the target control signal is obtained, in order to further ensure the stable flight of the unmanned aerial vehicle, the target control signal can be subjected to filtering processing, and the influence of a high-frequency disturbance signal is eliminated. Thus, in one possible approach, generating flight control commands based on target control signals may be by first determining TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe time immediately preceding the time. Then, when the difference is greater than a first preset threshold, the following formula is used for TiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000091
wherein,
Figure BDA0002062912410000092
is TiThe target control signal at the time of day,
Figure BDA0002062912410000093
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000094
is at TiAnd carrying out one-time filtering on the target control signal at any time.
And finally, generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the primary filtered target control signal.
For example, the first preset threshold may be a value preset according to an actual flight scenario of the drone, or may also be an empirical value determined according to a historical flight record of the drone, and the like, which is not limited in this disclosure.
Illustratively, TiTarget control signal and T of timei-1The difference between the target control signals at the time may be TiTarget control signal minus T of timei-1The difference obtained from the target control signal at the time, or Ti-1Target control signal minus T of timeiThe difference obtained by the target control signal at a moment is only required to represent TiTarget control signal and T of timei-1The amount of change between the target control signals at the time may be sufficient.
For example, the first preset threshold is set to 10, TiThe target control signal at time is 20, Ti-1The target control signal at time is-15, TiTarget control signal and T of timei-1The difference between the target control signals at the time is 35, i.e. the difference is greater than the first preset threshold. Therefore, T can be paired according to the formula (2)iAnd performing primary filtering processing on the target control signal at the moment, and then generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the primary filtered target control signal.
In this way, when the difference value of the target control signals at two moments is large, the unmanned aerial vehicle can filter the target control signals according to the formula (2), so that the filtered target control signals are smoother, more accurate flight control instructions can be generated according to the filtered target control signals, and stable flight of the unmanned aerial vehicle is guaranteed.
After the target control signal is subjected to primary filtering, in order to further avoid the influence of the accidental pulse signal on the target control signal, secondary filtering can be performed on the target control signal subjected to the primary filtering.
Thus, in one possible approach, the process of generating flight control commands based on a filtered target control signal may be to determine first at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1And at the previous moment, when the positive and negative values of the first difference value and the second difference value are different and the first difference value and/or the second difference value are/is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000101
wherein,
Figure BDA0002062912410000111
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000112
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000113
is at TiAnd (5) carrying out secondary filtering on the target control signal at any moment.
And finally, generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal after the secondary filtering.
For example, the second preset threshold may be a value preset according to an actual flight scenario of the drone, or may also be an empirical value determined according to a historical flight record of the drone, and the like, which is not limited in this disclosure.
For example, the difference between the positive and negative values of the first difference and the second difference may be determined by the product of the first difference and the second difference being less than 0. That is, in the embodiment of the present disclosure, after determining the first difference value and the second difference value, the drone may determine whether a product of the first difference value and the second difference value is less than 0. If the product of the first difference and the second difference is less than 0, it may be further determined whether the first difference and/or the second difference is greater than a second preset threshold. If the first difference value and/or the second difference value is/are larger than a second preset threshold value, the unmanned aerial vehicle can perform secondary filtering processing on the primarily filtered target control signal according to a formula (3).
In this way, unmanned aerial vehicle can carry out primary filtering and secondary filtering to the target control signal to get rid of periodic disturbance signal and the occasional pulse disturbance signal in the target control signal, make the flight control instruction that generates according to the target control signal after the filtration more accurate, further make the flyer can carry out more accurate control to unmanned aerial vehicle, guarantee unmanned aerial vehicle's stable flight.
Based on the same inventive concept, referring to fig. 2, an embodiment of the present disclosure further provides an unmanned aerial vehicle control method, which may be applied to a wearable device, and includes:
in step S201, a head rotation angle of the user is detected.
For example, the detection of the head rotation angle of the user may be detected by an angle sensor built in the wearable device, and of course, the head rotation angle of the user may also be detected in other ways, which is not limited by the embodiment of the present disclosure.
Step S202, determining an actual control signal corresponding to the head rotation angle.
For example, the wearable device may pre-store a correspondence between the user head rotation angle and the actual control signal to the unmanned aerial vehicle, and then, after the wearable device detects the head rotation angle of the user, the actual control signal to the unmanned aerial vehicle may be determined according to the head rotation angle and the correspondence.
In step S203, a k-th power value of the actual control signal is determined as the target control signal, where k is a number greater than 1.
