CN110262540A - The method and apparatus that flight control is carried out to aircraft - Google Patents
The method and apparatus that flight control is carried out to aircraft Download PDFInfo
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- CN110262540A CN110262540A CN201810202224.9A CN201810202224A CN110262540A CN 110262540 A CN110262540 A CN 110262540A CN 201810202224 A CN201810202224 A CN 201810202224A CN 110262540 A CN110262540 A CN 110262540A
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure is directed to the method and apparatus that a kind of pair of aircraft carries out flight control, belong to flying vehicles control technical field.The described method includes: determining corresponding second flight control information of carry equipment center according to the relative positional relationship between corresponding first flight control information of control reference center and carry equipment center and control reference center；According to the second flight control information, flight control is carried out.Using the disclosure, the controller of aircraft can carry out flight control according to corresponding second flight control information of carry equipment center, be equivalent to and be transferred to carry equipment center and carry out flight control control reference center.To either allow aircraft to hover in the sky still and fly in the sky, the position of carry equipment center can be kept motionless or be smoothly moved.
Description
Technical field
The disclosure is directed to flying vehicles control technical fields, and the side of flight control is carried out especially with respect to a kind of pair of aircraft
Method and device.
Background technique
Unmanned plane is applied to more and more fields, for example, can in the bottom carry image capturing device of unmanned plane, into
Row high-altitude is taken photo by plane operation.
Generally, unmanned plane is with body geometric center or GPS (Global Positioning System, global positioning system
System) aerial position be control reference center, carry out flight control.That is, the flight control information of the control reference center is obtained,
Flight control is carried out for the purpose of controlling instruction flight of the control reference center by user based on flight control information.For example,
The instruction of user is hovering, then by flight control, keeps the position of control reference center motionless, even if extraneous in strength
It is subjected to displacement under interference, also wants rapid return, it is assumed that unmanned plane side blows a gust of wind at this time, and unmanned plane can pass through dumper
The mode of body resists wind-force, so that unmanned plane keeps balance while the position for controlling reference center is constant.
In implementing the present disclosure, inventor discovery the prior art has at least the following problems:
Based on it is above-mentioned with body geometric center or GPS antenna position be control reference center flight control mode, in nothing
In man-machine flight course, control reference center can the relatively stable instruction according to user be mobile or hovering, but controls ginseng
The point passed the examination except the heart then can not the stable instruction according to user is mobile or hovering, in this way, due to being installed on some unmanned planes
Function element (such as image capturing device etc.) be not located on control reference center, so, controlled based on above-mentioned flight
Mechanism, may result in function element can not normally execute corresponding function.
Summary of the invention
In order to overcome the problems, such as that present in the relevant technologies, present disclose provides following technical schemes:
According to the first aspect of the embodiments of the present disclosure, the method that a kind of pair of aircraft carries out flight control, the side are provided
Method includes:
According to corresponding first flight control information of control reference center and carry equipment center and control reference center
Between relative positional relationship, determine corresponding second flight control information of the carry equipment center；
According to second flight control information, flight control is carried out.
Optionally, it is described according to corresponding first flight control information of control reference center and carry equipment center and
The relative positional relationship between reference center is controlled, determines corresponding second flight control information of the carry equipment center, is wrapped
It includes:
Corresponding first flight control information of control reference center is obtained according to predetermined period；
According to the relative position between first flight control information, the carry equipment center and control reference center
Relationship determines corresponding second flight control information of the carry equipment center；
It is described according to second flight control information, carry out flight control, comprising:
According to second flight control information and current flight directive, flight control is carried out.
Optionally, first flight control information includes: the angular speed of aircraft, aircraft coordinate system and ground coordinate
Direction transformational relation between system, the linear velocity for controlling reference center and control reference center in space preset it is opposite
Position；
Second flight control information includes: the angular speed of the aircraft, the direction transformational relation, carry equipment
The relative position of preset described in the linear velocity and carry equipment center at center and space.
Optionally, it is described according to first flight control information, the carry equipment center and control reference center it
Between relative positional relationship, determine corresponding second flight control information of the carry equipment center, comprising:
According to the angular speed of the aircraft, the direction transformational relation, it is described control reference center linear velocity and
Relative positional relationship between the carry equipment center and the control reference center, determines the line of the carry equipment center
Speed；
According to the relative position of preset, Yi Jisuo in the direction transformational relation, the control reference center and space
The relative positional relationship between carry equipment center and the control reference center is stated, determines the carry equipment center and space
Described in preset relative position.
Optionally, described according to the angular speed of the aircraft, the direction transformational relation, the control reference center
Relative positional relationship between linear velocity and the carry equipment center and the control reference center, determines the carry
The linear velocity of equipment center, comprising:
According to formulaDetermine the linear velocity of the carry equipment center
Wherein,For the linear velocity of the control reference center, RdFor the direction transformational relation,For the carry
Relative positional relationship between equipment center and the control reference center,For the angular speed of the aircraft.
Optionally, it is described according to the direction transformational relation, it is described control reference center in space preset it is opposite
Relative positional relationship between position and the carry equipment center and the control reference center, determines that the carry is set
The relative position of preset described in standby center and space, comprising:
According to formulaDetermine that the carry equipment center is opposite with preset described in space
Position
Wherein,For the relative position of preset in the control reference center and space, RdIt converts and closes for the direction
System,For the relative positional relationship between the carry equipment center and the control reference center.
Optionally, the carry equipment center is the optical center of the camera lens of the image capturing device of carry on board the aircraft.
