CN111665859A - Unmanned aerial vehicle return control method and device, storage medium and electronic equipment - Google Patents

Abstract

The invention provides a return-to-home control method and device, a storage medium and an electronic device for an unmanned aerial vehicle. The return-to-home control method of the UAV includes: in response to the return-to-home instruction, reducing the flight speed of the UAV below a preset threshold with a preset acceleration; controlling the UAV to fly to a designated position, and vertically land from the designated position. After the drone is switched to the return-to-home mode, the drone is evenly decelerated at the preset acceleration, and then the drone is decelerated and then returned to the home so that the drone can smoothly switch the working mode, which avoids the need for After switching the return-to-home mode, there is a problem that the UAV's attitude changes too much due to a sudden change in speed.

Description

Return-to-home control method and device for drone, storage medium, and electronic device

technical field

The present invention generally relates to an unmanned aerial vehicle technology, and in particular, to a return-to-home control method and device, a storage medium, and an electronic device of an unmanned aerial vehicle.

Background technique

With the development of UAV technology and the gradual maturity of control systems, more and more rotary-wing UAVs are used in logistics, security, plant protection, inspection and other fields. Taking logistics drones as an example, in the process of autonomous missions, when the drones encounter special circumstances such as bad weather, they need to return to the ground to ensure that the drones return to the ground safely.

At present, it is generally adopted by the pilot (the drone operator) to take over the drone and control the drone to land at the designated location. When the pilot takes over the drone, it is prone to flight instability caused by sudden changes in speed; in addition, the effective control distance of manual return is limited by the communication distance of the ground remote controller, and it is difficult to switch at any time when returning to home is required. A lot of human and material resources were wasted.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

A series of concepts in simplified form have been introduced in the Summary section, which are described in further detail in the Detailed Description section. The summary of the present invention is not intended to attempt to limit the key features and necessary technical features of the claimed technical solution, much less to determine the protection scope of the claimed technical solution.

One technical problem to be solved by the present invention is the unstable flight of the drone caused by the sudden change of speed after switching the return-to-home mode.

In order to solve the above-mentioned technical problems, the present invention provides a return-to-home control method for an unmanned aerial vehicle, which includes:

In response to the return-to-home command, reduce the flight speed of the drone below a preset threshold with a preset acceleration;

Control the drone to fly to the designated position and make a vertical landing from the designated position.

In one embodiment of the present invention, the deceleration control of the drone includes:

Obtain the current flight speed of the drone, and set the desired speed to the current flight speed;

The desired speed of the drone is evenly reduced until the value of the actual flight speed of the drone falls below a preset threshold.

In one embodiment of the present invention, the desired speed of the UAV is evenly reduced until the value of the actual speed of the UAV decreases below a preset threshold, including the following steps:

Step S121: Calculate the value _of v1 with the following formula, and then proceed to step S122,

v ₁ =v ₀ +a·Δt

in,

v ₀ is the desired speed;

a is the preset acceleration;

Δt is the duration of a desired speed adjustment period;

Step S122: determine whether v1 is less _than zero, if so, go to step S124, otherwise go to step S123;

Step S123: set the value of the desired speed as v ₁ , set the direction of the desired speed to be the same as the direction of the current flight speed, and go to step S125;

Step S124: Set the desired speed to zero, and go to Step S125;

Step S125: Obtain the actual flight speed of the UAV, determine whether the actual flight speed is below the preset threshold, if so, stop the deceleration control, otherwise go to step S121.

In an embodiment of the present invention, the value range of Δt is 0.0005-0.01s.

In an embodiment of the present invention, the value range of the preset acceleration is greater than or equal to -1.0m/s ² and less than or equal to -5.0m/s ² , and the value range of the preset threshold is greater than or equal to 0.1 m/s and less than or equal to 0.5m/s.

In one embodiment of the present invention, controlling the drone to fly to a designated location includes the following steps:

Control the drone to return to the starting waypoint of the original flight route according to the original route;

Control the UAV to fly from the starting waypoint to the designated position in a straight line, the longitude of the designated position is equal to the longitude of the take-off position of the UAV, and the latitude of the designated position is equal to the latitude of the take-off position of the UAV , the altitude of the specified position is equal to the altitude of the starting waypoint.