And step S204, sending the target control signal to the unmanned aerial vehicle.
Through foretell unmanned aerial vehicle control method, the actual control signal that the user head rotated and corresponds and the change curve between the actual controlled variable to unmanned aerial vehicle can be high order curve. Because the middle part of the high-order curve changes more gently, and the both sides part changes more obviously, consequently can be so that near the signal controlled variable meso position of wearable equipment, the actual controlled variable that user head turned angle corresponds is less, and near the biggest minimum signal controlled variable of wearable equipment, the actual controlled variable that user head turned angle corresponds is great, thereby can avoid the inaccurate problem of unmanned aerial vehicle control that leads to because the small change of control signal, guarantee unmanned aerial vehicle's stable flight.
In a possible manner, in order to remove the influence of the high-frequency disturbance signal, the wearable device may further perform filtering processing on the target control signal. That is, in the embodiment of the present disclosure, the process of sending the target control signal to the drone may be to determine T firstiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe time immediately preceding the time. Then, when the difference is greater than a first preset threshold, the following formula is used for TiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000121
wherein,
Figure BDA0002062912410000122
is TiThe target control signal at the time of day,
Figure BDA0002062912410000123
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000124
is at TiAnd carrying out one-time filtering on the target control signal at any time.
And finally, sending the target control signal subjected to the primary filtering to the unmanned aerial vehicle.
For example, the first preset threshold may be a value preset according to an actual flight scenario of the drone communicating with the wearable device, or may also be an empirical value determined according to a historical flight record of the drone communicating with the wearable device, and so on, which is not limited by the embodiment of the present disclosure.
Illustratively, TiTarget control signal and T of timei-1The difference between the target control signals at the time may be TiTarget control signal minus T of timei-1The difference obtained from the target control signal at the time, or Ti-1Target control signal minus T of timeiThe difference obtained by the target control signal at a moment is only required to represent TiTarget control signal and T of timei-1The amount of change between the target control signals at the time may be sufficient.
In this way, when the target control signal difference at two moments is great, wearable equipment can carry out filtering processing to the target control signal according to formula (2), then send the target control signal that is more level and smooth after filtering for unmanned aerial vehicle to make unmanned aerial vehicle can generate more accurate flight control instruction according to the target control signal after the filtering, guarantee unmanned aerial vehicle's stable flight.
In another possible approach, the wearable device may further perform a secondary filtering process on the primary filtered target control signal. That is, the process of sending the target control signal after the primary filtering process to the drone may be to determine that the target control signal is TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1And at the previous moment, when the positive and negative values of the first difference value and the second difference value are different and the first difference value and/or the second difference value are/is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000131
wherein,
Figure BDA0002062912410000132
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000133
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000134
is at TiAnd (5) carrying out secondary filtering on the target control signal at any moment.
And finally, sending the target control signal subjected to the secondary filtering to the unmanned aerial vehicle.
For example, the second preset threshold may be a value preset according to an actual flight scenario of the drone communicating with the wearable device, or may also be an empirical value determined according to a historical flight record of the drone communicating with the wearable device, and so on, which is not limited by the embodiment of the present disclosure.
For example, the difference between the positive and negative values of the first difference and the second difference may be determined by the product of the first difference and the second difference being less than 0. That is, in the embodiments of the present disclosure, after determining the first difference value and the second difference value, the wearable device may determine whether a product of the first difference value and the second difference value is less than 0. If the product of the first difference and the second difference is less than 0, it may be further determined whether the first difference and/or the second difference is greater than a second preset threshold. If the first difference value and/or the second difference value is greater than the second preset threshold value, the wearable device may perform secondary filtering processing on the primary filtered target control signal according to formula (3).
In this way, wearable equipment can carry out primary filtering and secondary filtering to the target control signal and handle to get rid of periodic disturbance signal and the occasional pulse disturbance signal among the target control signal, make the flight control instruction that generates according to the target control signal after the filtration more accurate, further make the flyer can carry out more accurate control to unmanned aerial vehicle, guarantee unmanned aerial vehicle's stable flight.
Based on the same inventive concept, referring to fig. 3, an embodiment of the present disclosure further provides an unmanned aerial vehicle control apparatus 300, which is applied to an unmanned aerial vehicle, and may be a part or all of the unmanned aerial vehicle through software, hardware, or a combination of the two, including:
an obtaining module 301, configured to obtain a target control signal, where the target control signal is a k-th power value of an actual control signal corresponding to a user head rotation angle detected by a wearable device, and k is a number greater than 1;