Optionally, it is described according to corresponding first flight control information of control reference center and carry equipment center and
The relative positional relationship between reference center is controlled, determines corresponding second flight control information of the carry equipment center, is wrapped
It includes:
Obtain corresponding first flight control information of control reference center；
According to the relative position between first flight control information and carry equipment center and control reference center
Relationship determines corresponding second flight control information of the carry equipment center；
It is described according to second flight control information, carry out flight control, comprising:
Based on second flight control information, aircraft flight is controlled to target position.
According to the second aspect of an embodiment of the present disclosure, the device that a kind of pair of aircraft carries out flight control, the dress are provided
It sets and includes:
Determining module, for according to corresponding first flight control information of control reference center and carry equipment center
Relative positional relationship between control reference center, determines corresponding second flight control information of the carry equipment center；
Control module, for carrying out flight control according to second flight control information.
Optionally, the determining module includes:
First acquisition unit, for obtaining corresponding first flight control information of control reference center according to predetermined period；
First determination unit, for being referred to according to first flight control information, the carry equipment center and control
Relative positional relationship between center determines corresponding second flight control information of the carry equipment center；
The control module, for flying according to second flight control information and current flight directive
Control.
Optionally, first flight control information includes: the angular speed of aircraft, aircraft coordinate system and ground coordinate
Direction transformational relation between system, the linear velocity for controlling reference center and control reference center in space preset it is opposite
Position；
Second flight control information includes: the angular speed of the aircraft, the direction transformational relation, carry equipment
The relative position of preset described in the linear velocity and carry equipment center at center and space.
Optionally, first determination unit includes:
First determines subelement, for being joined according to the angular speed, the direction transformational relation, the control of the aircraft
Relative positional relationship between the linear velocity and the carry equipment center and the control reference center of the heart of passing the examination, determines
The linear velocity of the carry equipment center；
Second determines subelement, for presetting according in the direction transformational relation, the control reference center and space
Relative positional relationship between the relative position of point and the carry equipment center and the control reference center, determines institute
State the relative position of preset described in carry equipment center and space.
Optionally, described first determine that subelement is used for:
According to formulaDetermine the linear velocity of the carry equipment center
Wherein,For the linear velocity of the control reference center, RdFor the direction transformational relation,For the carry
Relative positional relationship between equipment center and the control reference center,For the angular speed of the aircraft.
Optionally, described second determine that subelement is used for:
According to formulaDetermine that the carry equipment center is opposite with preset described in space
Position
Wherein,For the relative position of preset in the control reference center and space, RdIt converts and closes for the direction
System,For the relative positional relationship between the carry equipment center and the control reference center.
Optionally, the carry equipment center is the optical center of the camera lens of the image capturing device of carry on board the aircraft.
Optionally, the determining module includes:
Second acquisition unit, for obtaining corresponding first flight control information of control reference center；
Second determination unit, for being referred to according to first flight control information and carry equipment center and control
Relative positional relationship between center determines corresponding second flight control information of the carry equipment center；
The control module, for being based on second flight control information, control aircraft flight to target position.
According to the third aspect of an embodiment of the present disclosure, a kind of aircraft is provided, the aircraft includes processor and storage
Device is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, and described at least one refers to
Enable, an at least Duan Chengxu, the code set or instruction set loaded by the processor and executed it is above-mentioned to flight to realize
The method that device carries out flight control.
According to a fourth aspect of embodiments of the present disclosure, a kind of computer readable storage medium is provided, in the storage medium
It is stored at least one instruction, at least a Duan Chengxu, code set or instruction set, described at least one instructs, is at least one section described
Program, the code set or instruction set are loaded by processor and are executed to realize the above-mentioned side for carrying out flight control to aircraft
Method.
The technical scheme provided by this disclosed embodiment can include the following benefits:
The disclosure implements the method provided, according to corresponding first flight control information of control reference center and carry
Relative positional relationship between equipment center and control reference center determines the corresponding second flight control letter of carry equipment center
Breath；According to the second flight control information, flight control is carried out.In this way, the controller of aircraft can be according to carry equipment center
Corresponding second flight control information carries out flight control, is equivalent to control reference center being transferred to the progress of carry equipment center
Flight control.To either allow aircraft to hover in the sky still and fly in the sky, carry equipment center can be kept
Position is motionless or is smoothly moved.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.In the accompanying drawings:
Fig. 1 is the flow chart for the method that a kind of pair of aircraft shown according to an exemplary embodiment carries out flight control；
Fig. 2 is the flow chart for the method that a kind of pair of aircraft shown according to an exemplary embodiment carries out flight control；
Fig. 3 is the schematic diagram shown according to an exemplary embodiment that coordinate system is established around aircraft；
Fig. 4 is the schematic diagram of the posture of aircraft shown according to an exemplary embodiment；
Fig. 5 is the flow chart for the method that a kind of pair of aircraft shown according to an exemplary embodiment carries out flight control；
Fig. 6 is the structural representation for the device that a kind of pair of aircraft shown according to an exemplary embodiment carries out flight control
Figure；
Fig. 7 is a kind of structural schematic diagram of aircraft shown according to an exemplary embodiment.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
The embodiment of the present disclosure provides the method that a kind of pair of aircraft carries out flight control, and this method can be by aircraft such as
Unmanned plane is realized.
