CN110412632A - Determination method and device, the system in the course of unmanned equipment - Google Patents
Determination method and device, the system in the course of unmanned equipment Download PDFInfo
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- CN110412632A CN110412632A CN201910792778.3A CN201910792778A CN110412632A CN 110412632 A CN110412632 A CN 110412632A CN 201910792778 A CN201910792778 A CN 201910792778A CN 110412632 A CN110412632 A CN 110412632A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 238000010168 coupling process Methods 0.000 description 3
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- 230000006870 function Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
This application discloses determination method and device, the systems in a kind of course of unmanned equipment.Wherein, this method comprises: obtaining the first course angle of connecting rod, wherein the first end of connecting rod is connect with the central point of unmanned equipment, and the second end of connecting rod is provided with course detection device；Angle of first course angle between connecting rod and the earth arctic；Obtain the angle of the head direction of connecting rod and unmanned equipment；The second course angle of unmanned equipment is determined according to the first course angle and angle；The first course of unmanned equipment is determined according to the second course angle.Present application addresses be interfered the technical problem that unmanned plane is out of control caused by leading to the output error of sensor course as the course detection sensor on unmanned plane.
Description
Technical field
This application involves unmanned apparatus fields, in particular to a kind of determination in the course of unmanned equipment
Method and device, system.
Background technique
The course of existing unmanned plane is mainly by Electronic Megnetic Compass and Global Navigation Satellite System (Global
Navigation Satellite System, GNSS) the courses detection sensor measurement such as module double antenna, is detected by course
Sensor combination inertial navigation system determines the course of unmanned plane.
When sensor is normal, aircraft can steadily fly, but can have many ask in the actual environment
Topic, i.e. course transmitter, which such as are disturbed at the reasons, leads to the output error of sensor course, and unmanned plane itself can not know that course is
It is no correct, therefore may to directly result in unmanned plane out of control for this mistake.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the present application provides determination method and device, the system in a kind of course of unmanned equipment, at least
Solve the mistake of unmanned plane caused by leading to the output error of sensor course that is interfered as the course detection sensor on unmanned plane
The technical issues of control.
According to the one aspect of the embodiment of the present application, a kind of determination method in the course of unmanned equipment is provided, is wrapped
It includes: obtaining the first course angle of connecting rod, wherein the first end of connecting rod is connect with the central point of unmanned equipment, connection
The second end of bar is provided with course detection device, and connecting rod can be rotated around central point；First course angle is connecting rod and the earth
Angle between the arctic；Obtain the angle of the head direction of connecting rod and unmanned equipment；According to the first course angle and
Angle determines the second course angle of unmanned equipment；The first course of unmanned equipment is determined according to the second course angle.
Optionally, the second course angle of unmanned equipment is determined according to the first course angle and angle, comprising: calculate first
The difference of course angle and angle；Take the difference as the second course angle.
Optionally, the head direction angle of connecting rod and unmanned equipment is obtained, comprising: using setting at nobody
Angular transducer on steer measures angle.
Optionally, when the first course angle for obtaining connecting rod includes: that connecting rod is rotated around central point, course detection is driven
Device is mobile；When course detection device is mobile, the first course angle of course detection device detection connecting rod is utilized.
Optionally, course detection device includes at least one following: GNSS Global Navigation Satellite System module, inertial navigation
System module.
Optionally, after the first course that unmanned equipment is determined according to the second course angle, method further include: obtain logical
Cross the second course that course detection device detects；Judge whether the first course is consistent with the second course, is indicated in judging result
When the first course and inconsistent the second course, warning information is generated.
According to the another aspect of the embodiment of the present application, a kind of determination system in the course of unmanned equipment is additionally provided,
It include: connecting rod, the first end of connecting rod is connect with the central point of unmanned equipment, and second end is provided with course detection dress
It sets；The connecting rod can be rotated around central point；Course detection device, for when connecting rod is rotated around central point, detection to connect
First course angle of extension bar, angle of first course angle between connecting rod and the earth arctic；Angular transducer is arranged at nobody
On steer, the angle of the head direction for measuring connecting rod and unmanned equipment；Processor is detected with course
Device and angular transducer communicate to connect, for determining the second course of unmanned equipment according to the first course angle and angle
Angle；And the first course of unmanned equipment is determined according to the second course angle.
According to the another aspect of the embodiment of the present application, a kind of determining device in the course of unmanned equipment is additionally provided,
It include: the first acquisition module, for obtaining the first course angle of connecting rod, wherein the first end of connecting rod is set with unmanned
Standby central point connection, connecting rod second end are provided with course detection device, and connecting rod can be rotated around central point；First course
Angle of the angle between connecting rod and the earth arctic；Second obtains module, for obtaining the machine of connecting rod Yu unmanned equipment
The angle of head direction；First determining module, for determining the second of unmanned equipment according to the first course angle and angle
Course angle；Second determining module, for determining the first course of unmanned equipment according to the second course angle.
According to the embodiment of the present application in another aspect, additionally providing a kind of storage medium, storage medium includes the journey of storage
Sequence, wherein equipment when program is run where control storage medium executes the determination side in the course of above unmanned equipment
Method.
According to the embodiment of the present application in another aspect, additionally providing a kind of processor, processor is used to run program,
In, the determination method in the course of above unmanned equipment is executed when program is run.
In the embodiment of the present application, using obtain connecting rod the first course angle, wherein the first end of connecting rod and nobody
The central point of steer connects, and the second end of connecting rod is provided with course detection device, and connecting rod can be rotated around central point；
Angle of first course angle between connecting rod and the earth arctic；Obtain the head direction of connecting rod and unmanned equipment
Angle；The second course angle of unmanned equipment is determined according to the first course angle and angle；Nothing is determined according to the second course angle
The mode in the first course of people's steer generates movement by the way that connecting rod is arranged in unmanned equipment, course is detected
Sensor is arranged in connecting rod, and detection sensor movement is driven when connecting rod moves, and then utilizes the course transmitter of movement
Survey aircraft course, to realize accurate survey aircraft course, avoiding course transmitter from being interfered causes aircraft out of control
Technical effect, and then solve and lead to the output error of sensor course since the course detection sensor on unmanned plane is interfered
Caused by unmanned plane technical problem out of control.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the flow chart according to a kind of determination method in the course of unmanned equipment of the embodiment of the present application；
Fig. 2 is the schematic diagram according to a kind of unmanned plane heading measure method of the embodiment of the present application；
Fig. 3 is the structure chart according to a kind of determination system in the course of unmanned equipment of the embodiment of the present application；
Fig. 4 is the structure chart according to a kind of determining device in the course of unmanned equipment of the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to the embodiment of the present application, a kind of embodiment of the determination method in the course of unmanned equipment is provided, is needed
Illustrate, step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Fig. 1 is according to a kind of flow chart of the determination method in the course of unmanned equipment of the embodiment of the present application, such as Fig. 1
Shown, this method comprises the following steps:
Step S102 obtains the first course angle of connecting rod, wherein in the first end of connecting rod and unmanned equipment
The connection of heart point, the second end of connecting rod are provided with course detection device, and connecting rod can be rotated around central point；First course angle is
Angle between connecting rod and the earth arctic.
According to an optional embodiment of the application, the course detection device in step S102 include it is following at least it
One: GNSS Global Navigation Satellite System module, inertial navigation system module.
GNSS Global Navigation Satellite System be can at the earth's surface or any place of terrestrial space provided for user it is round-the-clock
Three-dimensional coordinate and speed and temporal information space radio navigation positioning system.
Above-mentioned unmanned equipment includes but is not limited to unmanned plane.
In some optional embodiments of the application, a connecting rod, one end of the connecting rod are set on unmanned plane
It is connect with the central point of unmanned plane, connecting rod can be rotated around the central point.The antenna of GNSS module is mounted in the connecting rod
Any position in addition to central point, i.e. GNSS module one end endpoint deviate aircraft central point a certain position, relative to
Known to the distance at aircraft center.Connecting rod can measure the course angle of connecting rod when moving, it should be noted that the boat of connecting rod
Refer to the angle between connecting rod and the earth arctic to angle.
Step S104 obtains the angle of the head direction of connecting rod and unmanned equipment.
Step S106 determines the second course angle of unmanned equipment according to the first course angle and angle.
Step S108 determines the first course of unmanned equipment according to the second course angle.
Through the above steps, movement is generated by the way that connecting rod is arranged in unmanned equipment, by course detection sensor
It is arranged in the connecting rod, detection sensor movement in course is driven when connecting rod moves, then utilizes the course transmitter of movement
Survey aircraft course, to realize accurate survey aircraft course, avoiding course detection sensor from being interfered causes aircraft to lose
The technical effect of control.
In some embodiments of the present application, step S106 is realized by the following method: calculating the first course angle and angle
Difference；Take the difference as the second course angle.
Fig. 2 is according to a kind of schematic diagram of unmanned plane heading measure method of the embodiment of the present application, and as described in Figure 2, P1 is
Course detection device in connecting rod is set, and O is the central point of unmanned plane, by setting even when connecting rod is rotated around point O
Course detection device on extension bar can measure the course angle a of connecting rod, angle of the angle b between connecting rod and unmanned plane, nothing
Man-machine course angle c can be obtained by way of a-b.
According to an optional embodiment of the application, step S104 can be realized by the following method: be existed using setting
Angular transducer in unmanned equipment measures angle.Connection can be measured using the angular transducer being arranged on unmanned plane
(above-mentioned angle b), the angle are the longitudinal axis of connecting rod and unmanned aerial vehicle body to angle between bar and the head direction of aircraft
Between angle.
According to an optional embodiment of the application, connecting rod is revolved in unmanned equipment starting back wall around central point
Turn.Movement, which can be generated, by the connecting rod of rotation after unmanned plane takes off makes aircraft also can be accurate in the state of velocity-stabilization
Vector is obtained, detection sensor error in course is avoided to cause aircraft out of control.
In an optional embodiment of the application, step S102 can be accomplished by the following way: connecting rod is surrounded
When central point rotates, drive course detection device mobile；When course detection device is mobile, is detected and connected using course detection device
First course angle of extension bar.
The course angle a of connecting rod is calculated by the inertial navigation using movement.Inertial navigation is the abbreviation of inertial navigation system,
It is a kind of independent of external information, also not to the autonomous navigation system of external radiation energy.Its working environment not only includes sky
In, ground, can also be under water.The basic functional principle of inertial navigation is to be existed based on Newton mechanics law by measuring carrier
It integrates the time, and it is transformed in navigational coordinate system by the acceleration of inertial reference system, it will be able to obtain leading
The information such as speed, yaw angle and position in boat coordinate system.
In an optional embodiment of the application, after step S108 executes completion, it can also obtain and pass through course
The second course that detection device detects；Judge whether the first course is consistent with the second course, in the first boat of judging result instruction
To it is inconsistent with the second course when, generate warning information.
By taking unmanned plane as an example, by the first course of above-mentioned determination and measured using the course detection device in unmanned plane
Two courses are compared, if the two is inconsistent, then it is assumed that the course detection device of unmanned plane breaks down, and alarms.In
Judge need to consider whether the difference of the two falls into default error range when whether the first course and the second course are consistent；If falling into
Default error range, then it is assumed that the course detection device of unmanned plane breaks down, if not falling within default error range, then it is assumed that nothing
Man-machine course detection device is simultaneously without failure.
Above-mentioned error range can preset a variety of situations: error range be (0, a), may be set to situation 1；Error range is
(0, b) may be set to situation 2；Error range is (0, c), may be set to situation 3.
Above situation can according to operating area (grassland, farmland, rural area, plateau, level land, cities and towns etc.), purposes (plant protection,
Shooting, mapping, real estate, electric power etc.) etc. divided.For example, learning the scene of this time flight before unmanned plane takes off
It is farmland, purposes is plant protection, then can choose a kind of lesser situation of error range；If scene is cities and towns, purposes is to examine
It surveys certain index and draws corresponding high-precision engineering drawing, then need the lesser situation of Select Error range.
In the case where default error range has multiple, the error model of triggering can be determined by receiving the instruction of user
It encloses, i.e., before unmanned plane takes off, confirms its target area and intended applications well, choose corresponding error range, the mistake
The expression behaviour of poor range can be accuracy class, i.e., different accuracy classes corresponds to different error ranges.Receive instruction
Mode can pass through button or other remote control modes.
The mode of above-mentioned triggering situation can also automatically select the type of operating area by the way of image recognition.Such as
The image that unmanned plane is currently located region is obtained by the image collecting device built in unmanned plane, image is identified later,
Area classification is obtained, generates corresponding selection instruction according to area classification, determines corresponding error range according to selection instruction.
Fig. 3 is according to a kind of structure chart of the determination system in the course of unmanned equipment of the embodiment of the present application, such as Fig. 3
Shown, which includes:
Connecting rod 30, the first end of connecting rod 30 are connect with the central point of unmanned equipment, and second end is provided with course
Detection device 32；The connecting rod 30 is rotated around above-mentioned central point.
According to an optional embodiment of the application, above-mentioned course detection device includes at least one following: GNSS is complete
Ball navigational satellite system module, Electronic Megnetic Compass.
GNSS Global Navigation Satellite System be can at the earth's surface or any place of terrestrial space provided for user it is round-the-clock
Three-dimensional coordinate and speed and temporal information space radio navigation positioning system.Above-mentioned unmanned equipment includes but not
It is limited to unmanned plane.
In some optional embodiments of the application, a connecting rod 30 is set on unmanned plane, the connecting rod 30
The connection of the central point of one end and unmanned plane, connecting rod 30 can be rotated around the central point.The antenna of GNSS module is mounted on the company
Any position on extension bar 30 in addition to central point, i.e. GNSS module one end endpoint deviate aircraft central point a certain position,
Known to its distance relative to aircraft center.Connecting rod 30 can measure the course angle of connecting rod 30 when moving, need to illustrate
It is that the course angle of connecting rod 30 refers to the angle between connecting rod 30 and the earth arctic.
Course detection device 32, for detecting the first course of connecting rod 30 when connecting rod 30 is rotated around central point
Angle, angle of first course angle between connecting rod 30 and the earth arctic.
Angular transducer 34 is arranged in unmanned equipment, for measuring the machine of connecting rod 30 Yu unmanned equipment
Head direction angle.
Processor 36 is communicated to connect with course detection device 32 and angular transducer 34, for according to the first course angle and
Angle determines the second course angle of unmanned equipment；And the first boat of unmanned equipment is determined according to the second course angle
To.
As described in above-mentioned Fig. 2, P1 is the course detection device 32 being arranged in connecting rod 30, and O is the central point of unmanned plane,
The course of connecting rod 30 can be measured when connecting rod 30 is rotated around point O by the course detection device 32 being arranged in connecting rod 30
The course angle c of the angle of angle a, b between connecting rod 30 and unmanned plane, unmanned plane can be obtained by way of a-b.
It should be noted that the correlation that the preferred embodiment of embodiment illustrated in fig. 3 may refer to embodiment illustrated in fig. 1 is retouched
It states, details are not described herein again.
Fig. 4 is according to a kind of structure chart of the determining device in the course of unmanned equipment of the embodiment of the present application, such as Fig. 4
Shown, which includes:
First obtains module 40, for obtaining the first course angle of connecting rod, wherein the first end of connecting rod is driven with nobody
The central point connection of equipment is sailed, connecting rod second end is provided with course detection device, and connecting rod can be rotated around central point；First
Angle of the course angle between connecting rod and the earth arctic.
According to an optional embodiment of the application, above-mentioned course detection device can be GNSS global navigational satellite system
System module, is also possible to Electronic Megnetic Compass.Unmanned equipment includes but is not limited to unmanned plane.One company is set on unmanned plane
Extension bar, one end of the connecting rod and the central point of unmanned plane connect, and connecting rod can be rotated around the central point.The day of GNSS module
Line is mounted on any position in the connecting rod in addition to central point, i.e. GNSS module one end endpoint is deviateing aircraft central point
A certain position, relative to known to the distance at aircraft center.Connecting rod can measure the course angle of connecting rod when moving, need
Bright, the course angle of connecting rod refers to the angle between connecting rod and the earth arctic.
Second obtains module 42, the angle of the head direction for obtaining connecting rod and unmanned equipment.
In an optional embodiment of the application, second, which obtains module 42, is used for by being arranged in unmanned equipment
On angular transducer measure above-mentioned angle, which is angle of the head of connecting rod and unmanned plane between.
According to an optional embodiment of the application, can be connected by the angular transducer measurement being arranged on unmanned plane
The angle of extension bar and unmanned plane.
First determining module 44, for determining the second course angle of unmanned equipment according to the first course angle and angle.
According to an optional embodiment of the application, above-mentioned first determining module 44 be also used to calculate the first course angle with
The difference of angle；Take the difference as the second course angle.
As described in above-mentioned Fig. 2, P1 is the course detection device being arranged in connecting rod, and O is the central point of unmanned plane, connection
It is connection that the course angle a, b of connecting rod, which can be measured, by the course detection device being arranged in connecting rod when bar is rotated around point O
The course angle c of angle between bar and unmanned plane, unmanned plane can be obtained by way of a-b.
Second determining module 46, for determining the first course of unmanned equipment according to the second course angle.
According to an optional embodiment of the application, above-mentioned first acquisition module 40 is also used in connecting rod around center
When point rotation, drive course detection device mobile；When course detection device is mobile, connecting rod is detected using course detection device
The first course angle.
The course angle a of connecting rod is calculated by the inertial navigation using movement.Inertial navigation is the abbreviation of inertial navigation system,
It is a kind of independent of external information, also not to the autonomous navigation system of external radiation energy.Its working environment not only includes sky
In, ground, can also be under water.The basic functional principle of inertial navigation is to be existed based on Newton mechanics law by measuring carrier
It integrates the time, and it is transformed in navigational coordinate system by the acceleration of inertial reference system, it will be able to obtain leading
The information such as speed, yaw angle and position in boat coordinate system.
It should be noted that the correlation that the preferred embodiment of embodiment illustrated in fig. 4 may refer to embodiment illustrated in fig. 1 is retouched
It states, details are not described herein again.
The embodiment of the present application also provides a kind of storage medium, storage medium includes the program of storage, wherein program operation
When control storage medium where equipment execute above unmanned equipment course determination method.
Storage medium is used to store the program for executing following functions: obtaining the first course angle of connecting rod, wherein connecting rod
First end connect with the central point of unmanned equipment, the second end of connecting rod is provided with course detection device, and connecting rod can
It is rotated around central point；Angle of first course angle between connecting rod and the earth arctic；Connecting rod is obtained to set with unmanned
The angle of standby head direction；The second course angle of unmanned equipment is determined according to the first course angle and angle；Foundation
Second course angle determines the first course of unmanned equipment.
The embodiment of the present application also provides a kind of processor, processor is for running program, wherein program executes when running
The determination method in the course of above unmanned equipment.
Processor is used to run the program for executing following functions: obtaining the first course angle of connecting rod, wherein connecting rod
First end is connect with the central point of unmanned equipment, and the second end of connecting rod is provided with course detection device, and connecting rod can enclose
It is rotated around central point；Angle of first course angle between connecting rod and the earth arctic；Obtain connecting rod and unmanned equipment
Head direction angle；The second course angle of unmanned equipment is determined according to the first course angle and angle；According to the
Two course angles determine the first course of unmanned equipment.
Above-mentioned the embodiment of the present application serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
In above-described embodiment of the application, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the application whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only the preferred embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of determination method in the course of unmanned equipment characterized by comprising
Obtaining the first course angle of connecting rod, wherein the first end of the connecting rod is connect with the central point of unmanned equipment,
The second end of the connecting rod is provided with course detection device, and the connecting rod can be rotated around the central point；Described first
Angle of the course angle between the connecting rod and the earth arctic；
Obtain the angle of the head direction of the connecting rod and the unmanned equipment；
The second course angle of the unmanned equipment is determined according to first course angle and the angle；
The first course of the unmanned equipment is determined according to second course angle.
2. the method according to claim 1, wherein according to described in first course angle and angle determination
Second course angle of unmanned equipment, comprising:
Calculate the difference of first course angle and the angle；
Take the difference as second course angle.
3. the method according to claim 1, wherein obtaining the machine of the connecting rod Yu the unmanned equipment
The angle of head direction, comprising:
The angle is measured using the angular transducer being arranged in the unmanned equipment.
4. the method according to claim 1, wherein the first course angle for obtaining connecting rod includes:
When the connecting rod is rotated around the central point, drive the course detection device mobile；
When the course detection device is mobile, the first course angle of the connecting rod is detected using the course detection device.
5. the method according to claim 1, wherein the course detection device includes at least one following:
GNSS Global Navigation Satellite System module, inertial navigation system module.
6. the method according to claim 1, wherein determining described unmanned set according to second course angle
After the first standby course, the method also includes:
Obtain the second course detected by the course detection device；
Judge whether first course is consistent with the second course, indicates first course and the second course not in judging result
When consistent, warning information is generated.
7. a kind of determination system in the course of unmanned equipment characterized by comprising
Connecting rod, the first end of the connecting rod are connect with the central point of unmanned equipment, and second end is provided with course detection
Device；The connecting rod can be rotated around the central point；
The course detection device, for detecting the of the connecting rod when the connecting rod is rotated around the central point
One course angle, angle of first course angle between the connecting rod and the earth arctic；
Angular transducer is arranged in the unmanned equipment, for measuring the connecting rod and the unmanned equipment
Head direction angle；
Processor is communicated to connect with the course detection device and the angular transducer, for according to first course angle
The second course angle of the unmanned equipment is determined with the angle；And according to second course angle determine it is described nobody
First course of steer.
8. a kind of determining device in the course of unmanned equipment characterized by comprising
First obtain module, for obtaining the first course angle of connecting rod, wherein the first end of the connecting rod with it is unmanned
The central point of equipment connects, and the connecting rod second end is provided with course detection device, and the connecting rod can surround the center
Point rotation；Angle of first course angle between the connecting rod and the earth arctic；
Second obtains module, the angle of the head direction for obtaining the connecting rod and the unmanned equipment；
First determining module, for determining the second boat of the unmanned equipment according to first course angle and the angle
To angle；
Second determining module, for determining the first course of the unmanned equipment according to second course angle.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Control the course of unmanned equipment described in any one of equipment perform claim requirement 1 to 7 where storage medium really
Determine method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 7 described in unmanned equipment course determination method.
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