CN112136091A

CN112136091A - Data processing method and device, data storage device and mobile control system

Info

Publication number: CN112136091A
Application number: CN201980029545.6A
Authority: CN
Inventors: 邸健; 耿畅
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-12-25
Also published as: WO2021081995A1

Abstract

A data processing method, a data storage device, a data processing device, a mobile control system and a computer readable storage medium. The data processing method comprises the following steps: determining a target graph according to the shape of the target area; obtaining a characterization parameter of the target graph in a first coordinate system; and generating target data corresponding to the target area according to the characterization parameters.

Description

Data processing method and device, data storage device and mobile control system

Technical Field

The present application relates to the field of mobile control technologies, and in particular, to a data processing method, a data storage device, a data processing device, a mobile control system, and a computer-readable storage medium.

Background

The restricted driving region of unmanned aerial vehicle can be injectd through the mode that sets up the fence, and the coordinate of the regional boundary point of restricted driving is saved according to the point in unmanned aerial vehicle usually, when needing to judge the position relation in unmanned aerial vehicle and restricted driving region, often need carry out a series of operations such as coordinate transformation, computational equation on unmanned aerial vehicle, and the operand that needs to go on unmanned aerial vehicle is great, has taken up unmanned aerial vehicle's processing resource excessively.

Disclosure of Invention

The embodiment of the application provides a data processing method, a data storage device, a data processing device, a mobile control system and a computer readable storage medium.

The data processing method of one embodiment of the application comprises the following steps: the data storage device determines a target graph according to the shape of the target area; obtaining a characterization parameter of the target graph in a first coordinate system; and generating target data corresponding to the target area according to the characterization parameters.

In the data processing method of the embodiment of the application, the target graph is determined by the target area, the representation parameters of the target graph in the first coordinate system are obtained, the target data are generated according to the representation parameters, the information of the target area is preprocessed through the data processing method, the information of the target area can be obtained after the data processing device (such as an unmanned aerial vehicle) obtains the target data, the data processing device does not need to calculate the representation parameters, the target data are obtained according to the representation parameters, and other processing operations, and processing resources on the data processing device are saved.

The data processing method according to another embodiment of the present application includes: the data processing equipment acquires target data corresponding to a target area, wherein the target data are generated by data storage equipment according to characterization parameters of a target graph corresponding to the target area in a first coordinate system; determining the position relation between the data processing equipment and the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and controlling the movement of the data processing equipment according to the position relation.

The data storage device of the embodiment of the application comprises a processor and a memory, wherein the memory is used for storing program instructions or data, and the processor is used for reading the program instructions to execute the following operations: determining a target graph according to the shape of the target area; obtaining a characterization parameter of the target graph in a first coordinate system; and generating target data corresponding to the target area according to the characterization parameters.

The data processing device of the embodiment of the application comprises a processor and a memory, wherein the memory is used for storing program instructions or data, and the processor is used for reading the program instructions to execute the following operations: acquiring target data corresponding to a target area, wherein the target data are generated by data storage equipment according to characterization parameters of a target graph corresponding to the target area in a first coordinate system; determining the position relation between the data processing equipment and the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and controlling the movement of the data processing equipment according to the position relation.

The mobile control system of the embodiment of the application comprises a data storage device and a data processing device; the data storage device includes a processor and a memory, the memory is used for storing program instructions or data, and the processor is used for reading the program instructions to execute the following operations: determining a target graph according to the shape of the target area; obtaining a characterization parameter of the target graph in a first coordinate system; generating target data corresponding to the target area according to the characterization parameters; the data processing device comprises a processor and a memory, wherein the memory is used for storing program instructions or data, and the processor is used for reading the program instructions to execute the following operations: acquiring target data corresponding to a target area, wherein the target data are generated by data storage equipment according to characterization parameters of a target graph corresponding to the target area in a first coordinate system; determining the position relation between the data processing equipment and the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and controlling the movement of the data processing equipment according to the position relation.

The non-transitory computer-readable storage medium of embodiments of the present application contains computer-executable instructions that, when executed by one or more processors, perform determining a target graphic from a shape of a target area; obtaining a characterization parameter of the target graph in a first coordinate system; generating target data corresponding to the target area according to the characterization parameters; or the processor executes to acquire target data corresponding to a target area, wherein the target data are generated by the data storage device according to the characterization parameters of a target graph corresponding to the target area in a first coordinate system; determining the position relation between the data processing equipment and the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and controlling the movement of the data processing equipment according to the position relation.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram of a scenario for implementing a data processing method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a movement control system according to an embodiment of the present application;

fig. 3, fig. 5, fig. 6, fig. 9 to fig. 13, fig. 15, fig. 18, fig. 20, fig. 22 to fig. 24 are schematic flow charts of a data processing method according to an embodiment of the present application;

fig. 4, 7, 8, 14, 16, 17, 19 and 21 are schematic diagrams illustrating a data processing method according to an embodiment of the present application;

fig. 25 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

Referring to fig. 1 and fig. 2, in an example, the data storage device 10 according to the embodiment of the present disclosure may be a terminal, a server, or a remote controller, and the terminal may be a mobile phone, a watch, a head-up display device, and the like, which is not limited herein. The data storage device 10 may be communicatively coupled to a data processing device 20, and the data processing device 20 may be a mobile platform, such as a flying device, an unmanned aerial vehicle, an unmanned ship, a robot, and the like. The data storage device 10 may transmit data to the data processing device 20 and the data storage device 10 may also receive data transmitted by the data processing device 20. Alternatively, the data processing device 10 may be a Micro Controller Unit (MCU) where a flight control system (FC) is located on the flight device, or may be an Application Processor (AP) on the flight device.

Fig. 2 is intended merely as an example of data storage device 10 and data processing device 20 being located on different devices. In practical applications, the data storage device 10 and the data processing device 20 may also be located on the same device. For example, the data storage device 10 may also be an Application Processor (AP) on the Flight device, and the data processing device 20 may also be a Flight control processor on the Flight device, i.e., an MCU in which a Flight control system (FC) is located. In yet another example, data storage device 10 and data processing device 20 are application processors on an aircraft. In yet another example, data storage device 10 and data processing device 20 are flight control processors on an aircraft.

