CN112106005A

CN112106005A - Flight control method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Info

Publication number: CN112106005A
Application number: CN201980030321.7A
Authority: CN
Inventors: 杨亮亮
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-12-18
Also published as: WO2021081907A1

Abstract

A flight control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, the method comprises the following steps: analyzing ADS-B message data sent by a manned aircraft and received by an ADS-B receiver carried by an unmanned aerial vehicle to obtain altitude data of the manned aircraft, wherein the altitude data of the manned aircraft comprises first altitude data and second altitude data, the first altitude data takes a WGS84 ellipsoid or an average sea level as a datum plane, and the second altitude data takes a standard air pressure plane as a datum plane (S202); determining whether the altitude sensors of the drone include a GNSS reception sensor matching the first altitude data and an air pressure sensor matching the second altitude data (S203); and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data matched with the determined sensor in the altitude data measured by the determined sensor and the altitude data of the manned aircraft (S204) so as to determine the relative altitude between the unmanned aerial vehicle and the manned aircraft and improve the safety of the unmanned aerial vehicle and the manned aircraft.

Description

Flight control method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Technical Field

The invention relates to the technical field of control, in particular to a flight control method and equipment of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.

Background

Along with the rapid development and popularization of unmanned aerial vehicles, more and more unmanned aerial vehicle users do not accept professional training and just use unmanned aerial vehicles, thereby the threat to the safe flight of manned aircraft is bigger and bigger. Therefore, how to effectively improve the safety between the unmanned aerial vehicle and the manned aircraft becomes a problem which needs to be solved urgently.

Disclosure of Invention

The embodiment of the invention provides a flight control method and equipment of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, which can determine the relative height between the unmanned aerial vehicle and a manned aircraft, help to avoid the risks of collision and the like between the unmanned aerial vehicle and the manned aircraft, and improve the safety of the unmanned aerial vehicle and the manned aircraft.

In a first aspect, an embodiment of the present invention provides a flight control method, where the unmanned aerial vehicle includes an altitude sensor, and includes:

the method comprises the steps that ADS-B message data sent by a manned aircraft and received by an ADS-B receiver carried by an unmanned aerial vehicle are obtained;

analyzing the ADS-B message data to obtain altitude data of the manned vehicle, wherein the altitude data of the manned vehicle comprises first altitude data and second altitude data, the first altitude data takes a WGS84 ellipsoid or an average sea level as a datum plane, and the second altitude data takes a standard air pressure plane as a datum plane;

determining whether the altitude sensors include a GNSS receive sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data;

and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data obtained by measuring by the sensors and the altitude data matched with the sensors in the manned aircraft.

In a second aspect, an embodiment of the present invention provides a flight control device, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes an altitude sensor, and the device includes a memory and a processor;

the memory is used for storing programs;

the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes an altitude sensor, and the unmanned aerial vehicle includes:

a body;

the power system is arranged on the airframe and used for providing power for the unmanned aerial vehicle to move;

the processor is used for acquiring ADS-B message data sent by the manned aircraft and received by an ADS-B receiver carried by the unmanned aerial vehicle; analyzing the ADS-B message data to obtain altitude data of the manned vehicle, wherein the altitude data of the manned vehicle comprises first altitude data and second altitude data, the first altitude data takes a WGS84 ellipsoid or an average sea level as a datum plane, and the second altitude data takes a standard air pressure plane as a datum plane; determining whether the altitude sensors include a GNSS receive sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data; and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data obtained by measuring by the sensors and the altitude data matched with the sensors in the manned aircraft.

In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.

According to the embodiment of the invention, the ADS-B message data sent by the manned aircraft and received by the ADS-B receiver carried by the unmanned aerial vehicle is analyzed to obtain the first altitude data and the second altitude data of the manned aircraft, wherein the first altitude data takes a WGS84 ellipsoid or an average sea level as a reference surface, and the second altitude data takes a standard air pressure plane as a reference surface. Through confirming whether altitude sensor include with the GNSS receiving sensor of first altitude data matching and with the baroceptor of second altitude data matching, according to the sensor measurement that the affirmation includes obtain altitude data with in the altitude data of manned vehicle with the altitude data of confirming the sensor matching that includes confirms unmanned aerial vehicle with the relative altitude of manned vehicle helps avoiding danger such as unmanned aerial vehicle and manned vehicle bump, has improved unmanned aerial vehicle and manned vehicle's security.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a flight control system according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Currently, most countries around the world require that manned aircraft be equipped with Broadcast-based auto-correlation Surveillance (ADS-B). The ADS-B can automatically acquire parameters from relevant airborne equipment and broadcast information such as the position, the altitude, the speed, the course, the identification number and the like of the aircraft to other aircraft or ground stations so as to provide a controller to monitor the state of the aircraft. In some embodiments, ADS-B is classified into an ADS-B transmitter and an ADS-B receiver; in some embodiments, an ADS-B transmitter is the basic function of ADS-B and is responsible for broadcasting information about the position, altitude, speed, heading, etc. of the manned vehicle over the wireless link. In some embodiments, the ADS-B receiver is configured to receive various information broadcast by the manned vehicle or a ground mounted ADS-B transmitter, thereby obtaining information about the position, altitude, speed, heading, etc. of the manned vehicle.