Aircraft may include the components such as processor, memory, flight component.Processor can be CPU (Central
Processing Unit, central processing unit) etc., it can be used for according to the corresponding first flight control letter of control reference center
Relative positional relationship between breath and carry equipment center and control reference center determines that the carry equipment center is corresponding
The second flight control information, wait processing.Memory can be RAM (Random Access Memory, random access memory
Device), Flash (flash memory) etc., data needed for can be used for storing the data received, treatment process generate in treatment process
Data etc., such as the first flight control information.Flight component may include the components such as dynamical system, motor, propeller.
Aircraft can also be including transceiver etc..Transceiver, can be used for the command centre of ground surface end, remote control device into
The transmission of row data, for example, can receive the command centre of ground surface end, the flight directive that remote control device issues, transceiver be can wrap
Include antenna, match circuit, modem etc..
An exemplary embodiment of the present disclosure provides the methods that a kind of pair of aircraft carries out flight control, as shown in Figure 1, should
The process flow of method may include following step:
Step S11, according to corresponding first flight control information of control reference center and carry equipment center and control
Relative positional relationship between reference center determines corresponding second flight control information of carry equipment center.
According to the specifying information content of flight control information, the present embodiment provides two ways to carry out flight control to aircraft
System.
Step S12 carries out flight control according to the second flight control information.
In an implementation, according to corresponding first flight control information of control reference center and carry equipment center and control
Relative positional relationship between reference center processed determines corresponding second flight control information of carry equipment center.Control is joined
It examines standard and is changed into carry equipment center from control reference center, in this way, the controller of aircraft can be according to carry equipment
Corresponding second flight control information in center, carries out flight control.
As shown in Fig. 2, step S11 may include following step:
Step S110 obtains corresponding first flight control information of control reference center according to predetermined period.
In an implementation, aircraft flies or hovers in the sky, and need to obtain aircraft according to predetermined period first flies
Row control information goes to control to allow the controller of aircraft to know the current state of aircraft according to the current state of aircraft
Aircraft executes movement.Specifically, there are many devices, such as three-axis gyroscope or three axis angular rates to sense for installation in aircraft
The devices such as device, GPS, three axle magnetometer, barometer, vision positioning system, aircraft can be measured and be obtained by these devices
Take the first flight control information.It should be noted that being to control ginseng during completing various movements due to control aircraft
The heart of passing the examination is with reference to being controlled, and therefore, corresponding first flight control information of control reference center is also for control ginseng
What the heart of passing the examination proposed.Wherein, control reference center is body geometric center or GPS antenna position etc..Control reference center pair
The angular speed for the first flight control information such as aircraft answered, when describing to be rotated around control reference center, body
The angular speed of generation.
Optionally, corresponding first flight control information of control reference center may include: the angular speed of aircraft, flight
Direction transformational relation between device coordinate system and earth axes, the linear velocity for controlling reference center and control reference center with
The relative position of preset in space.
Wherein, it for the angular speed of aircraft, can be expressed asIt is a three-dimensional amount.
For the direction transformational relation between aircraft coordinate system and earth axes, i.e., to control reference center as origin
The first space coordinates (aircraft coordinate system) established are sat with the second space established using the first preset in space as origin
First direction transformational relation between mark system (earth axes), the first space coordinate established using controlling reference center as origin
System can be using aircraft body geometric center or GPS antenna position as origin, from origin and the side parallel with rotor
To for x-axis, from origin and when aircraft lies in level ground the plane parallel with level ground can be constituted with x-axis
Y-axis, from origin and the direction vertical with rotor be z-axis.The second sky established using the first preset in space as origin
Between coordinate system can be using any point on level ground as origin, from origin and be directed toward the x-axis of preset direction, go out from origin
Hair and vertical with x-axis y-axis on level ground, from origin and the z-axis vertical with level ground.Alternatively, in space
First preset is that the second space coordinate system that origin is established can also be that any point is sat as the space that origin is established using in space
Mark system.Preferably, it selects to establish second space coordinate system by origin of any point on level ground.
It is built using controlling the first space coordinates that reference center is established as origin with the using in space first preset as origin
First direction transformational relation between vertical second space coordinate system, describes under unit length, is to control reference center
Relative to the second space coordinate system established using the first preset in space as origin in the first space coordinates that origin is established
Transformational relation.It is with the first preset in level ground to control the first space coordinates that reference center is established as origin
Aircraft has been described in detail in the sky relative to ground in the first direction transformational relation between second space coordinate system that origin is established
The posture in face.Preferably, the first sky for indicating to establish as origin to control reference center is can choose with direction cosine matrix
Between coordinate system and the first direction transformational relation using the first preset in space between the second space coordinate system that origin is established.
It can be expressed as Rd, specifically a matrix.
For controlling the linear velocity of reference center, can be expressed asIt is a three-dimensional amount.
For the relative position of the second preset in control reference center and space, it is opposite that control reference center is described
The relative position of the second preset in space specifically can be control reference center relative to the second preset in level ground
Relative position, such asIt is a three-dimensional amount.
Corresponding first flight control information of control reference center can be expressed as
Step S120, according to the opposite position between the first flight control information, carry equipment center and control reference center
Relationship is set, determines corresponding second flight control information of carry equipment center.
In an implementation, joined according to corresponding first flight control information of control reference center, carry equipment center and control
The relative positional relationship passed the examination between the heartIt willIt is converted to
The corresponding second flight control information S of carry equipment centerg。
Optionally, carry equipment center can be the optical center of the camera lens of the image capturing device of carry on board the aircraft.
In an implementation, carry equipment center can be the outermost layer camera lens of the image capturing device of carry on board the aircraft
Optical center.Optionally, carry equipment center can also be the focus of the image capturing device of carry on board the aircraft, the center of aperture
Deng.In addition to this, aircraft, can be with carry lighting device etc. other than carry image capturing device.At this point, carry equipment
Center can be the central point of the outer cover of the lighting device of carry on board the aircraft.
In order to enable preferably keeping carry equipment around a center when carrying out flight control with carry equipment center
Position is motionless or is smoothly moved, and can choose the geometric center of carry equipment as carry equipment center.If carry is set
Standby is image capturing device, then the optical center of the camera lens of image capturing device can be used as the geometric center of carry equipment.
Optionally, corresponding second flight control information of carry equipment center may include: the angular speed of aircraft, direction
The relative position of preset in transformational relation, the linear velocity of carry equipment center and carry equipment center and space.
Wherein, the direction transformational relation in the second flight control information corresponding for carry equipment center, i.e., with carry
Equipment center is the second direction transformational relation between the third space coordinates that origin is established and second space coordinate system, to hang
Carry equipment center be origin establish third space coordinates can be from origin and the direction parallel with rotor be x-axis,
Can be constituted with x-axis from origin and when aircraft lies in level ground the plane parallel with level ground y-axis, from
Origin sets out and the direction vertical with rotor is z-axis.Control the first sky in corresponding first flight control information of reference center
Between coordinate system, x, y, z reference axis in the third space coordinates in the second flight control information corresponding with carry equipment center
Direction difference it is identical.
Spatially, being equivalent to will be moved to using controlling the first space coordinates that reference center is established as origin with carry
Equipment center is the third space coordinates that origin is established, they are spatially parallel two spaces, in carry equipment
The heart is the third space coordinates that origin is established and the second sky established by origin of the first preset in space such as level ground
Between second direction transformational relation between coordinate system posture of the aircraft in the sky relative to ground still has been described in detail.To hang
Carrying equipment center is the third space coordinates that origin is established and the second space that the using in space first preset is established as origin
Second direction transformational relation between coordinate system, describes under unit length, established using carry equipment center as origin
Transformational relation in three space coordinates relative to the second space coordinate system established using the first preset in space as origin.It can
Selection of land, can choose with direction cosine matrix the third space coordinates that indicate to establish by origin of carry equipment center with
The first preset is the second direction transformational relation between the second space coordinate system of origin foundation in space.
For the relative position of preset in carry equipment center and space, the carry equipment center of aircraft is described
Phase relative to the relative position of the second preset in space, such as carry equipment center relative to the second preset in level ground
To position.
Optionally, step S120 may include:
(1) according to the angular speed of aircraft, direction transformational relation, the linear velocity and carry equipment for controlling reference center
Relative positional relationship between center and control reference center, determines the linear velocity of carry equipment center.
(2) according to the relative position of preset and carry equipment in direction transformational relation, control reference center and space
Relative positional relationship between center and control reference center, determines the opposite position of preset in carry equipment center and space
It sets.
In an implementation, carry equipment center and control reference center are on a line of a horizontal plane, around control reference
Center carries out rotation and generates angular speed, and the angular speed of the two o'clock on a line is identical, that is, controls the angular speed and extension of reference center
The angular speed for carrying equipment center is identical.
Spatially, as shown in figure 3, it is the first space coordinates established using controlling reference center as origin are horizontal, perpendicular
Translation is dynamic to can be obtained by the third space coordinates established using carry equipment center as origin, they are spatially parallel
Two spaces, therefore, first direction transformational relation are identical with second direction transformational relation.
For (1), optionally, according to the angular speed of aircraft, direction transformational relation, control reference center linear velocity,
And the relative positional relationship between carry equipment center and control reference center, determine the step of the linear velocity of carry equipment center
It suddenly may include: according to formulaDetermine the linear velocity of carry equipment centerWherein,
For the linear velocity for controlling reference center, RdFor direction transformational relation,Between carry equipment center and control reference center
Relative positional relationship,For the angular speed of aircraft.
Specifically, when aircraft surrounds control reference center with angular speedWhen being rotated, at carry equipment center
The linear differential of generation It is the linear differential in the first space coordinates, is converted into
Linear differential in two space coordinates then hasFinal actual carry equipment
The linear velocity at center is
For (2), optionally, according to direction transformational relation, control reference center and space in preset relative position,
And the relative positional relationship between carry equipment center and control reference center, it determines in carry equipment center and space and presets
The step of relative position of point may include: according to formulaIt determines in carry equipment center and space
The relative position of presetWherein,For the relative position of preset in control reference center and space, RdTurn for direction
Relationship is changed,For the relative positional relationship between carry equipment center and control reference center.
Specifically, since the relative positional relationship between carry equipment center and control reference center is with the first space seat
Determined by mark system, therefore, in basisIt is first when determining the relative position of the second preset in carry equipment center and space
First need byIt converts in second space coordinate system, that is, to haveFinally, carry equipment center and in space second
The relative position of preset is
Corresponding second flight control information of carry equipment center is are as follows:
Corresponding at least four parameters of carry equipment center, that is, aircraft angular speed, direction transformational relation, carry are set
The relative position of preset in the linear velocity at standby center and carry equipment center and space, it is corresponding instead of control reference center
Direction transformational relation, control between at least four parameters, that is, aircraft angular speed, aircraft coordinate system and earth axes
The relative position of preset in the linear velocity of reference center and control reference center and space, carries out flight control, but keep
The flight control logic of script is constant, and the available position for keeping carry equipment center is motionless or the effect that is smoothly moved
Fruit.
Optionally, step S12 may include following step:
Step S130 carries out flight control according to the second flight control information and current flight directive.
In an implementation, can be referred to according to corresponding second flight control information of carry equipment center and current flight
It enables, determines flight control parameter, be based on flight control parameter, carry out flight control.
As shown in figure 4, left figure is to control the schematic diagram that reference center carries out pose adjustment, right figure is in carry equipment
The schematic diagram of heart progress pose adjustment.Upper figure in right figure is schematic diagram when aircraft keeps horizontal attitude, when around extension
When carrying equipment center progress pose adjustment, state becomes state shown in the following figure in right figure.When by SgIt is input to aircraft
In controller, the controller of aircraft is believed that SdIt is Sg, the control logic of the controller of aircraft is constant, originally aircraft
It is to be controlled with controlling reference center, then is transformed to be controlled with carry equipment center now.
The flight control of aircraft mainly carries out position control and gesture stability, the controller of aircraft include position
Controller and attitude controller.SgIt include position control and the required control key message of gesture stability.It removes
Other than this, flight control further relate to control centre sending current flight directive relevant control, be such as currently received from
The flight directive to aircraft forward flight that remote controler issues.As shown in figure 5, by flight directive and SgIt is input to position control
In device, by positioner according to flight directive and Sg, determine which direction aircraft is to so that speed is flown or outstanding
Stop, final position controller output be gesture stability instruction, such as allow aircraft march forward direction inclination.Gesture stability is instructed
It is input in attitude controller, by attitude controller according to gesture stability instruction and Sg, power command is generated, power is input to
In system.Dynamical system receives power command, controls each motor in dynamical system and is operated according to power command.It is each
Motor operating also just drives the propeller operating of aircraft, final the result is that aircraft is according to flight directive and SgIt is moved
Make.
The controller of aircraft is practical to carry out flight control according to corresponding second flight control information of carry equipment center,
The position for the control reference center (practical to be replaced by carry equipment center) that controller can be kept to think is motionless or flat
Quietly move.
Optionally, step S11 may include: to obtain corresponding first flight control information of control reference center；According to
Relative positional relationship between one flight control information and carry equipment center and control reference center, determines carry equipment
Corresponding second flight control information in center.Step S12 may include: to be controlled aircraft based on the second flight control information and flown
It goes to target position.
In an implementation, it in addition to the mode partially provided before the present embodiment, i.e., is closed according to the angular speed of aircraft, direction conversion
The relative position of preset carries out flight control in system, the linear velocity of carry equipment center and carry equipment center and space
Outside, the present embodiment also provides the mode that flight control is carried out according to airbound target place position, i.e., directly to aircraft flight mesh
It marks place position and how to reach airbound target place position without concern for specific aircraft.At this point, if aircraft will be from A point water
The flat B point that flies to, aircraft are to control control reference center from A point to B point originally, after conversion, need to control in carry equipment
The heart is from A ' (being equal to A-X) point to B, then being equal to control control reference center from A point to B " (being equal to B+X) point.Wherein, X is
Relative positional relationship on vertical direction, between carry equipment center and control reference center.
During controlling aircraft flight to target position, it is to maintain control reference center originally and is smoothly transported
It is dynamic, now due to being based on corresponding second flight control information of carry equipment center, control aircraft flight to target position
, therefore be smoothly moved from original holding control reference center and equivalent be changed into that keep carry equipment center to carry out flat
Quietly move.
The disclosure implements the method provided, according to corresponding first flight control information of control reference center and carry
Relative positional relationship between equipment center and control reference center determines the corresponding second flight control letter of carry equipment center
Breath；According to the second flight control information, flight control is carried out.In this way, the controller of aircraft can be according to carry equipment center
Corresponding second flight control information carries out flight control, is equivalent to control reference center being transferred to the progress of carry equipment center
Flight control.To either allow aircraft to hover in the sky still and fly in the sky, carry equipment center can be kept
Position is motionless or is smoothly moved.
Disclosure another exemplary embodiment provides the device that a kind of pair of aircraft carries out flight control, as shown in fig. 6,
The device includes:
Determining module 610, for according in corresponding first flight control information of control reference center and carry equipment
Relative positional relationship between the heart and control reference center determines the corresponding second flight control letter of the carry equipment center
Breath；
Control module 620, for carrying out flight control according to second flight control information.
Optionally, the determining module 610 includes:
First acquisition unit, for obtaining corresponding first flight control information of control reference center according to predetermined period；
First determination unit, for being referred to according to first flight control information, the carry equipment center and control
Relative positional relationship between center determines corresponding second flight control information of the carry equipment center；
The control module 620, for carrying out winged according to second flight control information and current flight directive
Row control.
Optionally, first flight control information includes: the angular speed of aircraft, aircraft coordinate system and ground coordinate
Direction transformational relation between system, the linear velocity for controlling reference center and control reference center in space preset it is opposite
Position；
Second flight control information includes: the angular speed of the aircraft, the direction transformational relation, carry equipment
The relative position of preset described in the linear velocity and carry equipment center at center and space.
Optionally, first determination unit includes:
First determines subelement, for being joined according to the angular speed, the direction transformational relation, the control of the aircraft
Relative positional relationship between the linear velocity and the carry equipment center and the control reference center of the heart of passing the examination, determines
The linear velocity of the carry equipment center；
Second determines subelement, for presetting according in the direction transformational relation, the control reference center and space
Relative positional relationship between the relative position of point and the carry equipment center and the control reference center, determines institute
State the relative position of preset described in carry equipment center and space.
Optionally, described first determine that subelement is used for:
According to formulaDetermine the linear velocity of the carry equipment center
Wherein,For the linear velocity of the control reference center, RdFor the direction transformational relation,For the carry
Relative positional relationship between equipment center and the control reference center,For the angular speed of the aircraft.
Optionally, described second determine that subelement is used for:
According to formulaDetermine that the carry equipment center is opposite with preset described in space
Position
Wherein,For the relative position of preset in the control reference center and space, RdIt converts and closes for the direction
System,For the relative positional relationship between the carry equipment center and the control reference center.
Optionally, the carry equipment center is the optical center of the camera lens of the image capturing device of carry on board the aircraft.
Optionally, the determining module 610 includes:
Second acquisition unit, for obtaining corresponding first flight control information of control reference center；
Second determination unit, for being referred to according to first flight control information and carry equipment center and control
Relative positional relationship between center determines corresponding second flight control information of the carry equipment center；
The control module 620, for being based on second flight control information, control aircraft flight to target position
It sets.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
The controller of aircraft can carry out flight control according to corresponding second flight control information of carry equipment center,
It is equivalent to and control reference center is transferred to carry equipment center and carries out flight control.To, either allow aircraft in the sky
Hovering is still flown in the sky, and the position of carry equipment center can be kept motionless or be smoothly moved.
It should be understood that the device provided by the above embodiment for carrying out flight control to aircraft is carrying out flight control
When, only the example of the division of the above functional modules, in practical application, it can according to need and divide above-mentioned function
With being completed by different functional modules, i.e., the internal structure of aircraft is divided into different functional modules, to complete above retouch
The all or part of function of stating.In addition, provided by the above embodiment carry out the device of flight control to aircraft and to flight
The embodiment of the method that device carries out flight control belongs to same design, and specific implementation process is detailed in embodiment of the method, here no longer
It repeats.
Fig. 7 shows the structural block diagram of the aircraft 800 of an illustrative embodiment of the invention offer.The aircraft 800
It may is that smart phone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer
III, dynamic image expert's compression standard audio level 3), MP4 (Moving Picture Experts Group Audio
Layer IV, dynamic image expert's compression standard audio level 4) player, laptop or desktop computer.Aircraft 800
It is also possible to referred to as other titles such as user equipment, portable aircraft, aircraft on knee, desk-top aircraft.
In general, aircraft 800 includes: processor 801 and memory 802.
Processor 801 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 801 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 801 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 801 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 801 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 802 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 802 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 802 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 801 for realizing this Shen
Please in embodiment of the method provide the method that flight control is carried out to aircraft.
In some embodiments, aircraft 800 is also optional includes: peripheral device interface 803 and at least one periphery are set
It is standby.It can be connected by bus or signal wire between processor 801, memory 802 and peripheral device interface 803.Each periphery
Equipment can be connected by bus, signal wire or circuit board with peripheral device interface 803.Specifically, peripheral equipment includes: radio frequency
At least one of circuit 804, touch display screen 805, camera 806, flight component 807, positioning component 808 and power supply 809.
Peripheral device interface 803 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 801 and memory 802.In some embodiments, processor 801, memory 802 and peripheral equipment
Interface 803 is integrated on same chip or circuit board；In some other embodiments, processor 801, memory 802 and outer
Any one or two in peripheral equipment interface 803 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 804 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 804 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 804 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 804 wraps
It includes: antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 804 can by least one wireless communication protocol come with other aircraft into
Row communication.The wireless communication protocol includes but is not limited to: WWW, Metropolitan Area Network (MAN), Intranet, each third generation mobile communication network (2G,
3G, 4G and 5G), WLAN and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments
In, radio circuit 804 can also include NFC (Near Field Communication, wireless near field communication) related electricity
Road, the application are not limited this.
Display screen 805 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 805 is touch display screen, display screen 805 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 805.The touch signal can be used as control signal and be input to processor
801 are handled.At this point, display screen 805 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 805 can be one, and the front panel of aircraft 800 is arranged；In other implementations
In example, display screen 805 can be at least two, be separately positioned on the different surfaces of aircraft 800 or in foldover design；Another
In a little embodiments, display screen 805 can be flexible display screen, be arranged on the curved surface of aircraft 800 or on fold plane.Very
Extremely, display screen 805 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 805 can use LCD
(Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, You Jifa
Optical diode) etc. materials preparation.
CCD camera assembly 806 is for acquiring image or video.Optionally, CCD camera assembly 806 include front camera and
Rear camera.In general, the front panel of aircraft is arranged in front camera, the back side of aircraft is arranged in rear camera.
In some embodiments, rear camera at least two are main camera, depth of field camera, wide-angle camera, focal length respectively
Any one in camera, with realize main camera and the fusion of depth of field camera realize background blurring function, main camera and
Wide-angle camera fusion is realized pan-shot and VR (Virtual Reality, virtual reality) shooting function or other is melted
It is in step with camera shooting function.In some embodiments, CCD camera assembly 806 can also include flash lamp.Flash lamp can be monochromatic temperature and dodge
Light lamp is also possible to double-colored temperature flash lamp.Double-colored temperature flash lamp refers to the combination of warm light flash lamp and cold light flash lamp, Ke Yiyong
Light compensation under different-colour.
Flight component 807 may include positioner, attitude controller, dynamical system etc..
Positioning component 808 is used for the current geographic position of positioning aircraft 800, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 808 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), China dipper system or Russia Galileo system positioning group
Part.
Power supply 809 is used to be powered for the various components in aircraft 800.Power supply 809 can be alternating current, direct current
Electricity, disposable battery or rechargeable battery.When power supply 809 includes rechargeable battery, which can be line charge
Battery or wireless charging battery.Wired charging battery is the battery to be charged by Wireline, and wireless charging battery is to pass through
The battery of wireless coil charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, aircraft 800 further includes having one or more sensors 810.One or more sensing
Device 810 includes but is not limited to: acceleration transducer 811, gyro sensor 812, pressure sensor 813, fingerprint sensor
814, optical sensor 815 and proximity sensor 816.
Acceleration transducer 811 can detecte the acceleration in three reference axis of the coordinate system established with aircraft 800
Size.For example, acceleration transducer 811 can be used for detecting component of the acceleration of gravity in three reference axis.Processor 801
The acceleration of gravity signal that can be acquired according to acceleration transducer 811 controls touch display screen 805 with transverse views or longitudinal direction
The display of view progress user interface.Acceleration transducer 811 can be also used for the acquisition of game or the exercise data of user.
Gyro sensor 812 can detecte body direction and the rotational angle of aircraft 800, gyro sensor 812
Acquisition user can be cooperateed with to act the 3D of aircraft 800 with acceleration transducer 811.Processor 801 is according to gyro sensors
The data that device 812 acquires, following function may be implemented: action induction (for example changing UI according to the tilt operation of user) is clapped
Image stabilization, game control and inertial navigation when taking the photograph.
The lower layer of side frame and/or touch display screen 805 in aircraft 800 can be set in pressure sensor 813.Work as pressure
When the side frame of aircraft 800 is arranged in force snesor 813, user can detecte to the gripping signal of aircraft 800, by handling
Device 801 carries out right-hand man's identification or prompt operation according to the gripping signal that pressure sensor 813 acquires.When pressure sensor 813
When the lower layer of touch display screen 805 is set, the pressure operation of touch display screen 805 is realized according to user by processor 801
Operability control on the interface UI is controlled.Operability control includes button control, scroll bar control, icon control
At least one of part, menu control.
Fingerprint sensor 814 is used to acquire the fingerprint of user, collected according to fingerprint sensor 814 by processor 801
The identity of fingerprint recognition user, alternatively, by fingerprint sensor 814 according to the identity of collected fingerprint recognition user.It is identifying
When the identity of user is trusted identity out, the user is authorized to execute relevant sensitive operation, the sensitive operation packet by processor 801
Include solution lock screen, check encryption information, downloading software, payment and change setting etc..Flight can be set in fingerprint sensor 814
Front, the back side or the side of device 800.When being provided with physical button or manufacturer Logo on aircraft 800, fingerprint sensor 814
It can be integrated with physical button or manufacturer Logo.
Optical sensor 815 is for acquiring ambient light intensity.In one embodiment, processor 801 can be according to optics
The ambient light intensity that sensor 815 acquires controls the display brightness of touch display screen 805.Specifically, when ambient light intensity is higher
When, the display brightness of touch display screen 805 is turned up；When ambient light intensity is lower, the display for turning down touch display screen 805 is bright
Degree.In another embodiment, the ambient light intensity that processor 801 can also be acquired according to optical sensor 815, dynamic adjust
The acquisition parameters of CCD camera assembly 806.
Proximity sensor 816, also referred to as range sensor are generally arranged at the front panel of aircraft 800.Proximity sensor
816 for acquiring the distance between the front of user Yu aircraft 800.In one embodiment, when proximity sensor 816 detects
When gradually becoming smaller to the distance between the front of user and aircraft 800, touch display screen 805 is controlled from bright by processor 801
Screen state is switched to breath screen state；When proximity sensor 816 detects the distance between front of user and aircraft 800 gradually
When becoming larger, touch display screen 805 is controlled by processor 801 and is switched to bright screen state from breath screen state.
It, can be with it will be understood by those skilled in the art that structure shown in Fig. 7 does not constitute the restriction to aircraft 800
Including than illustrating more or fewer components, perhaps combining certain components or being arranged using different components.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (18)
1. the method that a kind of pair of aircraft carries out flight control, which is characterized in that the described method includes:
According between corresponding first flight control information of control reference center and carry equipment center and control reference center
Relative positional relationship, determine corresponding second flight control information of the carry equipment center；
According to second flight control information, flight control is carried out.
2. the method according to claim 1, wherein described control according to corresponding first flight of control reference center
Relative positional relationship between information processed and carry equipment center and control reference center, determines the carry equipment center
Corresponding second flight control information, comprising:
Corresponding first flight control information of control reference center is obtained according to predetermined period；
It is closed according to the relative position between first flight control information, the carry equipment center and control reference center
System, determines corresponding second flight control information of the carry equipment center；
It is described according to second flight control information, carry out flight control, comprising:
According to second flight control information and current flight directive, flight control is carried out.
3. according to the method described in claim 2, it is characterized in that, first flight control information includes: the angle of aircraft
The linear velocity and control of direction transformational relation, control reference center between speed, aircraft coordinate system and earth axes
The relative position of preset in reference center and space；
Second flight control information includes: the angular speed of the aircraft, the direction transformational relation, carry equipment center
Linear velocity and carry equipment center and space described in preset relative position.
4. according to the method described in claim 3, it is characterized in that, described according to first flight control information, the extension
It carries equipment center and controls the relative positional relationship between reference center, determine corresponding second flight of the carry equipment center
Control information, comprising:
According to the angular speed of the aircraft, the direction transformational relation, the control linear velocity of reference center and described
Relative positional relationship between carry equipment center and the control reference center, determines the linear speed of the carry equipment center
Degree；
According to the relative position of preset and the extension in the direction transformational relation, the control reference center and space
The relative positional relationship between equipment center and the control reference center is carried, determines institute in the carry equipment center and space
State the relative position of preset.
5. according to the method described in claim 4, it is characterized in that, the angular speed according to the aircraft, the direction
Between transformational relation, the linear velocity and the carry equipment center and the control reference center for controlling reference center
Relative positional relationship, determine the linear velocity of the carry equipment center, comprising:
According to formulaDetermine the linear velocity of the carry equipment center
Wherein,For the linear velocity of the control reference center, RdFor the direction transformational relation,For in the carry equipment
Relative positional relationship between the heart and the control reference center,For the angular speed of the aircraft.
6. according to the method described in claim 4, it is characterized in that, described join according to the direction transformational relation, the control
The phase passed the examination between the heart and the relative position of preset in space and the carry equipment center and the control reference center
To positional relationship, the relative position of preset described in the carry equipment center and space is determined, comprising:
According to formulaDetermine the relative position of preset described in the carry equipment center and space
Wherein,For the relative position of preset in the control reference center and space, RdFor the direction transformational relation,
For the relative positional relationship between the carry equipment center and the control reference center.
7. method according to claim 1 to 6, which is characterized in that the carry equipment center is in aircraft
The optical center of the camera lens of the image capturing device of upper carry.
8. the method according to claim 1, wherein described control according to corresponding first flight of control reference center
Relative positional relationship between information processed and carry equipment center and control reference center, determines the carry equipment center
Corresponding second flight control information, comprising:
Obtain corresponding first flight control information of control reference center；
It is closed according to the relative position between first flight control information and carry equipment center and control reference center
System, determines corresponding second flight control information of the carry equipment center；
It is described according to second flight control information, carry out flight control, comprising:
Based on second flight control information, aircraft flight is controlled to target position.
9. the device that a kind of pair of aircraft carries out flight control, which is characterized in that described device includes:
Determining module, for according to corresponding first flight control information of control reference center and carry equipment center and control
Relative positional relationship between reference center processed determines corresponding second flight control information of the carry equipment center；
Control module, for carrying out flight control according to second flight control information.
10. device according to claim 9, which is characterized in that the determining module includes:
First acquisition unit, for obtaining corresponding first flight control information of control reference center according to predetermined period；
First determination unit, for according to first flight control information, the carry equipment center and control reference center
Between relative positional relationship, determine corresponding second flight control information of the carry equipment center；
The control module, for carrying out flight control according to second flight control information and current flight directive.
11. device according to claim 10, which is characterized in that first flight control information includes: aircraft
The linear velocity and control of direction transformational relation, control reference center between angular speed, aircraft coordinate system and earth axes
The relative position of preset in reference center processed and space；
Second flight control information includes: the angular speed of the aircraft, the direction transformational relation, carry equipment center
Linear velocity and carry equipment center and space described in preset relative position.
12. device according to claim 11, which is characterized in that first determination unit includes:
First determines subelement, for according in the reference of the angular speed, the direction transformational relation, the control of the aircraft
The linear velocity of the heart and the carry equipment center and it is described control reference center between relative positional relationship, determine described in
The linear velocity of carry equipment center；
Second determines subelement, for according to preset in the direction transformational relation, the control reference center and space
Relative positional relationship between relative position and the carry equipment center and the control reference center, determines the extension
Carry the relative position of preset described in equipment center and space.
13. device according to claim 12, which is characterized in that described first determines that subelement is used for:
According to formulaDetermine the linear velocity of the carry equipment center
Wherein,For the linear velocity of the control reference center, RdFor the direction transformational relation,For in the carry equipment
Relative positional relationship between the heart and the control reference center,For the angular speed of the aircraft.
14. device according to claim 12, which is characterized in that described second determines that subelement is used for:
According to formulaDetermine the relative position of preset described in the carry equipment center and space
Wherein,For the relative position of preset in the control reference center and space, RdFor the direction transformational relation,
For the relative positional relationship between the carry equipment center and the control reference center.
15. the device according to any one of claim 9-14, which is characterized in that the carry equipment center is to fly
The optical center of the camera lens of the image capturing device of carry on device.
16. device according to claim 9, which is characterized in that the determining module includes:
Second acquisition unit, for obtaining corresponding first flight control information of control reference center；
Second determination unit, for according to first flight control information and carry equipment center and control reference center
Between relative positional relationship, determine corresponding second flight control information of the carry equipment center；
The control module, for being based on second flight control information, control aircraft flight to target position.
17. a kind of aircraft, which is characterized in that the aircraft includes processor and memory, is stored in the memory
At least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, institute
State code set or instruction set loaded by the processor and executed with realize it is a method as claimed in any one of claims 1-8 to aircraft into
The method of row flight control.
18. a kind of computer readable storage medium, which is characterized in that be stored at least one instruction, extremely in the storage medium
A few Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, the code set or instruction
Collection is loaded by processor and is executed to realize the method a method as claimed in any one of claims 1-8 for carrying out flight control to aircraft.
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| 刘勇: "基于影像的运动平台自定位测姿", 《中国优秀博硕士学位论文全文数据库(博士)基础科学辑》 * |
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