a generating module 302, configured to generate a flight control instruction for controlling a flight state of the unmanned aerial vehicle according to the target control signal.
Optionally, the apparatus 300 further comprises:
the receiving module is used for receiving an actual control signal corresponding to the head rotation angle of the user and sent by the wearable device;
the obtaining module 301 is configured to perform k-th power calculation on the actual control signal to obtain the target control signal.
Optionally, the obtaining module 301 is configured to receive the target control signal sent by the wearable device.
Optionally, the generating module 302 includes:
first determinationSubmodule for determining TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe previous time of the time;
a first filtering submodule, configured to, when the difference is greater than a first preset threshold, filter T according to the following formulaiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000151
wherein,
Figure BDA0002062912410000152
is TiThe target control signal at the time of day,
Figure BDA0002062912410000153
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000154
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and the generation submodule is used for generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the primary filtered target control signal.
Optionally, the generation submodule is configured to:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000161
wherein,
Figure BDA0002062912410000162
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000163
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000164
is at TiCarrying out secondary filtering on the target control signal at any moment;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal after the secondary filtering.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Through any above-mentioned unmanned aerial vehicle control device who is applied to unmanned aerial vehicle, the change curve between wearable device's control semaphore and the actual control volume to unmanned aerial vehicle can be high order curve. Because the middle part of the high-order curve changes more gently, and the both sides part changes more obviously, consequently can be so that near the control semaphore meso position of wearable equipment, the actual control volume that the signal variation of wearable equipment corresponds is less, and near the biggest minimum control semaphore, the actual control volume that the signal variation of wearable equipment corresponds is great, thereby can avoid the inaccurate problem of unmanned aerial vehicle control that leads to because the small change of wearable equipment control semaphore, guarantee unmanned aerial vehicle's stable flight.
Based on the same inventive concept, referring to fig. 4, an embodiment of the present disclosure further provides an unmanned aerial vehicle control apparatus 400, which is applied to a wearable device, and may be a part or all of the wearable device through software, hardware, or a combination of the two, including:
a detection module 401, configured to detect a head rotation angle of a user;
a first determining module 402, configured to determine an actual control signal corresponding to the head rotation angle;
a second determining module 403, configured to determine a k-th power value of the actual control signal as a target control signal, where k is a number greater than 1;
a sending module 404, configured to send the target control signal to the drone.
Optionally, the sending module 404 includes:
a second determination submodule for determining TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe previous time of the time;
a second filtering submodule, for comparing T according to the following formula when the difference is greater than the first preset thresholdiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure BDA0002062912410000171
wherein,
Figure BDA0002062912410000172
is TiThe target control signal at the time of day,
Figure BDA0002062912410000173
is Ti-1The target control signal at the time of day,
Figure BDA0002062912410000174
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and the sending submodule is used for sending the target control signal subjected to the primary filtering to the unmanned aerial vehicle.
Optionally, the sending submodule is configured to:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1A first difference value obtained from the target control signal after one time of filtering at the moment Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure BDA0002062912410000175
wherein,
Figure BDA0002062912410000176
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000177
is at TiThe target control signal after being filtered once is carried out at any time,
Figure BDA0002062912410000178
is at TiCarrying out secondary filtering on the target control signal at any moment;
and sending the target control signal subjected to the secondary filtering to the unmanned aerial vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By means of any unmanned aerial vehicle control method applied to the wearable device, a change curve between the control semaphore of the wearable device and the actual control variable of the unmanned aerial vehicle can be a high-order curve. Because the middle part of the high-order curve changes more gently, the parts of both sides change more obviously, consequently can be so that near the control semaphore meso position of wearable equipment, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is less, and near the biggest minimum control semaphore, the unmanned aerial vehicle actual control volume that the signal variation of wearable equipment corresponds is great, thereby can avoid the inaccurate problem of unmanned aerial vehicle control that leads to because the small change of wearable equipment control semaphore, guarantee unmanned aerial vehicle's stable flight.
Based on the same inventive concept, the embodiment of the present disclosure further provides an unmanned aerial vehicle, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement any of the above steps of the drone controlling method applied to a drone.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described drone control method applied to a drone.
Based on the same inventive concept, the embodiment of the present disclosure further provides a wearable device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement any of the above steps of the drone control method applied to a wearable device.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described drone control method applied to a wearable device.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (13)