In an embodiment of the present invention, the step of controlling the UAV to return to the starting waypoint of the original flight route according to the original route includes:

Obtain the waypoints that the UAV has passed in the original flight route, and control the UAV to fly from the last waypoint to the starting waypoint in sequence.

In an embodiment of the present invention, the drone generates the return-to-home instruction when the time when the drone and the ground control center are lost in communication is greater than a preset value; or

The return-to-home instruction is issued by the ground control center.

An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the above-mentioned return-to-home control method is implemented.

An embodiment of the present invention also provides an electronic device, which includes:

processor; and

a memory for storing executable instructions for the processor;

Wherein, the processor is configured to execute the return-to-home control method of the claims by executing the executable instructions.

The present invention also proposes a return-to-home control device for an unmanned aerial vehicle, which includes:

The deceleration control module is used to reduce the flight speed of the drone below the preset threshold with the preset acceleration after receiving the return-to-home command;

The return flight module is used to control the drone to fly to the designated position for vertical landing.

As can be seen from the above technical solutions, the advantages and positive effects of the return-to-home control method of the present invention are:

After switching to the return-to-home mode, firstly decelerate the drone evenly with the preset acceleration, and then return to home after the drone is decelerated, so that the drone can smoothly switch the working mode, which avoids the need to switch back to home. After the mode, there is a problem that the UAV attitude changes too much due to the sudden change of speed.

Description of drawings

The various objects, features and advantages of the present invention will become more apparent from consideration of the following detailed description of the preferred embodiments of the invention in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the invention and are not necessarily drawn to scale. Throughout the drawings, the same reference numbers refer to the same or like parts. in:

Fig. 1 is a flow chart of a return-to-home control method according to an exemplary embodiment;

2 is a flowchart of a return-to-home control method according to an exemplary embodiment;

3 is a schematic structural diagram of a return-to-home control device according to an exemplary embodiment;

4 is a schematic structural diagram of an electronic device according to an exemplary embodiment;

FIG. 5 is a schematic structural diagram of a program product according to an exemplary embodiment.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.

Referring to FIG. 1 , FIG. 1 is a flowchart of a return-to-home control method of an unmanned aerial vehicle. The return-to-home control method includes the following steps:

Step S10: In response to the return-to-home command, reduce the flight speed of the UAV below a preset threshold with a preset acceleration.

The drone may be a multi-rotor drone. The UAV can fly along the predetermined flight route. When encountering bad weather, wrong route planning, UAV failure, etc., the ground control center can use wireless communication to send a return command to the UAV. The return-to-home instruction can also be automatically generated by the UAV. For example, when the communication between the UAV and the ground control center is lost for a time greater than a preset value, the UAV automatically generates a return-to-home instruction.

When the drone receives a return command or generates a return command, it decelerates the flying drone. The deceleration of the drone is based on the preset acceleration, and the deceleration process is smooth. The deceleration is completed when the flight speed of the drone drops below a preset threshold. The value range of the preset acceleration is preferably greater than or equal to -1.0m/s ² and less than or equal to -5.0m/s ² , and the value range of the preset threshold is preferably greater than or equal to 0.1m/s and less than or equal to 0.5m/ s.

Step S20: Control the drone to fly to a designated position for vertical landing.

The designated position may be a position pre-stored in the UAV, or may be a position designated in the return-to-home command sent by the ground control center. The drone can fly from the current position to the designated position along the return route. The return route can be a straight line or a route planned by the ground control center or the UAV according to the current position of the UAV, the designated position, and the map between the current position and the designated position. When the designated position is above the place where the drone takes off, the drone can also return by the original route.

In this way, when the drone is flying along the predetermined flight route, it switches to the return-to-home mode after receiving the return-to-home command. After slowing down and then returning to home, the UAV can smoothly complete the switching of the working mode, which avoids the problem of excessive changes in the UAV's attitude caused by sudden changes in speed after switching the returning mode.

Further, in step S10, the deceleration control of the drone includes step S110 and step S120.

Step S110: Obtain the current flight speed of the drone, and set the desired speed to the current flight speed.

In the UAV, the flight speed of the UAV is usually adjusted through the PID algorithm so that the UAV can reach the desired speed, and a desired speed is set for the UAV, and the UAV can fly according to the desired speed.

Before the UAV decelerates, first obtain the current flight speed of the UAV along the original flight path. The current flight speed can be obtained by measuring the flight speed of the UAV in real time by the sensor on the UAV, and then the desired speed Set to be equal to this current flight speed. In this way, at the moment of switching to the return-to-home mode, the speed of the drone can be maintained unchanged, so that the drone can fly smoothly when switching modes.

Step S120: uniformly reduce the desired speed of the UAV until the value of the actual flight speed of the UAV decreases below a preset threshold.

It is simpler and more convenient to adjust the flight speed of the UAV by changing the desired speed, and evenly reducing the desired speed of the UAV makes the UAV decelerate more smoothly. The actual flight speed of the drone is obtained in real time, and the speed reduction is stopped when the actual flight speed of the drone drops below the preset threshold.

Further, referring to FIG. 2 , the desired speed is periodically reduced, and Δt is an adjustment period. Step S120 includes steps S121 to S125.

Step S121: Calculate the value _of v1 with the following formula, and then proceed to step S122,

v ₁ =v ₀ +a·Δt

Among them, the unit of v ₁ is m/s;

v ₀ is the desired velocity, in m/s;

a is the preset acceleration, in m/s ² ;

Δt is the duration of a desired speed adjustment cycle, in s;

Entering step S121 for the first time, the value of the desired speed v ₀ is equal to the value of the current flight speed obtained in step S110 . Δt is a preset value and can be set as small as possible.

Step S122: determine whether v1 is less _than zero, if so, go to step S124, otherwise go to step S123;

Step S123: set the value of the desired speed as v ₁ , set the direction of the desired speed to be the same direction as the current flight speed measured in step S110, and go to step S125;

Step S124: Set the desired speed to zero, and go to Step S125;

Step S125: Obtain the actual flight speed of the UAV, determine whether the actual flight speed is below a preset threshold, if so, stop the deceleration control, otherwise, go to step S121.

When steps S121, S122 and S123 are performed in sequence, the desired speed is decelerated once, the deceleration time interval is Δt, and the deceleration range is a·Δt, so that the desired speed is uniformly reduced. At the same time, by setting the deceleration time interval Δt as small as possible, the flight speed of the UAV can approach the deceleration at the preset acceleration. The value range of Δt is preferably 0.0005 to 0.01s. Within this range, it can not only ensure that the UAV can decelerate smoothly, but also will not cause the UAV to calculate too much.

Executing step S124 means that the desired speed in the previous adjustment is already less than a·Δt, and the desired speed is directly set to zero in this adjustment.

When step S125 is executed, it means that the actual flying speed of the UAV is already lower than the preset threshold, and the deceleration control of the UAV is directly ended, and then the process goes to step S20. The actual flying speed of the UAV can be obtained through the real-time measurement of the flying speed of the UAV by the sensor on the UAV.

Further, step S20 includes steps S210-230.

Step S210: Control the drone to return to the starting waypoint of the original flight route according to the original route.

The original flight route consists of multiple consecutively arranged waypoints, and the UAV completes the flight through each waypoint in turn. The starting waypoint is the starting point of the original flight line, and a waypoint is represented by three quantities of longitude, latitude and altitude. When flying according to the original flight route, starting from the starting waypoint, every time the drone passes through a waypoint, the waypoint is marked and recorded in the waypoint file.

When returning home, first obtain the waypoints that the UAV has passed in the original flight route, and control the UAV to fly from the last waypoint to the starting waypoint in sequence. Specifically, the drone reads the marked passed waypoints in the waypoint file stored in it, and the reading order is reverse order, that is, from the last passed waypoint to the starting waypoint read. Each time a passed waypoint is read, the drone flies to the waypoint, and after the drone reaches the waypoint, the next passed waypoint is read until the drone reaches the starting waypoint. The drone can return to the starting waypoint according to the original route.

Usually the original flight route is the better route, and the possibility of collision when returning home is small. In particular, since the UAV does not need to climb to a specific height vertically when returning to flight, the power consumption of the UAV for returning to flight is small, and the risk of crashing when the power is exhausted in the UAV returning flight is small.

Step S220: Control the UAV to fly from the starting waypoint to the designated position, the longitude of the designated position is equal to the longitude of the take-off position of the UAV, the latitude of the designated position is equal to the latitude of the take-off position of the UAV, and the altitude of the designated position is equal to the starting position The elevation location of the waypoint.

The drone records the longitude and latitude of the takeoff location when it is unlocked for takeoff. The longitude of the specified position is equal to the longitude of the take-off position of the drone, the latitude of the specified position is equal to the latitude of the take-off position of the drone, and the altitude of the specified position is equal to the altitude of the starting waypoint. In this way, the specified position is actually the drone. A point in the air above the take-off position at the same altitude as the starting waypoint. Since the altitude of the designated position is the same as the altitude of the starting waypoint, you only need to fly in a horizontal straight line when flying from the starting waypoint to the designated position, and the drone can land vertically when it flies to the designated position.

Step S230 : the drone flies to a designated position and then performs a vertical landing.

After the drone lands vertically, it will land at the take-off position, and you only need to go to the take-off position to recover the drone.

In an embodiment of the present invention, a return-to-home control device 1 for an unmanned aerial vehicle is also provided.

Referring to FIG. 3 , the return-to-home control device 1 includes a deceleration control module 11 and a return-to-home flight module 12 .

The deceleration control module 11 is used to reduce the flight speed of the drone below a preset threshold with a preset acceleration after receiving the return-to-home instruction. The return-to-home flight module 12 is used to control the drone to fly to a designated position for vertical landing after the flight speed of the drone is reduced below a preset threshold.

Further, the deceleration control module 11 includes a transition module 111 and a deceleration module 112 .

The transition module 111 is used to obtain the current flight speed of the drone, and set the desired speed to the current flight speed;

The deceleration module 112 is used to uniformly decelerate the desired speed of the UAV until the value of the actual flying speed of the UAV decreases below a preset threshold.

Further, the return-to-home flight module 12 further includes a return-to-home module 121 , a horizontal flight module 122 and a vertical landing module 123 .

The original route return module 121 is used to control the UAV to return to the starting waypoint of the original flight route according to the original route.

The horizontal flight module 122 is used to control the UAV to fly in a straight line from the starting waypoint to the designated position, the longitude of the designated position is equal to the longitude of the take-off position of the UAV, and the latitude of the designated position is equal to the latitude of the take-off position of the UAV , the altitude of the specified location is equal to the altitude of the starting waypoint.

The vertical landing module 123 is used to control the drone to perform vertical landing from a designated position.

In an exemplary embodiment of the present invention, there is also provided an electronic device capable of implementing the above-mentioned method for controlling the return to home of an unmanned aerial vehicle.

As will be appreciated by one skilled in the art, various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", "module" or "system".

The electronic device 800 according to this embodiment of the present invention is described below with reference to FIG. 4 . The electronic device 800 shown in FIG. 4 is only an example, and should not impose any limitations on the function and scope of use of the embodiments of the present invention.

As shown in FIG. 4, electronic device 800 takes the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to, the above-mentioned at least one processing unit 810 , the above-mentioned at least one storage unit 820 , and a bus 830 connecting different system components (including the storage unit 820 and the processing unit 810 ).

Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 810, so that the processing unit 810 executes various exemplary methods according to the present invention described in the above-mentioned “Exemplary Methods” section of this specification Implementation steps.

The storage unit 820 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 8201 and/or a cache storage unit 8202 , and may further include a read only storage unit (ROM) 8203 .

The storage unit 820 may also include a program/utility 8204 having a set (at least one) of program modules 8205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.

The bus 830 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.

The electronic device 800 may also communicate with one or more external devices 700 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 800 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 650 . Also, the electronic device 800 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 860 . As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830 . It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.

From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium on which a program product capable of implementing the above-described method of the present specification is stored. In some possible implementations, aspects of the present invention can also be implemented in the form of a program product comprising program code for enabling the program product to run on a terminal device The terminal device performs the steps according to various exemplary embodiments of the present invention described in the "Example Method" section above in this specification.

Referring to FIG. 5, a program product 900 for realizing the return-to-home control method of the above-mentioned unmanned aerial vehicle according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program codes, And can run on terminal equipment, such as personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language. The program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).

It should be noted that although several modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied.

Additionally, although the various steps of the methods of the present disclosure are depicted in the figures in a particular order, this does not require or imply that the steps must be performed in the particular order or that all illustrated steps must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution, and the like.

From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or techniques in the technical field not disclosed by the present disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the appended claims.

Claims (11)

1. A return control method of an unmanned aerial vehicle is characterized by comprising the following steps:

responding to a return flight instruction, and reducing the flying speed of the unmanned aerial vehicle to be below a preset threshold value at a preset acceleration;

and controlling the unmanned aerial vehicle to fly to the designated position, and vertically landing from the designated position.

2. The return leg control method according to claim 1, wherein the deceleration control of the unmanned aerial vehicle includes:

acquiring the current flying speed of the unmanned aerial vehicle, and setting the expected speed as the current flying speed;

uniformly reducing the desired speed of the drone until the value of the actual flying speed of the drone falls below a preset threshold.

3. The return voyage control method of claim 2, wherein uniformly reducing the desired speed of the drone until the value of the actual speed of the drone falls below a preset threshold comprises the steps of:

step S121: v is calculated by the following equation₁Then proceeds to step S122,

v₁＝v₀+a·Δt

wherein,

v₀a desired speed;

a is the preset acceleration;

Δ t is the duration of a desired speed adjustment period;

step S122: judgment of v₁If the value is less than zero, the step S124 is executed, otherwise, the step S123 is executed;

step S123: setting the value of the desired velocity as v₁Setting the direction of the desired speed to be the same as the direction of the current flying speed, and proceeding to step S125;

step S124: setting the desired speed to zero, proceeding to step S125;

step S125: and acquiring the actual flying speed of the unmanned aerial vehicle, judging whether the actual flying speed is below the preset threshold value, if so, stopping deceleration control, and otherwise, entering the step S121.

4. The return journey control method according to claim 2, wherein Δ t is a value in a range of 0.0005 to 0.01 s.

5. The return journey control method according to any one of claims 1 to 4, wherein the preset acceleration value range is greater than or equal to-1.0 m/s²And is less than or equal to-5.0 m/s²And the value range of the preset threshold is more than or equal to 0.1m/s and less than or equal to 0.5 m/s.

6. The return voyage control method according to claim 1, wherein controlling the unmanned aerial vehicle to fly to the specified position comprises the steps of:

controlling the unmanned aerial vehicle to return to the initial waypoint of the original flight line according to the original route;

and controlling the unmanned aerial vehicle to fly to the designated position along a straight line from the starting waypoint, wherein the longitude of the designated position is equal to that of the takeoff position of the unmanned aerial vehicle, the latitude of the designated position is equal to that of the takeoff position of the unmanned aerial vehicle, and the altitude of the designated position is equal to that of the starting waypoint.

7. The return journey control method of claim 6, wherein the step of controlling the unmanned aerial vehicle to return to the starting waypoint of the original flight path along the original route comprises:

and acquiring the waypoints passed by the unmanned aerial vehicle in the original flight line, and controlling the unmanned aerial vehicle to fly to the initial waypoint from the last waypoint passed by in sequence.

8. The return voyage control method according to claim 6, wherein the unmanned aerial vehicle generates the return voyage instruction when the communication loss time of the unmanned aerial vehicle and the ground control center is greater than a preset value; or

And the return flight instruction is issued by a ground control center.

9. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a return control method according to any one of claims 1 to 8.

10. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to execute the return control method of any one of claims 1-8 via execution of the executable instructions.

11. The utility model provides an unmanned aerial vehicle's controlling means that navigates back which characterized in that includes:

the deceleration control module is used for reducing the flying speed of the unmanned aerial vehicle to be below a preset threshold value at a preset acceleration after receiving the return flight instruction;

and the return flight module is used for controlling the unmanned aerial vehicle to fly to a specified position for vertical landing.

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