In the embodiment of the present application, the data storage device 10 is a server, and the data processing device 20 is a flight device, which can be understood that the specific forms of the data storage device 10 and the data processing device 20 may be other, and are not limited herein. Target area 200 may be used to characterize an area that data processing device 20 is prohibited from entering, for example target area 200 may be a flight-limiting area, and data processing device 20 may not enter target area 200 to prevent affecting the remaining activities within target area 200. Also for example, the target area 200 may be an obstacle area that the data processing device 20 cannot enter to ensure safety when the data processing device 20 is moved. The embodiment of the present application is exemplarily illustrated by taking the target area 200 as a flight-limiting area.

Referring to fig. 1 and 3, a data processing method according to an embodiment of the present disclosure includes:

011: determining a target pattern according to the shape of the target area 200;

012: obtaining a representation parameter of a target graph in a first coordinate system; and

013: target data corresponding to the target area 200 is generated from the characterization parameters.

Referring to fig. 3, a data storage device 10 according to an embodiment of the present application includes a processor 11 and a memory 12, where the memory 12 is used for storing program instructions or data, and the processor 11 is used for reading the program instructions to execute a data processing method according to an embodiment of the present application. Specifically, the processor 11 is configured to perform step 011, step 012 and step 013, that is, the processor 11 is configured to determine the target pattern according to the shape of the target area 200; obtaining a representation parameter of a target graph in a first coordinate system; and generating target data corresponding to the target area 200 according to the characterization parameters.

In the data processing method and the data storage device 10 according to the embodiment of the application, the target area 200 determines the target pattern, the characterization parameters of the target pattern in the first coordinate system are obtained, the target data are generated according to the characterization parameters, the information of the target area 200 is preprocessed by the data processing method, the data processing device 20 can obtain the information of the target area 200 after obtaining the target data, the data processing device 20 does not need to calculate the characterization parameters, the target data is obtained according to the characterization parameters, and other processing operations, and processing resources on the data processing device 20 are saved.

In step 011, the target area 200 has a certain shape, for example, when the target area 200 is an airport runway, the planar shape of the target area 200 may be approximately a candy shape as shown in fig. 2; when the target area 200 is a building, the planar shape of the target area 200 may be substantially rectangular; when the target region 200 is a mountain peak, the planar shape of the target region 200 may be substantially elliptical or the like. Depending on the shape of the target area 200, a target pattern corresponding to the target area 200 may be determined, which may completely coincide with the boundary of the target area 200, or which may be larger than the target area 200 and cover the target area 200. The target pattern may specifically be one or more of a polygon, a circle or an ellipse. For example, taking the target area 200 as an airport runway as an example, the shape of the target pattern can be seen in fig. 4, and the target pattern 300 is a candy shape.

In step 012, please refer to fig. 4, a characterization parameter of the target graph 300 in the first coordinate system is obtained. The first coordinate system may be any coordinate system that may be used to characterize the target pattern 300, for example, the first coordinate system may be a NED (northeast) coordinate system, or a body coordinate system defined by the target pattern 300 itself. The characteristic parameters of the target pattern 300 may include boundary point coordinates of the target pattern 300 in the first coordinate system, connection relationships between the boundary point coordinates, and other characteristic parameters, which are not limited herein. In the example shown in FIG. 4, the characterization parameters of the target graph 300 under the first coordinate system X1-O1-Y1 include the coordinates of 12 boundary points, i.e., a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l 1. Alternatively, the storage sequence of the coordinates of 12 boundary points, namely a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1 and l1, can represent the connection relationship of the 12 boundary points, for example, the connection between a1 and b1, the connection between b1 and c1, the connection between c1 and d1, the connection between d1 and e1, the connection between e1 and f1, the connection between f1 and g1, the connection between g1 and h1, the connection between h1 and i1, the connection between i1 and j1, the connection between j1 and k1, and the connection between k1 and l1 can be determined according to the storage sequence.

In step 013, from the characterization parameters obtained in step 012, the characterization parameters may be processed to obtain target data. It should be noted that the target data may include a characterization parameter, and the target data may also include a parameter other than the characterization parameter, which is not limited herein.

Referring to fig. 5, in some embodiments, the data processing method further includes step 014: the target data is sent to the data processing device 20. Referring to fig. 2, in some embodiments, processor 11 of data storage device 10 may be further configured to perform step 014, that is, processor 11 may be configured to transmit the target data to data processing device 20.

By sending the target data to the data processing device 20, the data processing device 20 can obtain the target pattern 300 by restoring the target data after receiving the target data, and can also judge the position relationship between the data processing device 20 and the target area 200 corresponding to the target pattern 300, without the data processing device 20 itself having to execute

steps

011, 012 and 013 to obtain the target data, so as to save the processing resources of the data processing device 20 itself.

Referring to fig. 6, in some embodiments, before step 012, the data processing method further includes the steps of:

015: converting the target graph 300 from the third coordinate system to the second coordinate system based on the graph primitive in the target graph 300; and

016: the target graphic 300 is down-converted from the second coordinate system to the first coordinate system.

Referring to fig. 2, in some embodiments, the processor 11 may be further configured to perform step 015 and step 016, that is, the processor 11 may be configured to: converting the target graph 300 from the third coordinate system to the second coordinate system based on the graph primitive in the target graph 300; and downconverting the target graphic 300 from the second coordinate system to the first coordinate system.

Specifically, the coordinate system where the target pattern 300 is initially located may not be the first coordinate system, and the initial characterizing parameters of the target pattern 300 may not be the characterizing parameters of the target pattern in the first coordinate system, so that the target pattern 300 may be first converted into the first coordinate system, so as to obtain the characterizing parameters of the target pattern 300 in the first coordinate system.

In

steps

015 and 016, the second coordinate system and the third coordinate system may be any coordinate system, and are not limited herein. Referring to fig. 7 and 8, in the present embodiment, a third coordinate system X3-O3-Y3 is a GPS coordinate system, a second coordinate system X2-O2-Y2 is an NED coordinate system, and the first coordinate system is an example of an ontology coordinate system.

In step 015, the target graphic 300 is first down-converted from the GPS coordinate system to the NED coordinate system. Specifically, the boundary of the target area 200 may be represented by GPS coordinates, such as the GPS coordinates of the boundary of an airport runway, so the target graph 300 may also be represented by GPS, for example, as shown in fig. 7, under the GPS coordinate system X3-O3-Y3, the target graph 300 is characterized by coordinates a3, b3, c3, d3, e3, f3, g3, h3, i3, j3, k3, and l 3.

When the target graphic 300 is converted from the GPS coordinate system to the NED coordinate system, a graphic origin may be selected from the target image 300, and the coordinate system conversion may be performed with the graphic origin as a conversion origin. For the convenience of subsequent operations, any boundary point of the target graph 300 may be selected as the graph origin for conversion, so that after conversion, the selected boundary point on the target graph 300 passes through the coordinate origin of the NED coordinate system. As shown in fig. 7 and 8, the coordinates a3 are selected as the origin of the graph, the target graph 300 is converted from the GPS coordinate system X3-O3-Y3 to the NED coordinate system X2-O2-Y2 by using the coordinates a3 as the origin of the graph, the point corresponding to the coordinates a3 is converted to the point corresponding to the coordinates a2, the point corresponding to the coordinates a2 is located at the origin of the NED coordinate system X2-O2-Y2, and the target graph 300 is converted to the NED coordinate system X2-O2-Y2, so that the target graph 300 can be represented by the coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2 and l 2. Specifically, how to convert the target graph 300 from the GPS coordinate system to the NED coordinate system based on the graph origin can be obtained according to the conversion relationship between the GPS coordinate system and the NED coordinate system, and details thereof are not repeated herein.

In step 016, the target pattern 300 is transformed from the NED coordinate system to the body coordinate system. The body coordinate system may be a coordinate system determined in any manner, in one example, the body coordinate system is a cartesian coordinate system, the body coordinate system is a body coordinate system of the target pattern 300, and when the body coordinate system is determined, coordinate axes of the body coordinate system may be determined according to the target pattern 300, so that the target pattern 300 is located in one quadrant of the body coordinate system, thereby facilitating subsequent obtaining of the characterization parameters of the target pattern 300 in the body coordinate system, facilitating identification of a relative relationship between the target pattern 300 and another position, and reducing a subsequent calculation amount on data. For example, in the example shown in fig. 4, the target pattern 300 is located in the body quadrant of the body coordinate system X1-O1-Y1, but it is understood that other body coordinate systems may be determined such that the target pattern 300 is located in the NED quadrant, the GPS quadrant, or the fourth quadrant of the other body coordinate systems, and the present invention is not limited thereto.

Specifically, the conversion manner of the target figure 300 from the NED coordinate system to the body coordinate system may be represented by a conversion parameter, for example, the conversion parameter may be a parameter θ representing an angle of counterclockwise rotation of the target figure 300 from the NED coordinate system. In the example shown in fig. 4 and 8, the target pattern 300 is transformed from the NED coordinate system X2-O2-Y2 to the body coordinate system X1-O1-Y1, and the coordinates a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1 and l1 in the body coordinate system X1-O1-Y1 can be used to represent the target pattern 300.

Referring to fig. 9, in some embodiments, step 013 includes step 0131: and converting the target graph 300 from the NED coordinate system to the conversion parameter and the representation parameter under the body coordinate system to generate target data according to the coordinate of the graph origin under the GPS coordinate system.

Referring to fig. 2, in some embodiments, the processor 11 may be configured to perform step 0131, that is, the processor 11 may be configured to generate the target data according to the coordinates of the pattern origin in the GPS coordinate system, the conversion parameters and the characterization parameters for converting the target pattern 300 from the NED coordinate system to the body coordinate system.

In step 0131, target data is generated according to the coordinates of the pattern origin in the GPS coordinate system, the conversion parameters and the representation parameters of the target pattern 300 converted from the NED coordinate system to the body coordinate system, so that the data processing device 20 can convert the target pattern 300 into any one of the body coordinate system, the NED coordinate system or the GPS coordinate system according to the target data, thereby facilitating the subsequent judgment of the position relationship between the data processing device 20 and the target area 200. The target data obtained in step 0131 may be { coordinates of a pattern origin in a GPS coordinate system, a transformation parameter, and a characterization parameter }, and the target data obtained by combining the examples of fig. 4, 7, and 8 may be { a3, θ, a characterization parameter }.

For example, when the shape of the target pattern 300 is a circle, the characterizing parameters may include coordinates of a center of the circle in the body coordinate system and a radius of the circle; when the shape of the target pattern 300 is a polygon, the characterizing parameters may be normal vectors of each side of the polygon and coordinates of each intersection of the polygon.

Referring to fig. 10, in some embodiments, the target pattern 300 is a polygon, and step 012 includes step 0121, obtaining normal vectors of each side of the polygon and coordinates of each intersection of the polygon in the body coordinate system.

Referring to fig. 2, in some embodiments, when the target graphic 300 is a polygon, the processor 11 may also be configured to perform step 0121, that is, the processor 11 may be configured to obtain normal vectors of each side of the polygon and coordinates of each intersection of the polygon in the body coordinate system.

Since the shape and position of the polygon can be represented by the normal vector of each side of the polygon and the coordinates of each point of the polygon as the representation parameters in the object data, one piece of object data obtained by combining the examples of fig. 4, 7, and 8 may be { a3, θ, each side of the polygon, where each side of the polygon is represented by the end point of each side and the normal vector of the side.

Referring to fig. 11, in some embodiments, the data processing method further includes step 017 before step 012: the target graphic 300 is downconverted from the second coordinate system to the first coordinate system based on the graphic primitives in the target graphic 300. In this case, the second coordinate system is a GPS coordinate system, and the first coordinate system is a NED coordinate system.

Referring to fig. 2, in some embodiments, the processor 11 may be configured to perform step 017, i.e., the processor 11 may be configured to down-convert the target graphic 300 from the GPS coordinate system to the NED coordinate system based on the graphic origin in the target graphic 300.

Specifically, the coordinate system in which the target pattern 300 is initially located may not be the NED coordinate system, and the initial characterization parameters of the target pattern 300 may not be the characterization parameters of the target pattern in the NED coordinate system, so that the target pattern 300 may be first converted into the NED coordinate system, so as to obtain the characterization parameters of the target pattern 300 in the NED coordinate system.

In step 017, the NED coordinate system and the GDP coordinate system may be any coordinate system, which is not limited herein. Referring to fig. 7 and 8, the NED coordinate system X2-O2-Y2 is the NED coordinate system, and the GDP coordinate system X3-O3-Y3 is the GPS coordinate system for example. The boundary of the target area 200 may be represented by GPS coordinates, for example, the boundary of an airport runway, so the target pattern 300 may also be represented by GPS, for example, as shown in fig. 7, under the GDP coordinate system X3-O3-Y3, the target pattern 300 is characterized by coordinates a3, b3, c3, d3, e3, f3, g3, h3, i3, j3, k3, and l 3.

When the target graphic 300 is converted from the GDP coordinate system to the NED coordinate system, the graphic origin may be selected first, and the conversion may be performed with the graphic origin as the conversion origin. For the convenience of subsequent operations, any boundary point of the target graph 300 may be selected as the graph origin for conversion, so that after conversion, the selected boundary point on the target graph 300 passes through the coordinate origin of the NED coordinate system. As shown in fig. 7 and 8, the coordinate a3 is selected as the origin of the graph, the target graph 300 is converted from GDP coordinate system X3-O3-Y3 to NED coordinate system X2-O2-Y2 by using the coordinate a3 as the origin of the graph, the point corresponding to the coordinate a3 is converted to the point corresponding to the coordinate a2, the point corresponding to the coordinate a2 is located at the origin of the NED coordinate system X2-O2-Y2, and the target graph 300 is converted to the NEd coordinate system X2-O2-Y2, so that the target graph 300 can be characterized by the coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2 and l 2. Specifically, how to convert the target graph 300 from the GDP coordinate system to the NED coordinate system based on the graph origin can be obtained according to the conversion relationship between the GDP coordinate system and the NED coordinate system, which is not described herein again.

Referring to fig. 12, in some embodiments, step 013 includes step 0132: and generating target data corresponding to the target area 200 according to the representation parameters and the coordinates of the figure origin in the GDP coordinate system.

Referring to fig. 2, in some embodiments, the processor 11 may be configured to perform step 0132, that is, the processor 11 may be configured to generate the target data corresponding to the target area 200 according to the characterizing parameter and the coordinates of the graph origin in the GDP coordinate system.

In step 0132, target data is generated according to the coordinates of the graph origin in the GDP coordinate system and the characterization parameters, so that the data processing device 20 can convert the target graph 300 into any one of the NED coordinate system or the GDP coordinate system according to the target data, thereby facilitating the subsequent determination of the position relationship between the data processing device 20 and the target area 200. A piece of target data obtained by implementing step 0132 may be { coordinates of a figure origin in a GDP coordinate system, a characterization parameter }, and a piece of target data obtained by combining the examples of fig. 7 and 8 may be { a3, a characterization parameter }. The specific form of the characterization parameter may refer to the description of step 0131 and step 0121, which are not described herein again.

Some ways in which the data processing apparatus 20 controls its own movement using the above-described target data will be described below.

Referring to fig. 13, in some embodiments, a data processing method includes the steps of:

021: acquiring target data corresponding to the target area 200, wherein the target data are generated by the data storage device 10 according to the characterization parameters of the target graph 300 corresponding to the target area 200 in the first coordinate system;

022: determining the position relationship between the data processing device 20 and the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and

023: the movement of the data processing device 20 is controlled according to the positional relationship.

Referring to fig. 2, a data processing apparatus 20 according to an embodiment of the present disclosure includes a processor 21 and a memory 22, where the memory 22 is used for storing program instructions or data, and the processor 21 is used for reading the program instructions to execute a data processing method according to an embodiment of the present disclosure. The processor 21 is configured to execute

steps

021, 022 and 023, that is, the processor 21 is configured to obtain target data corresponding to the target area 200, where the target data is generated by the data storage device 10 according to the characterization parameters of the target graph 300 corresponding to the target area 200 in the first coordinate system; determining the position relationship between the data processing device 20 and the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and controls the movement of the data processing device 20 according to the positional relationship.

By implementing

steps

021, 022 and 023, after the data processing device 20 acquires the target data, the characterization parameters of the target graph 300 corresponding to the target area 200 in the first coordinate system can be obtained, the steps of converting the target graph 300 and calculating the characterization parameters are not required, and the data processing device 20 can be further controlled to move according to the position relationship between the data processing device 20 and the target area 200, so that the burden of the data processing device 20 on data processing is reduced, and the processing resources of the data processing device 20 are saved.

In step 021, target data corresponding to the target area 200 is acquired. The target data may be sent to the data processing device 20 by the data storage device 10 immediately or may be stored in advance in the memory 22 of the data processing device 20. As described above, the target area 200 may include a flight-limiting area or an obstacle area. The target data may be generated by any steps shown in fig. 1 to fig. 12, and will not be described herein again.

In step 022, position information of the current position of the data processing device 20 in the first coordinate system may be obtained first, and since the position of the target graphic 300 in the first coordinate system may be obtained through the target data, a relationship between the current position and the target graphic 300 may be determined through the current position of the data processing device 20 in the first coordinate system and the target graphic 300, and then a position relationship between the data processing device 20 and the target area 200 may be further determined. In the example shown in fig. 14, under the first coordinate system X1-O1-Y1, the target figure 300 is characterized by coordinates a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1, the position information of the data processing apparatus 20 is characterized by coordinates P1, and the position relationship of the data processing apparatus 20 and the target area 200 can be determined by judging the relationship of the coordinates P1 and the target figure 300.

In step 023, the movement of the data processing device 20 is controlled according to the positional relationship so that the policy for controlling the movement of the data processing device 20 is adapted to the positional relationship.

Referring to fig. 15, in some embodiments, the target data further includes coordinates of the origin of the target graphic 300 in the third coordinate system, and a conversion parameter for converting the target graphic 300 from the second coordinate system to the first coordinate system, and before step 022, the data processing method further includes the steps of:

024: converting the coordinates of the current position of the data processing device 20 in the third coordinate system to the second coordinate system according to the coordinates of the figure origin in the third coordinate system; and

025: the coordinates of the current position of the data processing device 20 in the second coordinate system are converted into the first coordinate system according to the conversion parameters.

Referring to fig. 2, in some embodiments, the target data further includes coordinates of the origin of the target graphic 300 in the third coordinate system and a conversion parameter for converting the target graphic 300 from the second coordinate system to the first coordinate system, and the processor 21 is further configured to perform

steps

024 and 025 before performing step 022. That is, the processor 21 is operable to convert the coordinates of the current position of the data processing apparatus 20 in the third coordinate system to the second coordinate system based on the coordinates of the pattern origin in the third coordinate system; and converting the coordinates of the current position of the data processing device 20 in the second coordinate system to the first coordinate system according to the conversion parameter.

Specifically, when acquiring the current position of the data processing device 20, the current position may not be initially shown in the first coordinate system, and therefore, the current position may be converted into the first coordinate system to show both the current position and the target graphic 300 in the first coordinate system, so as to determine the positional relationship between the data processing device 20 and the target area 200.

In

steps

024 and 025, the target data may be in the form of { coordinates of the pattern origin of the target pattern 300 in the third coordinate system, the conversion parameter of the target pattern 300 from the second coordinate system to the first coordinate system, and the characterization parameter of the target pattern 300 in the first coordinate system } (such as the target data obtained by performing step 0131 described above). The first coordinate system, the second coordinate system, and the third coordinate system may be any coordinate system, and are not limited herein. Referring to fig. 14, 16 and 17, the third coordinate system X3-O3-Y3 is a GPS coordinate system, the second coordinate system X2-O2-Y2 is an NED coordinate system, and the first coordinate system X1-O1-Y1 is an example of an ontology coordinate system of the target graphic 300.

In step 024, the current position of the data processing apparatus 20 is first converted from the third coordinate system to the second coordinate system. Specifically, the coordinates of the current position in the third coordinate system, for example, the GPS coordinates of the current position, may be acquired first, and the GPS coordinates may be represented by coordinates P3 in the third coordinate system X3-O3-Y3 shown in fig. 16.

When the current position is converted from the third coordinate system to the second coordinate system, the coordinates of the origin of the target graphic 300 in the target data in the third coordinate system may be used as the origin of coordinates to convert the target graphic 300 and the current position with the same origin of coordinates, and the relationship between the converted target graphic 300 and the current position on the graph may not change. In the example shown in fig. 16 and 17, the current position is represented by the coordinate P3 in the third coordinate system X3-O3-Y3, and after being converted to the second coordinate system X2-O2-Y2, the current position can be represented by the coordinate P2.

In step 025, the coordinates of the current position of the data processing device 20 in the second coordinate system are converted to the first coordinate system according to the conversion parameters. The conversion parameter may be obtained from the target data, and the target graphic 300 is converted from the second coordinate system to the first coordinate system, so that the target graphic 300 and the current position are converted by the same conversion parameter, and the on-map relationship between the converted target graphic 300 and the current position is not changed. In the example shown in fig. 17 and 14, the current position may be represented by the coordinate P2 under the second coordinate system X2-O2-Y2, and after being converted to the first coordinate system X1-O1-Y1, the current position may be represented by the coordinate P1, and the coordinate P1 is the position information of the current position of the data processing apparatus 20 under the first coordinate system X1-O1-Y1. Since the characterizing parameters of the target graphic 300 under the first coordinate system X1-O1-Y1 are already included in the target data, an on-map relationship between the current position characterized by the position information coordinates P1 and the target graphic 300 under the first coordinate system X1-O1-Y1 can be obtained, and this on-map relationship can be used to determine the positional relationship of the data processing apparatus 20 and the target area 200. By converting the current position from the GPS coordinate system to the NED coordinate system and then from the NED coordinate system to the body coordinate system in

steps

024 and 025, the on-map relationship between the current position and the target graphic 300 can be easily calculated by selecting an appropriate coordinate axis of the body coordinate system, thereby saving processing resources of the processing data processing apparatus 20.

Referring to FIG. 18, in some embodiments, the target data further includes coordinates of the origin of the target feature 300 in the second coordinate system, and before step 022, the data processing method further includes step 026: the coordinates of the current position of the data processing device 20 in the GPS coordinate system are converted into the NED coordinate system based on the coordinates of the figure origin in the second coordinate system.

Referring to fig. 2, in some embodiments, the target data further includes coordinates of the origin of the graph of the target graph 300 in the second coordinate system, and before performing step 022, the processor 21 is further configured to perform step 026, i.e., the processor 21 is configured to convert the coordinates of the current location of the data processing apparatus 20 in the second coordinate system to the coordinates in the first coordinate system according to the coordinates of the origin of the graph in the second coordinate system.

In step 026, the target data may be in the form of { coordinates of the pattern origin of the target pattern 300 in the second coordinate system, the characterizing parameters of the target pattern 300 in the first coordinate system } (such as the target data obtained by performing step 0132 above). The first coordinate system and the second coordinate system may be any coordinate system, and are not limited herein. Referring to fig. 16 and 19, the second coordinate system X3-O3-Y3 is a GPS coordinate system, and the first coordinate system X2-O2-Y2 is an NED coordinate system for example, and the target graph 300 can be characterized by coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2, and l2 under the first coordinate system X2-O2-Y2.

In step 026, the current position of data processing device 20 is down-converted from the second coordinate system to the first coordinate system. Specifically, the coordinates of the current position in the second coordinate system, for example, the GPS coordinates of the current position, may be acquired first, and the GPS coordinates may be represented by coordinates P3 in the second coordinate system X3-O3-Y3 shown in fig. 16.

When the current position is converted from the second coordinate system to the first coordinate system, the coordinates of the origin of the target graphic 300 in the target data in the second coordinate system may be used as the origin of coordinates for conversion, so that the target graphic 300 and the current position are converted from the same origin of coordinates, and the on-graph relationship between the converted target graphic 300 and the current position is not changed. In the example shown in fig. 16 and 19, the current position is represented by the coordinate P3 under the second coordinate system X3-O3-Y3, and after being converted to the first coordinate system X2-O2-Y2, the current position can be represented by the coordinate P2, and the coordinate P2 is the position information of the current position of the data processing apparatus 20 under the first coordinate system X2-O2-Y2. Since the characterizing parameters of the target graphic 300 under the first coordinate system X2-O2-Y2 are already included in the target data, an on-map relationship between the current position characterized by the position information coordinates P2 and the target graphic 300 under the first coordinate system X2-O2-Y2 can be obtained, and this on-map relationship can be used to determine the positional relationship of the data processing apparatus 20 and the target area 200. By converting the current position from the GPS coordinate system to the NED coordinate system in step 026, the number of times the current position is converted can be saved to save processing resources of the data processing apparatus 20.

Referring to fig. 20, in certain embodiments, step 022 comprises step 0221: it is determined whether the data processing apparatus 20 falls within the target area 200 based on the position information of the current position of the data processing apparatus 20 in the first coordinate system.

Referring to FIG. 2, in some embodiments, processor 21 may be configured to perform step 0221, i.e., processor 21 may be configured to determine whether data processing device 20 falls within target area 200 based on the location information of the current location of data processing device 20 in the first coordinate system.

Specifically, based on the position information of the current position of the data processing device 20 in the first coordinate system, it may be determined whether the current position falls within the target graph 300 in the first coordinate system to determine whether the data processing device 20 falls within the target area 200, so as to facilitate the subsequent selection of the movement policy of the data processing device 20. When the position information indicates that the current position is within the target figure 300, it may be determined that the data processing apparatus 20 falls within the target area 200, and when the position information indicates that the current position is outside the target figure 300, it may be determined that the data processing apparatus 20 does not fall within the target area 200.

In the example shown in fig. 21, in the body coordinate system X1-O1-Y1, the target pattern 300 is represented by a pattern surrounded by coordinates a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1, and the position information is represented by the coordinate P1, so it is only necessary to determine whether the coordinate P1 falls within the range of the target pattern 300.

In one example, by the above step 016, the coordinate axes of the first coordinate system can be determined appropriately to make the target pattern 300 located in one quadrant of the first coordinate system, as shown in fig. 21, the target pattern 300 is located in the first quadrant of the first coordinate system X1-O1-Y1, when determining the relationship between the coordinate P1 and the target pattern 300, it can be determined whether at least one of the coordinates of the coordinate P1 on the X1 axis or the Y1 axis is negative, and if at least one of the coordinates is negative, it can be easily determined that the coordinate P1 does not fall within the range of the target pattern 300, so as to reduce the amount of calculation.

Referring to fig. 22, in some embodiments, after step 22, the data processing method further includes the steps of:

027: if the data processing device 20 does not fall into the target area 200, determining a boundary closest to the data processing device 20 in one or more boundaries of the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and

028: the closest distance of the data processing device 20 to the target area 200 is determined from the distance of the position information to the nearest boundary.

Referring to fig. 2, in some embodiments, after implementing step 022, processor 21 may be further configured to implement

steps

027 and 028, that is, if data processing apparatus 20 does not fall within target area 200, processor 21 may be configured to determine, according to the position information of the current position of data processing apparatus 20 in the first coordinate system, a nearest boundary to data processing apparatus 20 in the one or more boundaries of target area 200; and determining the closest distance of the data processing device 20 to the target area 200 based on the distance of the position information from the closest boundary.

By determining the nearest boundary between the boundary of the target area 200 and the data processing apparatus 20, the nearest distance between the data processing apparatus 20 and the target area 200 can be obtained without calculating the distances between the data processing apparatus 20 and all the boundaries, reducing the amount of calculation and saving the processing resources of the data processing apparatus 20.

Specifically, referring to the example shown in fig. 21, it can be seen from the first coordinate system X1-O1-Y1 that the boundary closest to the coordinate P1 in the target graph 300 is d1e1, which indicates that the distance between the data processing apparatus 20 and the boundary corresponding to d1e1 in the target area 200 is closest, and the closest distance can be obtained by only calculating the distance between the data processing apparatus 20 and the corresponding boundary.

Further, a plurality of regions may be divided under the first coordinate system X1-O1-Y1, for example, regions R1, R2, R3, R4, R5, R6, R7, R8, and R9 shown in fig. 21, and when the coordinate P1 falls into a different region, the closest distance may be obtained only by focusing on the distance between the coordinate P1 and some boundaries. For example, when the coordinate P1 falls within the range of R1, then it is only necessary to calculate the distance between the data processing apparatus 20 and the boundary corresponding to a1b1 in the target area 200, which is the closest distance; when the coordinate P1 falls within the range of R3, it is only necessary to calculate the distances between the data processing device 20 and the boundaries corresponding to b1c1, c1d1, d1e1, e1f1, and f1g1 in the target area 200, and the minimum distance obtained by comparison is the closest distance; when the coordinates fall within the range of R9, it is indicated that the data processing device 20 has been located within the target area 200, and so on.

Referring to fig. 23, in some embodiments, when the first coordinate system is a body coordinate system, after step 022, the data processing method further includes step 029: the positional relationship is converted into the NED coordinate system based on the positional relationship of the data processing apparatus 20 with the target region 200 and the conversion parameters, which are conversion parameters for converting the target figure 300 from the NED coordinate system to the body coordinate system.

Referring to fig. 2, in some embodiments, when the first coordinate system is a body coordinate system, after the processor 21 performs step 022, the processor 21 may further be configured to perform step 029: the positional relationship is converted into the NED coordinate system based on the positional relationship of the data processing apparatus 20 with the target region 200 and the conversion parameters, which are conversion parameters for converting the target figure 300 from the NED coordinate system to the body coordinate system.

In the body coordinate system, it is possible to determine whether the data processing apparatus 20 falls within the target region 200, however, when it is specifically necessary to specify the current movement direction of the data processing apparatus 20 and the relative orientation of the data processing apparatus 20 and the target region 200, it is necessary to perform in the NED coordinate system to ensure that the movement of the data processing apparatus 20 can be correctly controlled.

In step 029, the position relationship between data processing device 20 and target area 200 can be obtained by the relationship between the position information of the current position of data processing device 20 in the first coordinate system and target graphic 300. The conversion parameters may be obtained directly from the target data.

Referring to fig. 24, in some embodiments, step 023 includes step 0231: when the positional relationship is different, different control strategies are employed to control the movement of the data processing apparatus 20.

Referring to FIG. 2, in some embodiments, the processor 21 may be configured to perform step 0231 in which the processor 21 is configured to control the movement of the data processing device 20 using different control strategies when the positional relationships are different.

For different positional relationships of the data processing device 20 and the target area 200, controlling the movement of the data processing device 20 with different control strategies may better maintain the relationship of the data processing device 20 and the target area 200. Specifically, the modes of the different position relationships corresponding to the different control strategies include one or more of the following:

controlling the data processing device 20 to land while the data processing device 20 is located within the target graphic 300 to avoid the data processing device 20 continuing to move within the target area 200; when the data processing device 20 is located outside the target graph 300 and the closest distance between the data processing device 20 and the boundary of the target area 200 is less than the distance threshold, controlling the data processing device 20 to move away from the target graph 300 to increase the distance between the data processing device 20 and the target area 200; when the data processing device 20 is located outside the target graph 300 and the closest distance between the data processing device 20 and the boundary of the target area 200 is smaller than the distance threshold, controlling the data processing device 20 to move in the direction of the boundary to ensure that the data processing device 20 is no longer close to the target area 200; when the data processing device 20 is located outside the target graph 300 and the closest distance between the data processing device 20 and the boundary is smaller than the distance threshold, controlling the data processing device 20 to change the moving route to re-plan the moving route to avoid the target area 200; and when the data processing device 20 is located outside the target graph 300 and the closest distance between the data processing device 20 and the boundary is smaller than the distance threshold, controlling the data processing device 20 to stop moving, so that the data processing device 20 stops moving, avoids entering the target area 200, and waits for a further command of the user.

Referring to fig. 2, the present application further discloses a mobile control system 100, where the mobile control system 100 includes the data storage device 10 and the data processing device 20 according to any of the above embodiments.

Referring to fig. 25, the present application further discloses a non-transitory computer-readable storage medium 400 containing computer-executable instructions 401, wherein when the computer-executable instructions 401 are executed by one or more processors 500, the processors 500 perform the data processing method according to any of the embodiments of the present application.

For example, when the processor executes the computer-executable instructions, the processor performs the steps of:

For another example, when the processor executes the computer-executable instructions, the processor performs the steps of:

021: acquiring target data corresponding to the target area 200, wherein the target data are generated by the data storage device 10 according to the characterization parameters of the target graph corresponding to the target area 200 in the first coordinate system;

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

Although embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A data processing method, comprising:

determining a target graph according to the shape of the target area;

obtaining a characterization parameter of the target graph in a first coordinate system; and

and generating target data corresponding to the target area according to the characterization parameters.

2. The data processing method of claim 1, wherein the target area comprises a flight-limiting area or an obstacle area.

3. The data processing method according to claim 1 or 2, characterized in that the data processing method further comprises:

and sending the target data to data processing equipment.

4. The data processing method according to any one of claims 1 to 3, wherein before the obtaining the characterization parameters of the target graph in the first coordinate system, the method further comprises:

and converting the target graph from a second coordinate system to the first coordinate system based on the graph original point in the target graph.

5. The data processing method of claim 4, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.

6. The data processing method according to claim 4 or 5, wherein the generating target data corresponding to the target area according to the characterization parameters comprises:

and generating target data corresponding to the target area according to the representation parameters and the coordinates of the figure origin in the second coordinate system.

7. The data processing method according to any one of claims 1 to 3, wherein before the obtaining the characterization parameters of the target graph in the first coordinate system, the method further comprises:

converting the target graph from a third coordinate system to a second coordinate system based on a graph primitive point in the target graph; and

and converting the target graph from the second coordinate system to the first coordinate system.

8. The data processing method according to claim 7, wherein the first coordinate system is a body coordinate system of the target pattern, the coordinate axes of the body coordinate system are determined according to the target pattern, the target pattern is located in one quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.

9. The data processing method according to claim 7 or 8, wherein the generating target data corresponding to the target area according to the characterization parameters comprises:

and converting the target graph from the second coordinate system to the first coordinate system according to the coordinates of the graph origin in the third coordinate system and the conversion parameters and the representation parameters to generate the target data.

10. The data processing method of any of claims 4 to 9, wherein the graph origin comprises any one boundary point of the target graph.

11. The data processing method according to any one of claims 1 to 10, wherein the target graph is a polygon, and the obtaining the characterization parameters of the target graph in the first coordinate system includes:

and acquiring normal vectors of each side of the polygon and coordinates of each intersection point of the polygon under the first coordinate system.

12. The data processing method of any of claims 1 to 11, wherein the target pattern comprises one or more of a polygon, a circle, or an ellipse.

13. A data processing method, comprising:

acquiring target data corresponding to a target area, wherein the target data are generated by data storage equipment according to characterization parameters of a target graph corresponding to the target area in a first coordinate system;

determining the position relation between the data processing equipment and the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and

and controlling the movement of the data processing equipment according to the position relation.

14. The data processing method of claim 13, wherein the target area comprises a flight-limiting area or an obstacle area.

15. The data processing method according to claim 13 or 14, wherein the target data further comprises coordinates of a figure origin of the target figure in a second coordinate system; before determining the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system, the method further includes:

and converting the coordinates of the current position of the data processing equipment in the second coordinate system into the coordinates of the current position of the data processing equipment in the first coordinate system according to the coordinates of the figure origin in the second coordinate system.

16. The data processing method of claim 15, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.

17. The data processing method according to claim 13 or 14, wherein the target data further includes coordinates of a figure origin of the target figure in a third coordinate system, and conversion parameters for converting the target figure from the second coordinate system to the first coordinate system; before determining the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system, the method further includes:

converting the coordinates of the current position of the data processing equipment under the third coordinate system into the second coordinate system according to the coordinates of the figure origin under the third coordinate system; and

and converting the coordinates of the current position of the data processing equipment in the second coordinate system into the first coordinate system according to the conversion parameters.

18. The data processing method of claim 17, wherein the first coordinate system is a body coordinate system of the target pattern, the coordinate axes of the body coordinate system are determined according to the target pattern, the target pattern is located in one quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.

19. The data processing method of any of claims 15 to 18, wherein the graph origin comprises any one boundary point of the target graph.

20. The data processing method of any one of claims 13 to 19, wherein the target pattern is a polygon, and the characterization parameters include: and under the first coordinate system, normal vectors of each side of the polygon and coordinates of each intersection point of the polygon.

21. The data processing method according to any one of claims 13 to 20, wherein the determining the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system comprises:

and determining whether the data processing equipment falls into the target area or not according to the position information of the current position of the data processing equipment in the first coordinate system.

22. The data processing method according to claim 21, wherein after determining the positional relationship between the data processing apparatus and the target area according to the positional information of the current position of the data processing apparatus in the first coordinate system, the method further comprises:

if the data processing equipment does not fall into the target area, determining a boundary which is closest to the data processing equipment in one or more boundaries of the target area according to the position information of the current position of the data processing equipment in the first coordinate system; and

and determining the nearest distance between the data processing equipment and the target area according to the distance between the position information and the boundary with the nearest distance.

23. The data processing method according to claim 21 or 22, wherein the first coordinate system is a body coordinate system, and after determining the positional relationship of the data processing apparatus with the target area, the method further comprises:

and converting the position relation into an NED coordinate system according to the position relation between the data processing equipment and the target area and a conversion parameter, wherein the conversion parameter is used for converting the target graph from the NED coordinate system to the body coordinate system.

24. The data processing method according to any one of claims 13 to 23, wherein the controlling the movement of the data processing apparatus according to the positional relationship includes:

and when the position relations are different, adopting different control strategies to control the movement of the data processing equipment.

25. The data processing method according to claim 24, wherein when the positional relationships are different, controlling movement of the data processing apparatus with different control strategies includes:

controlling the data processing device to land when the data processing device is located in the target area; and/or

When the data processing equipment is located outside the target area and the closest distance between the data processing equipment and the boundary of the target area is smaller than a distance threshold, controlling the data processing equipment to move away from the target graph; and/or

When the data processing equipment is located outside the target area and the closest distance between the data processing equipment and the boundary of the target area is smaller than a distance threshold, controlling the data processing equipment to move along the direction of the boundary; and/or

When the data processing equipment is located outside the target area and the nearest distance between the data processing equipment and the boundary is smaller than a distance threshold, controlling the data processing equipment to change a moving route; and/or

And when the data processing equipment is positioned outside the target area and the nearest distance between the data processing equipment and the boundary is smaller than a distance threshold value, controlling the data processing equipment to stop moving.

26. A data storage device, comprising a processor and a memory, the memory for storing program instructions or data, the processor for reading the program instructions to perform the operations of:

determining a target graph according to the shape of the target area;

27. The data storage device of claim 26, wherein the target area comprises a flight-limiting area or an obstacle area.

28. The data storage device of claim 26 or 27, wherein the processor is further configured to:

and sending the target data to data processing equipment.

29. The data storage device of any of claims 26 to 28, wherein prior to obtaining the characterization parameters of the target pattern in the first coordinate system, the processor is further configured to:

30. The data storage device of claim 29, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.

31. The data storage device of claim 29 or 30, wherein the processor is further configured to:

32. The data storage device of any of claims 26 to 28, wherein prior to obtaining the characterization parameters of the target pattern in the first coordinate system, the processor is further configured to:

33. The data storage device of claim 32, wherein the first coordinate system is a body coordinate system of the target pattern, the coordinate axes of the body coordinate system are determined according to the target pattern, the target pattern is located in one quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.

34. The data storage device of claim 32 or 33, wherein the processor is further configured to:

35. The data storage device of any of claims 29 to 34, wherein the graph origin comprises any one boundary point of the target graph.

36. The data storage device of any of claims 26 to 35, wherein the target graph is a polygon, the processor further configured to:

37. The data storage device of any of claims 26 to 36, wherein the target pattern comprises one or more of a polygon, a circle, or an ellipse.

38. A data processing apparatus, characterized in that the data processing apparatus comprises a processor and a memory, the memory being configured to store program instructions or data, the processor being configured to read the program instructions to perform the following operations:

39. The data processing apparatus of claim 38, wherein the target area comprises a flight-limiting area or an obstacle area.

40. The data processing apparatus according to claim 38 or 39, wherein the target data further comprises coordinates of a figure origin of the target figure in a second coordinate system; before determining the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system, the processor is further configured to:

41. The data processing device of claim 40, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.

42. The data processing apparatus according to claim 38 or 39, wherein the target data further comprises coordinates of a figure origin of the target figure in a third coordinate system, and conversion parameters for converting the target figure from the second coordinate system to the first coordinate system; before determining the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system, the processor is further configured to:

43. The data processing apparatus of claim 42, wherein the first coordinate system is a body coordinate system of the target pattern, the coordinate axes of the body coordinate system are determined according to the target pattern, the target pattern is located in one quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.

44. A data processing apparatus as claimed in any one of claims 40 to 43, wherein the origin of the pattern comprises any one of the boundary points of the target pattern.

45. The data processing apparatus of any of claims 38 to 44, wherein the target pattern is a polygon and the characterizing parameters comprise: and under the first coordinate system, normal vectors of each side of the polygon and coordinates of each intersection point of the polygon.

46. The data processing device of any of claims 38 to 45, wherein the processor is further configured to:

47. The data processing device of claim 46, wherein the processor is further configured to:

48. The data processing apparatus of claim 46 or 47, wherein the first coordinate system is a body coordinate system, and after determining the positional relationship of the data processing apparatus to the target region, the processor is further configured to:

49. The data processing device of any of claims 38 to 48, wherein the processor is further configured to:

50. The data processing device of claim 49, wherein the processor is further configured to:

51. A motion control system, characterized in that the motion control system comprises:

the data storage device of any one of claims 26 to 37; and

a data processing apparatus as claimed in any of claims 38 to 50.

52. The mobility control system of claim 51, wherein the data storage device comprises a terminal, a server, or a remote control; and/or

The data processing device comprises a flight device.

53. The movement control system of claim 51, wherein the data storage device comprises an application processor on a flight device; and/or

The data processing device includes a flight control processor on the flight device.

54. A non-transitory computer-readable storage medium containing computer-executable instructions, wherein when the computer-executable instructions are executed by one or more processors, the processors perform the data processing method of any one of claims 1 to 25.