1. A control method of a unmanned aerial vehicle is characterized in that the method is applied to the unmanned aerial vehicle, and the method comprises the following steps:
acquiring a target control signal, wherein the target control signal is a k-th-order square value of an actual control signal corresponding to the head rotation angle of the user detected by the wearable device, and k is a number greater than 1;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.
2. The method of claim 1, prior to said obtaining a target control signal, comprising:
receiving an actual control signal corresponding to the rotation angle of the head of the user and sent by the wearable device;
the acquiring of the target control signal includes:
and performing k-power calculation on the actual control signal to obtain the target control signal.
3. The method of claim 1, wherein the obtaining a target control signal comprises:
receiving the target control signal sent by the wearable device.
4. The method according to any one of claims 1-3, wherein the generating flight control instructions for controlling the flight status of the drone according to the target control signal comprises:
determination of TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe previous time of the time;
when the difference value is greater than a first preset threshold value, the T is measured according to the following formulaiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure FDA0002062912400000011
wherein,
Figure FDA0002062912400000021
is TiThe target control signal at the time of day,
Figure FDA0002062912400000022
is Ti-1The target control signal at the time of day,
Figure FDA0002062912400000023
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the primary filtered target control signal.
5. The method of claim 4, wherein generating flight control instructions for controlling the flight status of the UAV according to the once-filtered target control signal comprises:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1At one timeA first difference value obtained from the filtered target control signal, and at Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure FDA0002062912400000024
wherein,
Figure FDA0002062912400000025
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure FDA0002062912400000027
is at TiThe target control signal after being filtered once is carried out at any time,
Figure FDA0002062912400000026
is at TiCarrying out secondary filtering on the target control signal at any moment;
and generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal after the secondary filtering.
6. An unmanned aerial vehicle control method is applied to a wearable device, and comprises the following steps:
detecting a head rotation angle of a user;
determining an actual control signal corresponding to the head rotation angle;
determining a k power value of the actual control signal as a target control signal, wherein k is a number greater than 1;
and sending the target control signal to the unmanned aerial vehicle.
7. The method of claim 6, wherein sending the target control signal to the drone comprises:
determination of TiTarget control signal and T of timei-1Difference between target control signals at time, wherein Ti-1At a time TiThe previous time of the time;
when the difference value is greater than a first preset threshold value, the T is measured according to the following formulaiAnd (3) performing primary filtering processing on the target control signal at the moment:
Figure FDA0002062912400000031
wherein,
Figure FDA0002062912400000032
is TiThe target control signal at the time of day,
Figure FDA0002062912400000033
is Ti-1The target control signal at the time of day,
Figure FDA0002062912400000034
is at TiCarrying out target control signals subjected to primary filtering at any moment;
and sending the target control signal subjected to primary filtering to the unmanned aerial vehicle.
8. The method of claim 7, wherein sending the once filtered target control signal to the drone includes:
is determined at TiSubtracting the target control signal subjected to one-time filtering at T from the timei-1Target control after one-time filtering of timeA first difference obtained by signal generation, and at Ti-1Subtracting the target control signal subjected to one-time filtering at T from the timei-2A second difference value obtained from the target control signal subjected to the primary filtering at the moment, wherein Ti-2The time is Ti-1The previous time of the time;
when the positive and negative values of the first difference value and the second difference value are different, and the first difference value and/or the second difference value is greater than a second preset threshold value, performing secondary filtering processing on the primarily filtered target control signal according to the following formula:
Figure FDA0002062912400000041
wherein,
Figure FDA0002062912400000042
is at Ti-2The target control signal after being filtered once is carried out at any time,
Figure FDA0002062912400000043
is at TiThe target control signal after being filtered once is carried out at any time,
Figure FDA0002062912400000044
is at TiCarrying out secondary filtering on the target control signal at any moment;
and sending the target control signal subjected to the secondary filtering to the unmanned aerial vehicle.
9. The utility model provides an unmanned aerial vehicle controlling means which characterized in that is applied to unmanned aerial vehicle, the device includes:
the wearable device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target control signal, the target control signal is a k-th-power value of an actual control signal corresponding to a head rotation angle of a user detected by the wearable device, and k is a number greater than 1;
and the generating module is used for generating a flight control instruction for controlling the flight state of the unmanned aerial vehicle according to the target control signal.
10. An unmanned aerial vehicle controlling means, its characterized in that is applied to wearable equipment, the device includes:
the detection module is used for detecting the head rotation angle of a user;
the first determining module is used for determining an actual control signal corresponding to the head rotating angle;
a second determining module, configured to determine a k-th power value of the actual control signal as a target control signal, where k is a number greater than 1;
and the sending module is used for sending the target control signal to the unmanned aerial vehicle.
11. An unmanned aerial vehicle, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
12. A wearable device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 6 to 8.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
CN201910411403.8A 2019-05-16 2019-05-16 Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium Active CN110162088B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910411403.8A CN110162088B (en) 2019-05-16 2019-05-16 Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910411403.8A CN110162088B (en) 2019-05-16 2019-05-16 Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium

Publications (2)

Publication Number Publication Date
CN110162088A CN110162088A (en) 2019-08-23
CN110162088B true CN110162088B (en) 2022-01-04

Family

ID=67631171

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910411403.8A Active CN110162088B (en) 2019-05-16 2019-05-16 Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium

Country Status (1)

Country Link
CN (1) CN110162088B (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4249158A (en) * 1974-10-22 1981-02-03 Basov Nikolai G Aircraft take-off and landing system and method for using same
CN104598108A (en) * 2015-01-02 2015-05-06 北京时代沃林科技发展有限公司 Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal
CN104880962A (en) * 2015-05-28 2015-09-02 清华大学 Dynamic flight simulator real time motion control method
CN106054914A (en) * 2016-08-17 2016-10-26 腾讯科技（深圳）有限公司 Aircraft control method and aircraft control device
CN106454069A (en) * 2016-08-31 2017-02-22 歌尔股份有限公司 Method and device for controlling shooting of unmanned aerial vehicle, and wearable device
CN106774381A (en) * 2016-11-23 2017-05-31 歌尔股份有限公司 The detection method of a kind of unmanned plane and its state of flight, wearable device
CN107438751A (en) * 2016-09-27 2017-12-05 深圳市大疆创新科技有限公司 For detecting the method, apparatus and unmanned plane of flying height
KR20180005341A (en) * 2016-07-06 2018-01-16 (주)아이티로그 Drone system for controlling a plurality of drones
CN207281594U (en) * 2017-09-21 2018-04-27 沈阳无距科技有限公司 No-manned machine distant control device
CN108156418A (en) * 2017-12-14 2018-06-12 沈阳无距科技有限公司 The methods, devices and systems of real-time imaging are obtained by unmanned plane
CN108700893A (en) * 2017-04-07 2018-10-23 深圳市大疆创新科技有限公司 Body-sensing remote control method, control device, holder and unmanned vehicle