At present, an anti-collision technology between an unmanned aerial vehicle and a manned aircraft based on ADS-B is not widely applied in the unmanned aerial vehicle industry. Only individual unmanned aerial vehicle manufacturers try to sense the manned aircraft existing around by using the unmanned aerial vehicle airborne ADS-B receiver and provide non-accurate warning prompts for unmanned aerial vehicle remote control personnel in a large range, but automatic avoidance or accurate warning of the unmanned aerial vehicle on the manned aircraft is difficult to achieve. Because the key technology here is that the unmanned aerial vehicle can accurately sense the relative position of the manned aircraft and the unmanned aerial vehicle.

Therefore, in order to obtain an accurate relative relationship between the unmanned aerial vehicle and the manned vehicle, the embodiment of the invention provides a flight control method of the unmanned aerial vehicle, which receives information such as position, height, speed, course and the like of the manned vehicle broadcast with an ADS-B transmitter assembled in a certain range by integrating the ADS-B receiver on the unmanned aerial vehicle. Unmanned aerial vehicle just has possessed the ability of perception manned vehicle to can real-time continuous detection manned vehicle's flight track. The unmanned aerial vehicle can accurately calculate the collision risk coefficient of the unmanned aerial vehicle and the manned aircraft according to the anti-collision model and algorithm of the unmanned aerial vehicle and the manned aircraft by combining the position, height, speed, course and other information of the unmanned aerial vehicle, and gives warning information and an avoidance strategy corresponding to the risk coefficient.

In one embodiment, the flight control method of the embodiment of the invention is implemented by firstly requiring that an unmanned aerial vehicle manufacturer needs to calibrate an air pressure gauge on an unmanned aerial vehicle in a factory production stage, namely, the height indication is 0 under the standard atmosphere of 1013.2 hectopascal, or a deviation is written into an unmanned aerial vehicle internal code table, and an actual measurement value is compensated by using the deviation value; secondly, analyzing the received ADS-B message data to obtain a standard air pressure value of the manned aircraft and a height value of a Global Navigation Satellite System (GNSS), and obtaining relatively accurate positions of the manned aircraft under two coordinate systems (reference surfaces are a standard air pressure plane and a WGS84 ellipsoid respectively) according to a height precision range in the message; finally, unmanned aerial vehicle can compare unmanned aerial vehicle and manned vehicle difference under two kinds of coordinate systems according to self GNSS and atmospheric pressure gauge actual measurement and sensor precision, just can reachd the coordinate relation of relative accuracy between unmanned aerial vehicle and the manned vehicle.

According to the embodiment of the invention, the airborne ADS-B receiver of the unmanned aerial vehicle is used as an effective device for the unmanned aerial vehicle to sense the manned aircraft based on the ADS-B technology, and the unmanned aerial vehicle can timely send early warning to ground remote control personnel of the unmanned aerial vehicle or automatically make avoidance through sensing the manned aircraft in a certain area range in the air, so that the threat of the unmanned aerial vehicle to the flight safety of the manned aircraft can be reduced, and the safety of the unmanned aerial vehicle and the manned aircraft is improved.

The flight control method of the unmanned aerial vehicle provided by the embodiment of the invention can be executed by a flight control system, wherein the flight control system can comprise flight control equipment, the unmanned aerial vehicle and a manned aircraft; in some embodiments, the flight control device may be mounted on the drone, in some embodiments the flight control device may be spatially independent of the drone, in some embodiments the flight control device may be a component of the drone, i.e., the drone includes a flight control device. In certain embodiments, the drone has an ADS-B receiver onboard, the drone including an altitude sensor. In certain embodiments, the manned vehicle includes an ADS-B transmitter thereon.

The flight control system provided by the embodiment of the invention is schematically described below with reference to the attached drawings.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a flight control system according to an embodiment of the present invention. The flight control system includes: flight control equipment 11, unmanned aerial vehicle 12 and manned vehicle 13. The unmanned aerial vehicle 12 includes a power system 121, the power system 121 is used for providing flying power for the unmanned aerial vehicle 12. In some embodiments, the drone 12 and the flight control device 11 are independent of each other, and establish a communication connection with the drone 12 by way of a wireless communication connection. In other embodiments, the flight control device 11 may be disposed in the drone 12, and may establish a communication connection with other devices (e.g., the power system 121) in the drone 12 through a wired communication connection. In some embodiments, the flight control device 11 may be a flight controller. In some embodiments, manned vehicle 13 and flight control device 11 are independent of each other, and the communication link is established via a wireless communication link.

In the embodiment of the present invention, the flight control device 11 may obtain ADS-B message data sent by the manned vehicle 13 and received by an ADS-B receiver carried by the unmanned aerial vehicle 12, and analyze the ADS-B message data to obtain altitude data of the manned vehicle 13, where the altitude data of the manned vehicle 13 includes first altitude data and second altitude data, the first altitude data uses WGS84 ellipsoid or average sea water surface as a reference surface, and the second altitude data uses a standard barometric pressure plane as a reference surface. The flight control device 11 determines the relative altitude of the unmanned aerial vehicle 12 and the manned vehicle 13 by determining whether the altitude sensors include a GNSS reception sensor matching the first altitude data and an air pressure sensor matching the second altitude data, and based on the altitude data measured by the sensors included in the altitude sensors and the altitude data of the manned vehicle 13 matching the sensors included in the determination.

The following describes schematically a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention with reference to the accompanying drawings.

Referring to fig. 2 in detail, fig. 2 is a schematic flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention, where the method may be executed by a flight control device, and the specific explanation of the flight control device is as described above, and the unmanned aerial vehicle includes an altitude sensor. Specifically, the method of the embodiment of the present invention includes the following steps.

S201: and obtaining ADS-B message data sent by the manned aircraft and received by the ADS-B receiver carried by the unmanned aerial vehicle.

In the embodiment of the invention, the flight control equipment can acquire ADS-B message data sent by the manned aircraft and received by the ADS-B receiver carried by the unmanned aerial vehicle.

In some embodiments, the manned vehicle includes an ADS-B transmitter, and the manned vehicle transmits ADS-B message data via the ADS-B transmitter. In some embodiments, the altitude data in the ADS-B message data sent by the ADS-B transmitter is from a barometer, and the altitude data in the ADS-B message data is a standard barometric altitude. In some embodiments, the standard barometric pressure altitude is also called a gravitational potential altitude, a pressure altitude. And according to the atmospheric pressure value measured in the flight, the corresponding height is obtained by a standard atmospheric table. In some embodiments, the altimeter in the manned vehicle is customized according to the corresponding relationship between the atmospheric pressure value and the altitude value in the standard atmospheric meter. When the air pressure scale of the air pressure altimeter is adjusted to the standard atmospheric state, the height indicated by the air pressure altimeter at the moment is called the standard air pressure height. In some embodiments, the manned vehicle uses standard barometric altitudes for both long range and stratified flight to prevent collisions.

In some embodiments, the source of altitude data for the drone may be a GNSS, but may also be from a barometer or other sensor such as a visual, ultrasonic or infrared sensor.

S202: analyzing the ADS-B message data to obtain altitude data of the manned vehicle, wherein the altitude data of the manned vehicle comprises first altitude data and second altitude data, the first altitude data takes a WGS84 ellipsoid or an average sea level as a datum plane, and the second altitude data takes a standard air pressure plane as a datum plane.

In the embodiment of the present invention, the flight control device may analyze the ADS-B packet data to obtain altitude data of the manned vehicle, where the altitude data of the manned vehicle includes first altitude data and second altitude data, the first altitude data uses a World Geodetic System (World Geodetic System 84, WGS84) ellipsoid or an average sea level as a reference plane, and the second altitude data uses a standard barometric plane as a reference plane.

In one embodiment, the first height data is an absolute height, also called an altitude, when the first height data is referenced to an average sea level. In some embodiments, the average sea level is also referred to as ground level. For example, the heights of the terrain and the ground objects marked on the navigation map are calculated according to the absolute height.

In one embodiment, the first altitude data is a GNSS altitude, i.e., the altitude of the GNSS sensor output, when the first altitude data is referenced to the WGS84 ellipsoid.

S203: determining whether the altitude sensors of the drone include a GNSS receive sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data.

In an embodiment of the present invention, the flight control device may determine whether the altitude sensor of the drone includes a GNSS receiving sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data.

In one embodiment, the flight control device may detect whether a reference plane of altitude data acquired by the altitude sensor of the drone is the same as the first altitude data and the second altitude data when determining whether the altitude sensor of the drone includes a GNSS reception sensor matching the first altitude data and an air pressure sensor matching the second altitude data, and may determine that the altitude sensor of the drone includes a GNSS reception sensor matching the first altitude data and an air pressure sensor matching the second altitude data if the reference plane is the same.

S204: and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data obtained by measuring by the sensors and the altitude data matched with the sensors in the manned aircraft.

In the embodiment of the invention, the flight control device may determine the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensors included in the determination and the altitude data matched with the sensors included in the determination in the altitude data of the manned aircraft.

In one embodiment, when the flight control device determines the relative altitude of the unmanned aerial vehicle and the manned vehicle based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle that matches the sensors included in the determination, the flight control device may determine the relative altitude of the unmanned aerial vehicle and the manned vehicle based on the altitude data measured by the GNSS reception sensors and the first altitude data when it is determined that the altitude sensors include only GNSS reception sensors that match the first altitude data.

For example, when it is determined that the altitude sensor of the drone includes only GNSS receiving sensors that match the first altitude data of the manned vehicle, if the altitude data measured by the GNSS receiving sensors acquired by the flight control device to the drone is H1, the first altitude data of the manned vehicle is H2, and H2> H1, then it may be determined that the relative altitude of the drone and the manned vehicle is H2-H1.

In one embodiment, when it is determined that the altitude sensor includes only a GNSS receiver sensor that matches the first altitude data, the flight control apparatus may compare GNSS altitude data measured by the GNSS receiver sensor with the first altitude data of the manned vehicle, determine the longitude, latitude, altitude, and obtained accuracy value of the unmanned aerial vehicle from the GNSS altitude data measured by the GNSS receiver sensor, and determine the longitude, latitude, altitude, and obtained accuracy value of the manned vehicle from the first altitude data. And determining the relative position of the unmanned aerial vehicle and the manned aircraft according to the longitude, the latitude, the altitude of the unmanned aerial vehicle and the obtained precision value, and the longitude, the latitude, the altitude of the manned aircraft and the obtained precision value.

Therefore, the relatively accurate relative height between the unmanned aerial vehicle and the manned aircraft can be obtained through the GNSS height data of the unmanned aerial vehicle and the GNSS height data of the manned aircraft.

In one embodiment, when the flight control apparatus determines the relative altitude of the unmanned aerial vehicle and the manned vehicle based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle that matches the sensors included in the determination, the flight control apparatus may determine the relative altitude of the unmanned aerial vehicle and the manned vehicle based on the altitude data measured by the air pressure sensors and the second altitude data when it is determined that the altitude sensors include only the air pressure sensors that match the second altitude data.

For example, when it is determined that the altitude sensor includes only an air pressure sensor that matches the second altitude data, if the altitude data measured by the air pressure sensor acquired by the flight control apparatus to the drone is h1, the second altitude data of the manned vehicle is h2, and h2> h1, it may be determined that the relative altitude of the drone and the manned vehicle is h2-h 1.

In an embodiment, when it is determined that the altitude sensor only includes an air pressure sensor matched with the second altitude data, the flight control device may acquire standard air pressure altitude data measured by the unmanned aerial vehicle according to the air pressure sensor, and acquire standard air pressure altitude data of the manned aircraft, that is, the second altitude data. The flight control equipment can determine the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the acquired standard air pressure altitude data of the unmanned aerial vehicle and the acquired standard air pressure altitude data of the manned aircraft.

Therefore, the accurate relative height between the unmanned aerial vehicle and the manned aircraft can be obtained through the standard air pressure altitude data of the unmanned aerial vehicle and the standard air pressure altitude data of the manned aircraft.

In one embodiment, the flight control device, when determining the relative altitude of the unmanned aerial vehicle and the manned vehicle based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle that matches the sensors included in the determination, upon determining that the altitude sensor comprises a GNSS reception sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data, the flight control device may determine a first relative altitude based on the altitude data measured by the GNSS receiver and the first altitude data, and determining a second relative altitude based on altitude data measured by the barometric sensor and the second altitude data, and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft by fusing the first relative altitude and the second relative altitude.

For example, when it is determined that the altitude sensors include a GNSS receiver sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data, if the altitude data measured by the flight control apparatus from the GNSS receiver of the drone is H1, the first altitude data of the manned vehicle is H1, and H1> H2, it may be determined that the first relative altitude of the drone and the manned vehicle is H1-H2. If the altitude data measured by the flight control device according to the air pressure sensor of the unmanned aerial vehicle is H1, the second altitude data of the manned vehicle is H2, and H1> H2, it can be determined that the second relative altitude of the unmanned aerial vehicle and the manned vehicle is H1-H2. Flight control equipment may fuse the first relative altitude H1-H2 and the second relative altitude H1-H2 to determine the relative altitudes of the drone and the manned vehicle.

In one embodiment, the flight control device may determine a first relative altitude from GNSS altitude data measured by a GNSS receiver of the drone and the first altitude data of the manned vehicle, and determine a second relative altitude from altitude data measured by an air pressure sensor of the drone and the second altitude data of the manned vehicle. The flight control device may fuse the first relative altitude and the second relative altitude by taking the first relative altitude as a main and the second relative altitude as a compensation to determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.

In one embodiment, the flight control device may further fuse the first relative altitude and the second relative altitude by basing the second relative altitude on the first relative altitude as an offset to determine the relative altitudes of the drone and the manned vehicle.

Therefore, through the standard air pressure altitude data of the unmanned aerial vehicle, the standard air pressure altitude data of the manned aircraft, the GNSS altitude data of the unmanned aerial vehicle and the GNSS altitude data of the manned aircraft, the very accurate relative altitude between the unmanned aerial vehicle and the manned aircraft can be obtained.

In one embodiment, when the operating state of only the GNSS receiver sensor of the GNSS receiver sensor and the barometric pressure sensor is a normal operating state, if the flight control device can determine the relative altitude of the drone and the manned vehicle according to the altitude data measured by the GNSS receiver sensor and the first altitude data.

In one embodiment, when it is determined that the altitude sensor of the drone includes a GNSS reception sensor matched with the first altitude data and an air pressure sensor matched with the second altitude data, if it is detected that only an operating state of the GNSS reception sensor and the air pressure sensor is a normal operating state, the flight control apparatus may determine the relative altitude of the drone and the manned vehicle according to GNSS altitude data measured by the GNSS reception sensor of the drone and the GNSS altitude data of the manned vehicle, that is, the first altitude data.

In one embodiment, when the operating state of only the barometric pressure sensor of the GNSS receiver sensor and the barometric pressure sensor is a normal operating state, the flight control device may determine the relative altitude of the drone and the manned aircraft according to the altitude data measured by the barometric pressure sensor and the second altitude data.

In an embodiment, when it is determined that the altitude sensor of the drone includes a GNSS receiving sensor matched with the first altitude data and an air pressure sensor matched with the second altitude data, if it is detected that only an operating state of the air pressure sensor among the GNSS receiving sensor and the air pressure sensor is a normal operating state, the flight control device may determine the relative altitude of the drone and the manned vehicle according to standard air pressure altitude data measured by the air pressure sensor of the drone and standard air pressure altitude data of the manned vehicle, that is, the second altitude data.

Therefore, the accurate relative height between the unmanned aerial vehicle and the manned aircraft can be obtained through the height sensor in the normal working state in the unmanned aerial vehicle and the height data corresponding to the height sensor in the normal working state in the manned aircraft.

In one embodiment, when it is determined that the altitude sensor includes a GNSS reception sensor matching the first altitude data and an air pressure sensor matching the second altitude data, the flight control apparatus may determine one target sensor from among the GNSS sensor and the air pressure sensor according to a preset priority, and determine altitude data matching the target sensor from among the first altitude data and the second altitude data, thereby determining the relative altitude of the unmanned aerial vehicle and the manned vehicle according to the altitude data measured by the target sensor and the altitude data matching the target sensor. In some embodiments, the preset priority may be preset by a user, in other embodiments, the preset priority may be determined according to usage rates of the GNSS receiving sensor and the air pressure sensor, and the embodiments of the present invention are not limited in particular.

In one embodiment, if the predetermined priority is that the priority of the GNSS receiver sensor is higher than the priority of the barosensor, the flight control device may determine, according to the predetermined priority, that the GNSS receiver sensor is the target sensor from the GNSS sensor and the barosensor of the drone, and determine, from the first altitude data and the second altitude data, GNSS altitude data matched with the GNSS receiver sensor, so as to determine the relative altitude of the drone and the manned vehicle according to the GNSS altitude data measured by the GNSS receiver sensor of the drone and the GNSS altitude data matched with the GNSS receiver sensor in the manned vehicle.

In one embodiment, if the preset priority is that the priority of the GNSS receiver sensor is lower than the priority of the barometric sensor, the flight control device may determine, according to the preset priority, that the barometric sensor is the target sensor from the GNSS sensor and the barometric sensor of the drone, and determine, from the first altitude data and the second altitude data, standard barometric altitude data matched with the barometric sensor, so as to determine the relative altitude of the drone and the manned vehicle according to the standard barometric altitude data measured by the barometric sensor of the drone and the standard barometric altitude data matched with the barometric sensor in the manned vehicle.

Therefore, the height data of the target sensor and the height data matched with the target sensor in the manned vehicle are determined according to the priority of the height sensor in the unmanned aerial vehicle, and the accurate relative height between the unmanned aerial vehicle and the manned vehicle can be obtained.

In one embodiment, the flight control device may detect the operating states of the GNSS receiver sensor and the barometric sensor, and when the operating state of the target sensor is a normal operating state, the flight control device may determine the relative altitude between the unmanned aerial vehicle and the manned aircraft according to altitude data measured by the target sensor and altitude data matched with the target sensor.

In an embodiment, when the determined target sensor of the unmanned aerial vehicle is a GNSS receiver sensor, if the flight control device detects that the operating state of the GNSS receiver sensor is a normal operating state, the flight control device may determine the relative altitude of the unmanned aerial vehicle and the manned vehicle according to GNSS altitude data measured by the GNSS receiver sensor and GNSS altitude data matched with the GNSS receiver sensor in the manned vehicle.

In an embodiment, when the determined target sensor of the unmanned aerial vehicle is an air pressure sensor, if the flight control device detects that the working state of the air pressure sensor is a normal working state, the flight control device may determine the relative altitude of the unmanned aerial vehicle and the manned aircraft according to standard air pressure altitude data measured by the air pressure sensor and standard air pressure altitude data matched with the air pressure sensor in the manned aircraft.

In one embodiment, when the operating state of only the sensor different from the target sensor among the GNSS reception sensor and the barometric pressure sensor is the normal operating state, the flight control device may determine altitude data matched with the sensor different from the target sensor from the first altitude data and the second altitude data, and determine the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensor different from the target sensor and the altitude data matched with the sensor different from the target sensor.

In an embodiment, when the determined target sensor of the unmanned aerial vehicle is an air pressure sensor, if the flight control device detects that the working state of the GNSS receiver sensor is a normal working state, the flight control device may determine GNSS altitude data matched with the GNSS receiver sensor from the first altitude data and the second altitude data, and determine the relative altitude of the unmanned aerial vehicle and the manned vehicle according to the GNSS altitude data measured by the GNSS receiver sensor in the unmanned aerial vehicle and the GNSS altitude data matched with the GNSS receiver sensor in the manned vehicle.

In an embodiment, when the determined target sensor of the unmanned aerial vehicle is a GNSS receiving sensor, if the flight control device detects that the operating state of the air pressure sensor is a normal operating state, the flight control device may determine standard air pressure altitude data matched with the air pressure sensor from the first altitude data and the second altitude data, and determine the relative altitude of the unmanned aerial vehicle and the manned vehicle according to the standard air pressure altitude data measured by the air pressure sensor in the unmanned aerial vehicle and the standard air pressure altitude data matched with the air pressure sensor in the manned vehicle.

Therefore, the relative height between the unmanned aerial vehicle and the manned aircraft can be acquired accurately through the priority of the height sensor in the unmanned aerial vehicle and the working state of the height sensor.

In one embodiment, after determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensors and the altitude data of the manned aircraft matched with the sensors included in the determination, the flight control device may further determine a collision parameter according to the relative altitude of the unmanned aerial vehicle and the manned aircraft, and determine whether the unmanned aerial vehicle performs an evasive maneuver according to the collision parameter.

In one embodiment, when the flight control device determines the collision parameter according to the relative altitude of the unmanned aerial vehicle and the manned aircraft, the relative altitude may be directly determined as the collision parameter. For example, assuming that the relative altitude of the unmanned aerial vehicle and the manned aircraft is 2m, the flight control apparatus may determine that the collision parameter is 2.

In an embodiment, when the flight control device determines the collision parameter according to the relative altitude between the unmanned aerial vehicle and the manned aircraft, the collision parameter corresponding to the relative altitude may be determined according to a preset correspondence between the altitude and the collision parameter.

In an embodiment, when determining whether the unmanned aerial vehicle performs the avoidance operation according to the collision parameter, the flight control device may detect whether the collision parameter is smaller than a preset threshold, and if the collision parameter is smaller than the preset threshold, may determine that the unmanned aerial vehicle performs the avoidance operation, and if the collision parameter is larger than the preset threshold, may determine that the unmanned aerial vehicle does not need to perform the avoidance operation.

In one embodiment, when the flight control device determines that the unmanned aerial vehicle executes the avoidance operation according to the collision parameter, an avoidance route can be determined so as to control the unmanned aerial vehicle to fly according to the avoidance route.

In one embodiment, when determining the avoidance route, the flight control device may obtain a first direction vector of the unmanned aerial vehicle and the manned vehicle, where the first direction vector is a direction vector pointing from a head of the unmanned aerial vehicle to the manned vehicle, and determine an opposite direction of the first direction vector as the avoidance route of the unmanned aerial vehicle.

It is thus clear that through this kind of embodiment, can avoid unmanned aerial vehicle and manned aircraft to bump, help improving unmanned aerial vehicle and manned aircraft's safety.

In the embodiment of the invention, the flight control equipment can acquire ADS-B message data sent by a manned aircraft and received by an ADS-B receiver carried by an unmanned aerial vehicle, and analyze the ADS-B message data to acquire first altitude data and second altitude data of the manned aircraft, wherein the first altitude data takes a WGS84 ellipsoid or an average sea level as a reference plane, and the second altitude data takes a standard air pressure plane as a reference plane. Determining the relative altitude of the drone and the manned vehicle by determining whether the altitude sensors include a GNSS receiver sensor matching the first altitude data and an air pressure sensor matching the second altitude data, and based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle matching the sensors included in the determination. Through this kind of embodiment, can accurately determine the relative height between unmanned aerial vehicle and the manned vehicle, help avoiding danger such as unmanned aerial vehicle and manned vehicle bump, reduced the threat that unmanned aerial vehicle constitutes to manned vehicle flight safety, improved unmanned aerial vehicle and manned vehicle's security.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a flight control device according to an embodiment of the present invention. Specifically, the flight control apparatus includes: memory 301, processor 302.

In one embodiment, the flight control device further comprises a data interface 303, wherein the data interface 303 is used for transmitting data information between the flight control device and other devices.

The memory 301 may include a volatile memory (volatile memory); the memory 301 may also include a non-volatile memory (non-volatile memory); the memory 301 may also comprise a combination of the above types of memory. The processor 302 may be a Central Processing Unit (CPU). The processor 302 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 301 is used for storing programs, and the processor 302 can call the programs stored in the memory 301 to execute the following steps:

Further, when determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensors included in the determination and the altitude data matched with the sensors included in the determination, the processor 302 is specifically configured to:

when the altitude sensor is determined to only comprise the GNSS receiving sensor matched with the first altitude data, determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the GNSS receiving sensor and the first altitude data.

when the altitude sensor only comprises the air pressure sensor matched with the second altitude data, determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the air pressure sensor and the second altitude data.

when the height sensor is determined to comprise a GNSS receiving sensor matched with the first height data and an air pressure sensor matched with the second height data, determining a first relative height according to the height data measured by the GNSS receiver and the first height data, and determining a second relative height according to the height data measured by the air pressure sensor and the second height data;

fusing the first relative altitude and the second relative altitude to determine a relative altitude of the drone and the manned vehicle.

Further, the processor 302 is further configured to:

detecting the working states of the GNSS receiving sensor and the air pressure sensor;

the determining a first relative altitude according to the altitude data measured by the GNSS receiver and the first altitude data, and determining a second relative altitude according to the altitude data measured by the barometric sensor and the second altitude data, includes:

when the working states of the GNSS receiving sensor and the air pressure sensor are normal working states, the first relative height is determined according to the height data measured by the GNSS receiver and the first height data, and the second relative height is determined according to the height data measured by the air pressure sensor and the second height data.

Further, the processor 302 is further configured to:

when the working state of only the GNSS receiving sensor in the GNSS receiving sensor and the air pressure sensor is a normal working state, determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the GNSS receiving sensor and the first altitude data.

Further, the processor 302 is further configured to:

and when the GNSS receiving sensor and the air pressure sensor only have the working state of the air pressure sensor in a normal working state, determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the air pressure sensor and the second altitude data.

determining a target sensor from the GNSS sensor and the barometric sensor according to a preset priority when it is determined that the altitude sensor includes a GNSS reception sensor matching the first altitude data and a barometric sensor matching the second altitude data;

determining height data matching the target sensor from the first and second height data;

and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the target sensor and the altitude data matched with the target sensor.

Further, the processor 302 is further configured to:

the relative altitude of unmanned aerial vehicle and manned vehicle is confirmed according to the altitude data that target sensor measurement obtained and with the altitude data that target sensor matches, includes:

and when the working state of the target sensor is a normal working state, determining the relative height of the unmanned aerial vehicle and the manned aircraft according to the height data measured by the target sensor and the height data matched with the target sensor.

Further, the processor 302 is further configured to:

determining altitude data matched with the sensor other than the target sensor from the first altitude data and the second altitude data when an operating state of only the sensor other than the target sensor from among the GNSS reception sensor and the barometric pressure sensor is a normal operating state;

and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensor different from the target sensor and the altitude data matched with the sensor different from the target sensor.

Further, the processor 302 is further configured to:

determining collision parameters according to the relative heights of the unmanned aerial vehicle and the manned aircraft;

and determining whether the unmanned aerial vehicle executes evasion operation according to the collision parameters.

An embodiment of the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes a height sensor, and the unmanned aerial vehicle includes: a body; the power system is arranged on the airframe and used for providing power for the unmanned aerial vehicle to move; the processor is used for acquiring ADS-B message data sent by the manned aircraft and received by an ADS-B receiver carried by the unmanned aerial vehicle; analyzing the ADS-B message data to obtain altitude data of the manned vehicle, wherein the altitude data of the manned vehicle comprises first altitude data and second altitude data, the first altitude data takes a WGS84 ellipsoid or an average sea level as a datum plane, and the second altitude data takes a standard air pressure plane as a datum plane; determining whether the altitude sensors include a GNSS receive sensor matched to the first altitude data and an air pressure sensor matched to the second altitude data; and determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data obtained by measuring by the sensors and the altitude data matched with the sensors in the manned aircraft.

Further, when determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the sensors included in the determination and the altitude data matched with the sensors included in the determination, the processor is specifically configured to:

Further, the processor is further configured to:

Further, when the GNSS receiving sensor and the air pressure sensor only have the working state of the air pressure sensor in a normal working state, determining the relative altitude of the unmanned aerial vehicle and the manned aircraft according to the altitude data measured by the air pressure sensor and the second altitude data.

Further, the processor is further configured to:

In the embodiment of the invention, the unmanned aerial vehicle can acquire ADS-B message data sent by a manned aircraft and received by an ADS-B receiver carried by the unmanned aerial vehicle, and analyze the ADS-B message data to acquire first altitude data and second altitude data of the manned aircraft, wherein the first altitude data takes a WGS84 ellipsoid or an average sea level as a reference plane, and the second altitude data takes a standard air pressure plane as a reference plane. Determining the relative altitude of the drone and the manned vehicle by determining whether the altitude sensors include a GNSS receiver sensor matching the first altitude data and an air pressure sensor matching the second altitude data, and based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle matching the sensors included in the determination. Through this kind of embodiment, can accurately determine the relative height between unmanned aerial vehicle and the manned vehicle, help avoiding danger such as unmanned aerial vehicle and manned vehicle bump, reduced the threat that unmanned aerial vehicle constitutes to manned vehicle flight safety, improved unmanned aerial vehicle and manned vehicle's security.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method described in the embodiment corresponding to fig. 2 of the present invention, and may also implement the apparatus in the embodiment corresponding to the present invention described in fig. 3, which are not described herein again.

The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A method of flight control for a drone, the drone including an altitude sensor comprising:

2. The method of claim 1, wherein said determining a relative altitude of said drone and said manned vehicle from said altitude data measured by said sensors included in said determining and said altitude data of said manned vehicle that matches said sensors included in said determining comprises:

3. The method of claim 1 or 2, wherein said determining the relative altitude of said drone and said manned vehicle from the altitude data measured by the sensors comprised in the determination and the altitude data of said manned vehicle matching the sensors comprised in the determination comprises:

4. The method according to any one of claims 1-3, wherein said determining the relative altitude of said drone and said manned vehicle from the altitude data measured by the sensors comprised in the determination and the altitude data of said manned vehicle matching the sensors comprised in the determination comprises:

5. The method of claim 4, further comprising:

6. The method of claim 5, further comprising:

7. The method of claim 5 or 6, further comprising:

8. The method according to any one of claims 1-7, wherein said determining the relative altitude of said drone and said manned vehicle from the altitude data measured by the sensors comprised in the determination and the altitude data of said manned vehicle matching the sensors comprised in the determination comprises:

9. The method of claim 8, further comprising:

10. The method of claim 9, further comprising:

11. The method according to any one of claims 1-10, further comprising:

12. A flight control apparatus for a drone, the drone including an altitude sensor, the apparatus including a memory and a processor;

the memory is used for storing programs;

13. The apparatus according to claim 12, wherein the processor is configured to determine the relative altitude of the drone and the manned vehicle, based on the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle matching the sensors included in the determination, in particular:

14. Device according to claim 12 or 13, wherein the processor is configured, when determining the relative altitude of the drone and the manned vehicle from the altitude data measured by the sensors comprised in the determination and from the altitude data of the manned vehicle matching the sensors comprised in the determination, to:

15. Device according to any one of claims 12 to 14, wherein the processor, when determining the relative altitude of the drone and the manned vehicle from the altitude data measured by the sensors comprised in the determination and from the altitude data of the manned vehicle matching the sensors comprised in the determination, is particularly configured to:

16. The device of claim 15, wherein the processor is further configured to:

17. The device of claim 16, wherein the processor is further configured to:

18. The apparatus of claim 16 or 17, wherein the processor is further configured to:

19. The apparatus according to any of claims 12-18, wherein the processor is configured, when determining the relative altitude of the drone and the manned vehicle from the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle matching the sensors included in the determination, to:

20. The device of claim 19, wherein the processor is further configured to:

21. The device of claim 20, wherein the processor is further configured to:

22. The apparatus of any of claims 12-21, wherein the processor is further configured to:

23. An unmanned aerial vehicle, characterized in that, unmanned aerial vehicle includes altitude sensor, unmanned aerial vehicle includes:

a body;

the processor is configured to:

24. A drone according to claim 23, wherein the processor, when determining the relative altitude of the drone and the manned vehicle, is configured, in particular, to, from the altitude data measured by the sensors included in the determination and from the altitude data of the manned vehicle that matches the sensors included in the determination:

25. A drone according to claim 23 or 24, wherein the processor, when determining the relative altitude of the drone and the manned vehicle, is configured, in particular, to, from the altitude data measured by the sensors included in the determination and from the altitude data of the manned vehicle that matches the sensors included in the determination:

26. A drone according to any one of claims 23 to 25, wherein the processor, when determining the relative altitude of the drone and the manned vehicle from the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle that matches the sensors included in the determination, is particularly configured to:

27. The drone of claim 26, wherein the processor is further to:

28. The drone of claim 27, wherein the processor is further to:

29. A drone according to claim 27 or 28, wherein the processor is further configured to:

30. A drone according to any one of claims 23 to 29, wherein the processor, when determining the relative altitude of the drone and the manned vehicle from the altitude data measured by the sensors included in the determination and the altitude data of the manned vehicle that matches the sensors included in the determination, is specifically configured to:

31. The drone of claim 30, wherein the processor is further to:

32. The drone of claim 31, wherein the processor is further to:

33. A drone as claimed in any one of claims 23-32, wherein the processor is further configured to:

34. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 11.