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4249158A (en) * 1974-10-22 1981-02-03 Basov Nikolai G Aircraft take-off and landing system and method for using same
CN104598108A (en) * 2015-01-02 2015-05-06 北京时代沃林科技发展有限公司 Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal
CN104880962A (en) * 2015-05-28 2015-09-02 清华大学 Dynamic flight simulator real time motion control method
KR20180005341A (en) * 2016-07-06 2018-01-16 (주)아이티로그 Drone system for controlling a plurality of drones
CN106054914A (en) * 2016-08-17 2016-10-26 腾讯科技（深圳）有限公司 Aircraft control method and aircraft control device
CN106454069A (en) * 2016-08-31 2017-02-22 歌尔股份有限公司 Method and device for controlling shooting of unmanned aerial vehicle, and wearable device
CN107438751A (en) * 2016-09-27 2017-12-05 深圳市大疆创新科技有限公司 For detecting the method, apparatus and unmanned plane of flying height
CN106774381A (en) * 2016-11-23 2017-05-31 歌尔股份有限公司 The detection method of a kind of unmanned plane and its state of flight, wearable device
CN108700893A (en) * 2017-04-07 2018-10-23 深圳市大疆创新科技有限公司 Body-sensing remote control method, control device, holder and unmanned vehicle
CN207281594U (en) * 2017-09-21 2018-04-27 沈阳无距科技有限公司 No-manned machine distant control device
CN108156418A (en) * 2017-12-14 2018-06-12 沈阳无距科技有限公司 The methods, devices and systems of real-time imaging are obtained by unmanned plane

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
UAV dynamics model parameters estimation techniques: A comparison study;Mohammad A. Al-Shabi等;《2013 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT)》;20131205;全文 *
四旋翼无人机反演-动态逆控制器设计与仿真;杨永琳等;《电子设计工程》;20180620;第26卷(第12期);全文 *
四旋翼飞行器控制系统设计;曹凯等;《计算机系统应用》;20180115;第27卷(第01期);全文 *
基于Google Glass解放双手遥控移动机器人系统;闻玺等;《控制工程》;20180720;第25卷(第07期);全文 *

Also Published As

Publication number Publication date
CN110162088A (en) 2019-08-23

Similar Documents

Publication Publication Date Title
CN106843245B (en) Unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle
US11511857B2 (en) Aerial vehicle control method and aerial vehicle
EP3299920B1 (en) Unmanned aerial vehicle control method and device based on no-head mode
CN106227226A (en) A kind of control apparatus and method of integration unmanned plane during flying
CN108196563B (en) Active-disturbance-rejection compensation control method and system for multi-rotor unmanned aerial vehicle
CN106843275B (en) Fixed-point flying method, device and system for unmanned aerial vehicle
CN112947586B (en) Unmanned aerial vehicle control method and device, storage medium and rotary wing type unmanned aerial vehicle
CN108089597B (en) Method and device for controlling unmanned aerial vehicle based on ground station
CN110262541B (en) Unmanned aerial vehicle control method and device, unmanned aerial vehicle, remote controller and storage medium
CN111367178B (en) Self-adaptive control device and method for automatic rudder of ship
US20210041772A1 (en) Method for suppressing vibration of gimbal, and gimbal
CN110806754A (en) Four-rotor aircraft attitude correction control system and method
CN107728631B (en) Plant protection unmanned aerial vehicle control system and method based on quality measurement
CN110162088B (en) Unmanned aerial vehicle control method and device, unmanned aerial vehicle, wearable device and storage medium
CN114987607A (en) Steering control method, device and equipment of vehicle and storage medium
CN108536879A (en) Multi-rotor unmanned aerial vehicle parameter identification method based on model reference adaptive
CN111061298A (en) Flight control method and device and unmanned aerial vehicle
CN107703979B (en) Peak current suppression method and device for steering engine servo system
CN108196557B (en) Unmanned aerial vehicle control method and device
CN108287559A (en) The method and device controlled for the unmanned plane in target area
CN206619027U (en) The control device and system of aircraft
CN108388255A (en) Unmanned aerial vehicle (UAV) control method and device based on earth station
CN108334105A (en) The method and device that unmanned plane is controlled based on communication command vehicle
CN108388256A (en) The method and device that unmanned plane is controlled in the target area by earth station
CN108363440A (en) Unmanned aerial vehicle (UAV) control method and device based on communication command vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant