CN112166388A - Simulation method and device for unmanned aerial vehicle and computer readable storage medium - Google Patents
Simulation method and device for unmanned aerial vehicle and computer readable storage medium Download PDFInfo
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- CN112166388A CN112166388A CN201980033162.6A CN201980033162A CN112166388A CN 112166388 A CN112166388 A CN 112166388A CN 201980033162 A CN201980033162 A CN 201980033162A CN 112166388 A CN112166388 A CN 112166388A
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Abstract
A simulation method, a simulation apparatus, and a computer-readable storage medium for an unmanned aerial vehicle are provided. The simulation method comprises the following steps: displaying a flight mission of a simulated drone, the simulated drone being generated by a simulator (S101); acquiring an unmanned aerial vehicle operation instruction sent by a control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulated unmanned aerial vehicle (S102); determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction (S103); and determining the completion condition of the flight mission according to the state information of the simulated unmanned aerial vehicle (S104).
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicles, and in particular, to a simulation method and a simulation apparatus for an unmanned aerial vehicle, and a computer-readable storage medium.
Background
Because the control of unmanned aerial vehicle is a more complicated process, have higher requirement to the user, especially to elementary user, if directly control real machine without the training, cause the crash very easily.
In order to utilize the unmanned aerial vehicle more safely and effectively and assist the user to grasp the flight control and flight skill of the unmanned aerial vehicle quickly, the requirement of simulation training of the unmanned aerial vehicle is increasing day by day.
Meanwhile, most unmanned aerial vehicle simulation systems at the present stage can only carry out simple flight training on users, are not deep enough, and cannot train the skills of the users in flight tasks.
So, how to improve elementary user operation unmanned aerial vehicle's security, promote the user simultaneously to the operation level of flight task, just become the technological problem that the field is eagerly to be solved.
Disclosure of Invention
The utility model provides a simulation method of unmanned aerial vehicle, comprising:
displaying a flight mission of a simulated unmanned aerial vehicle, the simulated unmanned aerial vehicle being generated by a simulator;
acquiring an unmanned aerial vehicle operation instruction sent by a control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulation unmanned aerial vehicle;
determining state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction;
and determining the completion condition of the flight task according to the state information of the simulated unmanned aerial vehicle.
The present disclosure also provides an unmanned aerial vehicle's simulation device, include:
a memory for storing executable instructions;
a processor to execute the executable instructions stored in the memory to perform the following:
displaying a flight mission of a simulated unmanned aerial vehicle, the simulated unmanned aerial vehicle being generated by a simulator;
acquiring an unmanned aerial vehicle operation instruction sent by a control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulation unmanned aerial vehicle;
determining state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction;
and determining the completion condition of the flight task according to the state information of the simulated unmanned aerial vehicle.
The present disclosure also provides a computer-readable storage medium storing executable instructions that, when executed by one or more processors, may cause the one or more processors to perform the above-described method of simulating a drone for simulation.
This openly can carry out the emulation training to the user, can prevent that elementary user operation unmanned aerial vehicle from leading to unmanned aerial vehicle crash scheduling problem owing to unfamiliar with the operation when real machine, guaranteed the security of unmanned aerial vehicle flight, can promote the operation level of user to the flight task, be favorable to the user to be skilled in controlling of mastering unmanned aerial vehicle, show ground and promoted the effect of emulation training.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart of a simulation method of an unmanned aerial vehicle according to an embodiment of the present disclosure.
FIG. 2 is a schematic diagram of a training scenario.
FIG. 3 is a schematic diagram of a flight mission menu.
Fig. 4 shows a predetermined flight trajectory of a simulation method of a drone according to an embodiment of the present disclosure.
Fig. 5 shows a predetermined flight trajectory of the simulation method of the drone and a flight trajectory of a simulated drone according to an embodiment of the present disclosure.
Fig. 6 shows a predetermined hovering area of a simulation method of a drone of an embodiment of the present disclosure.
Fig. 7 is a schematic diagram of a simulation apparatus of a drone according to another embodiment of the present disclosure.
Detailed Description
The technical solution of the present disclosure will be clearly and completely described below with reference to the embodiments and the drawings in the embodiments. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
An embodiment of the present disclosure provides a simulation method for an unmanned aerial vehicle, as shown in fig. 1, the simulation method includes:
step S101: displaying a flight mission of a simulated drone, the simulated drone being generated by a simulator.
Step S102: and acquiring an unmanned aerial vehicle operation instruction sent by the control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulation unmanned aerial vehicle.
Step S103: and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction.
Step S104: and determining the completion condition of the flight task according to the state information of the simulated unmanned aerial vehicle.
The simulation method of the embodiment is to use a simulation platform to perform simulation training on a user. Simulation platforms generally include: the simulator is connected with the control terminal, and the control terminal can send operation instructions to the simulator.
The simulator is built with training scenarios, which may be three-dimensional geographic environments (e.g., three-dimensional maps). As shown in fig. 2, the training scene includes various geographic factors such as terrain (hills), buildings, vegetation, sky, and the like. In the training scenario, the simulator is also built with a simulated drone. When the user carries out simulation training, the controllable unmanned aerial vehicle that simulates carries out various flight tasks in training scene. Optionally, the simulator is also constructed with a simulation operator for representing the user. During simulation training, a simulation operator controls the simulation unmanned aerial vehicle on behalf of a user.
In step S101, the mission may be a mission that is frequently performed by the drone in various scenes such as shooting, search and rescue, exploration, and inspection. The simulator can be pre-set with a plurality of flight missions, which are stored in the memory of the simulator. When the simulator is opened by the operator, the simulator may display a flight mission menu, or list of flights missions, via the display. The flight mission menu or flight mission list displays all the flight missions provided by the simulator. And selecting the flight task needing training from a flight task menu or a flight task list by the user through the control terminal. In this embodiment, as shown in fig. 3, the flight mission may be to control the simulated drone to fly along a predetermined flight trajectory, and/or to control the simulated drone to hover at a predetermined hovering area.
The present embodiment is not limited to the type of the control terminal, and may be a remote controller, a mobile device, or a desktop device connected to the simulator by wire or wirelessly.
In addition, the user can set the flight mission by himself. The simulator provides the option of self-setting the flight mission and displays it through the display. After the user selects the option of self-setting the flight mission, the control terminal can be used for sending out a related instruction for setting the flight mission, and the simulator generates the flight mission according to the instruction after receiving the instruction sent by the control terminal. For example, a user can set a plurality of position points in a training scene through the control terminal, and then the simulator automatically generates a 'preset flight trajectory' according to the position points.
The simulation method according to the present embodiment will be described in detail below with reference to the drawings, according to different flight missions.
First, a flight mission for controlling a simulated drone to fly along a predetermined flight trajectory is specifically described.
When the user selects a flight task for controlling the simulated unmanned aerial vehicle to fly along a preset flight track, the simulator displays a training picture, and the preset flight track is displayed in the training picture. Wherein the training picture is a portion of the training scene displayed in the display within the range of flight perspectives. The simulator typically includes a three-dimensional (3D) engine, and the 3D engine may convert the training scene constructed by the simulator into a 3D picture and display it through a display.
It should be noted that the present embodiment does not limit the specific form of the predetermined flight trajectory. The predetermined flight trajectory may be a trajectory having various shapes such as a numeric shape (e.g., "8" font), a letter shape, a polygonal shape (e.g., a rectangular shape shown in fig. 4), a circle, and the like.
According to the difference of flight visual angles, when the simulated unmanned aerial vehicle is located at the same position, the content of the training picture may be different. The flight view may be a first person view, a third person view, etc. When adopting first person's visual angle, training scene that the visual angle that the virtual shooting device of installation was observed on the unmanned aerial vehicle was shown to the training picture.
After the display displays the training picture and the predetermined flight trajectory, the user can start to perform the flight mission. In step S102, the user operates the control terminal, and the control terminal generates a corresponding operation instruction and sends the operation instruction to the simulator. And after the simulator receives the operation instruction, controlling and simulating the flight of the unmanned aerial vehicle according to the operation instruction.
Real drone remote controls generally comprise: a push button, a push rod or a knob for adjusting the accelerator, the posture and the lifting. The control terminal simulates the flight process of a real unmanned aerial vehicle for a user, and is also provided with an operation component for adjusting an accelerator, an attitude and lifting. When the user controls the simulated unmanned aerial vehicle to fly along the preset flying track, the position and the posture of the simulated unmanned aerial vehicle can be continuously adjusted through the operating component of the control terminal. And the control terminal sends the corresponding accelerator instruction, the attitude adjusting instruction and the lifting instruction to the simulator.
Step S103, determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction. The state information comprises motion state information of the simulated unmanned aerial vehicle and state information of a virtual shooting device on the simulated unmanned aerial vehicle. When the flight task is to control the simulated unmanned aerial vehicle to fly along the preset flight track, the state information refers to the flight track of the simulated unmanned aerial vehicle, namely the actual flight track of the simulated unmanned aerial vehicle in the training scene.
Firstly, a flight control process of a simulated unmanned aerial vehicle is introduced. The motion rule of the simulated unmanned aerial vehicle in the training scene is described by a dynamic model. Taking a six-degree-of-freedom dynamic model as an example, the six-degree-of-freedom dynamic model embodies the relation between the resultant force and resultant moment borne by the simulated unmanned aerial vehicle and the position and the attitude of the simulated unmanned aerial vehicle, wherein the position of the simulated unmanned aerial vehicle can be represented by the coordinates of a space rectangular coordinate system, and the attitude can be represented by a yaw angle, a pitch angle and a roll angle. When the resultant force and/or resultant moment of the simulated unmanned aerial vehicle changes, the position and/or the posture of the simulated unmanned aerial vehicle will change accordingly. And inputting the resultant force and/or the resultant moment into a six-degree-of-freedom dynamic model, so that the changed position and/or posture can be obtained according to the current position and/or posture of the simulated unmanned aerial vehicle.
The simulator of this embodiment confirms the flight track of simulation unmanned aerial vehicle according to unmanned aerial vehicle operating instruction according to above-mentioned flight control principle.
Firstly, a dynamic model simulating the unmanned aerial vehicle is obtained.
The dynamic model is usually already preset in the simulator, and is read from the memory of the simulator. It should be noted that the dynamic model is described above only by taking the six-degree-of-freedom dynamic model as an example, but the present embodiment is not limited thereto, and may be any type of dynamic model. Optionally, in the simulator, parameters in the kinetic model may be modified, and the simulator may provide a user modification interface. Because the dynamic models of different types of unmanned aerial vehicles are possibly different, aiming at different simulation objects, a user can modify the parameters of the dynamic models before starting a flight task so as to simulate the flight process of the simulation objects more truly, and therefore the effect of simulation training is improved.
And then determining the flight track of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction and the dynamic model of the simulated unmanned aerial vehicle.
After a dynamic model of the simulated unmanned aerial vehicle is obtained, a flight track of the simulated unmanned aerial vehicle at a historical moment is also required to be obtained; and determining the flight track of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the flight track at the historical moment and the dynamic model.
When the user controls the simulated unmanned aerial vehicle to fly along the preset flight trajectory, the position and the attitude of the simulated unmanned aerial vehicle need to be changed continuously so as to keep the consistency with the preset flight trajectory to the maximum extent. The control terminal continuously sends at least one of an accelerator instruction, an attitude adjustment instruction and a lifting instruction corresponding to the user operation to the simulator. The simulator converts the unmanned aerial vehicle operation commands into resultant force and/or resultant moment acting on the simulated unmanned aerial vehicle, and inputs the resultant force and/or resultant moment into the dynamic model. And the flight track of the simulated unmanned aerial vehicle at the historical moment comprises the position and the attitude at the historical moment. The dynamic model can solve the position and the attitude at the current moment according to the position and the attitude at the historical moment and the input resultant force and/or resultant moment to obtain the flight track of the current simulated unmanned aerial vehicle, and the actual flight track of the flight task can be obtained by continuously and circularly executing the flight control process.
In step S103, optionally, as shown in fig. 5, the simulator may display the positions of the simulated drones at various moments in time in the training screen in real time, so as to display the flight trajectory of the simulated drones to the user. This has the advantage that the user can see the completion of the mission at a previous moment when performing the mission. For example, in the process that the user controls the simulated unmanned aerial vehicle to fly along the preset flight trajectory, the user can see how the coincidence degree of the completed flight trajectory and the preset flight trajectory is, and the user can pay more attention to the subsequent flight process to adjust the control mode, so that the user can be facilitated to improve the control level of the user on the unmanned aerial vehicle, and the effect of simulation training is improved.
After the flight trajectory of the simulated unmanned aerial vehicle is obtained, step S104 determines the completion of the flight mission according to the flight trajectory of the simulated unmanned aerial vehicle.
For a flight mission flying along a predetermined flight trajectory, the completion of the flight mission depends on the similarity between the flight trajectory of the simulated drone and the predetermined flight trajectory. That is, the higher the similarity between the flight trajectory of the simulated drone and the predetermined flight trajectory, the better the task completion.
In the embodiment, when the similarity is greater than the first threshold, the completion of the flight mission is considered to be successful; and if the value is less than or equal to the first threshold value, the completion of the flight mission is considered to be failed. The specific value of the first threshold is not limited in this embodiment, and may be dynamically adjusted according to different difficulty and/or different user level of the flight mission. For example, for a predetermined flight trajectory with a high complexity, the specific value of the first threshold value may be adjusted lower; conversely, the specific value of the first threshold may be increased. For users at the primary level, the specific value of the first threshold value can be adjusted lower; for users at a high level, the specific value of the first threshold may be adjusted higher.
After the task completion condition is determined, optionally, the simulator displays the completion condition of the flight task to prompt the user whether the flight task is completed successfully or fails.
In this embodiment, the similarity may be determined according to a discrete position sequence corresponding to a flight trajectory of the simulated unmanned aerial vehicle and a discrete position sequence corresponding to a predetermined flight trajectory. The sequence of discrete positions is a sequence of positions at various times of the flight trajectory or of a predetermined flight trajectory. Specifically, the dynamic time planning algorithm may be used to process the discrete position sequence corresponding to the flight trajectory and the discrete position sequence corresponding to the predetermined flight trajectory, so as to obtain the similarity.
In addition, when determining the state information of the simulated unmanned aerial vehicle, the state information of the simulated unmanned aerial vehicle is determined according to the unmanned aerial vehicle operation instruction, the state information of the historical moment and the dynamic model, and simultaneously according to the environmental parameters of the simulated unmanned aerial vehicle.
The environmental parameters refer to parameters about the environment in the training scene, and at least can comprise ground effect parameters and wind field parameters. These environmental parameters can influence the position and the gesture of simulation unmanned aerial vehicle to a certain extent to influence simulation unmanned aerial vehicle's flight trajectory.
The simulator may be pre-set with a variety of ground effect and/or wind field parameters, these environmental parameters being stored in the memory of the simulator. The simulator can construct various wind field parameters through a wind trimming module, a turbulence module and a discrete gust module of the simulink.
And the simulator determines the flight track of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the flight track at the historical moment, the environmental parameters and the dynamic model. Specifically, when the user constantly changes the position and the posture of the simulated unmanned aerial vehicle, the control terminal constantly sends at least one of an accelerator instruction, a posture adjusting instruction and a lifting instruction corresponding to the user operation to the simulator. The simulator converts these drone operating commands into a resultant force and/or a resultant moment acting on the simulated drone. The dynamic model calculates the position and the attitude of the current moment according to the position and the attitude of the historical moment, the environmental parameters and the input resultant force and/or resultant moment, obtains the flight track of the current simulated unmanned aerial vehicle, and continuously and circularly executes the flight control process to obtain the actual flight track of the flight mission.
Because during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle is generally influenced by the environmental parameters, the flight trajectory of the unmanned aerial vehicle is related to the environmental parameters. Therefore, the environmental parameters are considered when the state information of the simulated unmanned aerial vehicle is determined, the flight process of the unmanned aerial vehicle can be simulated more truly, and therefore the effect of simulation training is improved.
Next, the flight task for controlling the simulated drone to hover in the predetermined hovering area is specifically described.
After the user selects a flight mission for controlling the simulated unmanned aerial vehicle to hover in a predetermined hovering area, the simulator displays a training screen, and displays the hovering area in the training screen, as shown in fig. 6.
After the display displays the training picture and the hovering area, the user may start performing the flight mission. In step S102, the user operates the control terminal, and the control terminal generates a corresponding operation instruction and sends the operation instruction to the simulator. After the simulator receives the operation instruction, the unmanned aerial vehicle is controlled and simulated to fly to the hovering area according to the operation instruction.
Step S103, determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction. For controlling a flight task simulating that the unmanned aerial vehicle hovers in a preset hovering area, the state information refers to orientation information, position information and height information of the simulated unmanned aerial vehicle.
Firstly, a dynamic model simulating the unmanned aerial vehicle is obtained.
And then determining orientation information, position information and height information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction and the dynamic model of the simulated unmanned aerial vehicle.
After a dynamic model of the simulated unmanned aerial vehicle is obtained, state information of the simulated unmanned aerial vehicle at a historical moment is also required to be obtained; and determining orientation information, position information and height information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment and the dynamic model.
When the user controls the simulated unmanned aerial vehicle to hover in the preset hovering area, the position and the posture of the simulated unmanned aerial vehicle need to be changed continuously so as to maintain the hovering state to the maximum extent. The control terminal continuously sends at least one of an accelerator instruction, an attitude adjustment instruction and a lifting instruction corresponding to the user operation to the simulator. The simulator converts the unmanned aerial vehicle operation commands into resultant force and/or resultant moment acting on the simulated unmanned aerial vehicle, and inputs the resultant force and/or resultant moment into the dynamic model. The dynamic model can solve the state information of the current moment according to the state information of the historical moment and the input resultant force and/or resultant moment, and orientation information, position information and height information of the current simulated unmanned aerial vehicle are obtained.
In step S103, optionally, the simulator may display status information of the simulated drone at each moment in real time in the training screen, so as to display the hovering status of the simulated drone to the user. This has the advantage that the user can see the completion of the mission at a previous moment when performing the mission. For example, in the process that the user controls the simulated unmanned aerial vehicle to hover in the preset hovering area, the change processes of the orientation, the position and the height can be seen, the user can pay more attention in the subsequent flying process, and the control mode is adjusted, so that the control level of the user on the unmanned aerial vehicle can be improved, and the effect of the simulation training is improved.
After the state information of the simulated unmanned aerial vehicle is obtained, step S104 determines the completion of the flight mission according to the state information of the simulated unmanned aerial vehicle.
For a mission hovering over a predetermined hovering area, the completion of the mission depends on the orientation, displacement, and altitude conditions of the simulated drone within a predetermined time range.
In this embodiment, when the included angle between the orientation of the simulated drone and the predetermined direction is smaller than the second threshold, the simulated drone is located in the predetermined hovering area, the displacement within the time range is smaller than the third threshold, and the height of the simulated drone is within the set height interval, the completion of the flight mission is considered to be successful. Otherwise, if one of the orientation, the displacement and the height does not meet the conditions, the flight mission is considered to be failed to complete.
In this embodiment, specific values of the second threshold and the third threshold are not limited, and the specific values of the thresholds may be dynamically adjusted according to different user levels. For example, for a primary level of users, the specific value of the threshold may be adjusted lower; for users at a high level, the specific value of the threshold may be adjusted higher. The time ranges are also similar and may vary depending on the particular application scenario and user level of the hover. For application scenes or users with high level requiring long hovering time, the specific numerical value of the time range can be increased by a little; conversely, the specific values of the time ranges may be adjusted lower. The unmanned aerial vehicle has a hovering ascending limit, and the maximum value of the set height interval is smaller than the hovering ascending limit. The predetermined direction may be preset by the simulator or set by the user, and the predetermined direction may be the direction of the simulated operator or the direction opposite to the direction of the simulated operator.
After the task completion condition is determined, optionally, the simulator displays the completion condition of the flight task to prompt the user whether the flight task is completed successfully or fails.
In addition, when determining the state information of the simulated unmanned aerial vehicle, the state information of the simulated unmanned aerial vehicle is determined according to the unmanned aerial vehicle operation instruction, the state information of the historical moment and the dynamic model, and simultaneously according to the environmental parameters of the simulated unmanned aerial vehicle.
And the simulator determines the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment, the environmental parameters and the dynamic model. Specifically, when the user constantly changes the position and the posture of the simulated unmanned aerial vehicle, the control terminal constantly sends at least one of an accelerator instruction, a posture adjusting instruction and a lifting instruction corresponding to the user operation to the simulator. The simulator converts these drone operating commands into a resultant force and/or a resultant moment acting on the simulated drone. And the dynamic model calculates the state information of the current moment according to the state information of the historical moment, the environmental parameters and the input resultant force and/or resultant moment to obtain the orientation information, the position information and the height information of the current simulated unmanned aerial vehicle.
Because during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle is generally influenced by the environmental parameters, the flight trajectory of the unmanned aerial vehicle is related to the environmental parameters. Therefore, the environmental parameters are considered when the state information of the simulated unmanned aerial vehicle is determined, the flight process of the unmanned aerial vehicle can be simulated more truly, and therefore the effect of simulation training is improved.
Therefore, the simulation method of the embodiment can be used for carrying out simulation training on the user, the problem that the unmanned aerial vehicle is crashed and the like due to unfamiliar operation when the primary user operates the real unmanned aerial vehicle can be solved, and the flight safety of the unmanned aerial vehicle is guaranteed. Meanwhile, the simulation training can be carried out on the complex flight tasks (flying along the preset flight track and hovering in the preset area), the operation level of the user on the complex flight tasks can be improved, the user can master the control of the complex flight tasks skillfully, and the simulation training effect is obviously improved.
Another embodiment of the present disclosure provides a simulation apparatus for an unmanned aerial vehicle. The simulation apparatus provided in this embodiment may be a mobile phone, an Ipad, a notebook computer, a desktop computer, or the like.
As shown in fig. 7, the drone simulation apparatus may include: a processor (e.g., CPU, etc.), a memory (e.g., hard disk HDD, read only memory ROM, etc.), a display. The processor may be one or more processors.
The simulation method of the unmanned aerial vehicle of the embodiment of the present disclosure may be implemented as a computer software program. Here, the computer software program may be one or more.
Thus, for example, the computer software program is stored in a memory of the simulation apparatus of the unmanned aerial vehicle as a storage apparatus, and the computer software program is executed to cause one or more processors of the simulation apparatus of the unmanned aerial vehicle to execute the simulation method of the unmanned aerial vehicle and the variation thereof according to the embodiment of the present disclosure.
Therefore, simulation training can be carried out on the user, the problem that the unmanned aerial vehicle is crashed due to unfamiliarity with operation when the primary user operates the real unmanned aerial vehicle can be prevented, and the flying safety of the unmanned aerial vehicle is guaranteed. Meanwhile, the simulation training can be carried out on the complex flight tasks (flying along the preset flight track and hovering in the preset area), the operation level of the user on the complex flight tasks can be improved, the user can master the control of the complex flight tasks skillfully, and the simulation training effect is obviously improved.
Furthermore, a computer-readable storage medium may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
In addition, the computer program may be configured with computer program code, for example, comprising computer program modules. It should be noted that the division manner and the number of the modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, when these program modules are executed by a computer (or a processor), the computer may execute the flow of the simulation method of the unmanned aerial vehicle described in the present disclosure and the modifications thereof.
Yet another embodiment of the present disclosure provides a computer-readable storage medium. The computer-readable storage medium stores executable instructions that, when executed by one or more processors, may cause the one or more processors to perform a method of simulating a drone according to embodiments of the disclosure for simulating.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; features in embodiments of the disclosure may be combined arbitrarily, without conflict; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (29)
1. A simulation method of an unmanned aerial vehicle is characterized by comprising the following steps:
displaying a flight mission of a simulated unmanned aerial vehicle, the simulated unmanned aerial vehicle being generated by a simulator;
acquiring an unmanned aerial vehicle operation instruction sent by a control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulation unmanned aerial vehicle;
determining state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction;
and determining the completion condition of the flight task according to the state information of the simulated unmanned aerial vehicle.
2. The simulation method of claim 1, wherein the mission comprises: controlling the simulated unmanned aerial vehicle to fly along a preset flight track; the flight mission of the display simulation unmanned aerial vehicle comprises the following steps: and displaying the preset flight track.
3. The simulation method of claim 2, wherein the status information of the simulated drone includes a flight trajectory of the simulated drone.
4. The simulation method according to claim 3, wherein the determining the completion of the flight mission according to the state information of the simulated drone includes:
determining the similarity between the flight trajectory of the simulated unmanned aerial vehicle and the predetermined flight trajectory;
when the similarity is larger than a first threshold value, determining that the flight task is completed successfully;
otherwise, determining that the flight mission is failed to complete.
5. The simulation method according to claim 4, wherein the similarity is determined according to a discrete position sequence corresponding to the flight trajectory of the simulated unmanned aerial vehicle and a discrete position sequence corresponding to the predetermined flight trajectory.
6. The simulation method of claim 1, wherein the mission comprises: controlling the simulated drone to hover over a predetermined hover region; the flight mission of the display simulation unmanned aerial vehicle comprises the following steps: displaying the predetermined hovering area.
7. The simulation method of claim 6, wherein the status information of the simulated drone includes orientation information, position information, and altitude information of the simulated drone.
8. The simulation method according to claim 7, wherein the determining the completion of the flight mission according to the state information of the simulated drone includes:
when an included angle between the orientation of the simulated unmanned aerial vehicle and the preset direction is smaller than a second threshold value, the simulated unmanned aerial vehicle is located in the preset hovering area, the displacement of the simulated unmanned aerial vehicle in a preset time range is smaller than a third threshold value, and the height of the simulated unmanned aerial vehicle is in a set height interval, it is determined that the flight task is successfully completed;
otherwise, determining that the flight mission is failed to complete.
9. The simulation method according to claim 8, wherein the predetermined direction is an orientation of a simulated operator or a direction opposite to the orientation of the simulated operator.
10. The simulation method according to claim 1, wherein the determining the status information of the simulated drone according to the drone operating instruction comprises:
acquiring a dynamic model of the simulated unmanned aerial vehicle;
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction and the dynamic model of the simulated unmanned aerial vehicle.
11. The simulation method of claim 10, wherein the determining the state information of the simulated drone according to the drone operating instructions and the dynamical model of the simulated drone comprises:
acquiring state information of the simulated unmanned aerial vehicle at the historical moment;
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment and the dynamic model.
12. The simulation method of claim 11, further comprising: acquiring environmental parameters of the simulated unmanned aerial vehicle, wherein the environmental parameters at least comprise: at least one of ground effect parameters and wind field parameters, wherein the determining of the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment and the dynamic model comprises:
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information of the historical moment, the environmental parameters and the dynamic model.
13. The simulation method according to claim 1, wherein the drone operating instructions comprise at least: at least one of an accelerator instruction, an attitude adjustment instruction and a lifting instruction.
14. The simulation method of claim 1, further comprising displaying completion of the mission.
15. An unmanned aerial vehicle's simulation device, its characterized in that includes:
a memory for storing executable instructions;
a processor to execute the executable instructions stored in the memory to perform the following:
displaying a flight mission of a simulated unmanned aerial vehicle, the simulated unmanned aerial vehicle being generated by a simulator;
acquiring an unmanned aerial vehicle operation instruction sent by a control terminal, wherein the unmanned aerial vehicle operation instruction is used for controlling the simulation unmanned aerial vehicle;
determining state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction;
and determining the completion condition of the flight task according to the state information of the simulated unmanned aerial vehicle.
16. The simulation apparatus of claim 15, wherein the mission comprises: controlling the simulated unmanned aerial vehicle to fly along a preset flight track; the flight mission of the display simulation unmanned aerial vehicle comprises the following steps: and displaying the preset flight track.
17. The emulation apparatus of claim 16, wherein the status information of the simulated drone includes a flight trajectory of the simulated drone.
18. The simulation apparatus of claim 17, wherein the determining the completion of the flight mission according to the status information of the simulated drone includes:
determining the similarity between the flight trajectory of the simulated unmanned aerial vehicle and the predetermined flight trajectory;
when the similarity is larger than a first threshold value, determining that the flight task is completed successfully;
otherwise, determining that the flight mission is failed to complete.
19. The simulation apparatus of claim 18, wherein the processor further determines the similarity according to a discrete position sequence corresponding to the flight trajectory of the simulated drone and a discrete position sequence corresponding to the predetermined flight trajectory.
20. The simulation apparatus of claim 15, wherein the mission comprises: controlling the simulated drone to hover over a predetermined hover region; the flight mission of the display simulation unmanned aerial vehicle comprises the following steps: displaying the predetermined hovering area.
21. The simulation apparatus of claim 20, wherein the status information of the simulated drone includes orientation information, position information, and altitude information of the simulated drone.
22. The simulation apparatus of claim 21, wherein the determining the completion of the flight mission according to the status information of the simulated drone includes:
when an included angle between the orientation of the simulated unmanned aerial vehicle and the preset direction is smaller than a second threshold value, the simulated unmanned aerial vehicle is located in the preset hovering area, the displacement of the simulated unmanned aerial vehicle in a preset time range is smaller than a third threshold value, and the height of the simulated unmanned aerial vehicle is in a set height interval, it is determined that the flight task is successfully completed;
otherwise, determining that the flight mission is failed to complete.
23. The simulation apparatus of claim 22, wherein the predetermined direction is a direction of a simulated operator or a direction opposite to the direction of the simulated operator.
24. The simulation apparatus of claim 15, wherein the determining the status information of the simulated drone according to the drone operating instructions comprises:
acquiring a dynamic model of the simulated unmanned aerial vehicle;
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction and the dynamic model of the simulated unmanned aerial vehicle.
25. The simulation apparatus of claim 24, wherein the determining the status information of the simulated drone according to the drone operating instructions and the dynamical model of the simulated drone comprises:
acquiring state information of the simulated unmanned aerial vehicle at the historical moment;
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment and the dynamic model.
26. The emulation apparatus of claim 25, wherein the processor further performs the following: acquiring environmental parameters of the simulated unmanned aerial vehicle, wherein the environmental parameters at least comprise: at least one of ground effect parameters and wind field parameters, wherein the determining of the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information at the historical moment and the dynamic model comprises:
and determining the state information of the simulated unmanned aerial vehicle according to the unmanned aerial vehicle operation instruction, the state information of the historical moment, the environmental parameters and the dynamic model.
27. The emulation apparatus of claim 15, wherein the drone operating instructions comprise at least: at least one of an accelerator instruction, an attitude adjustment instruction and a lifting instruction.
28. The simulation apparatus of claim 15, further comprising displaying completion of the flight mission.
29. A computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to perform the method of simulating a drone of any one of claims 1 to 14 for simulation.
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| PCT/CN2019/103727 WO2021035691A1 (en) | 2019-08-30 | 2019-08-30 | Unmanned aerial vehicle simulation method and simulation apparatus, and computer-readable storage medium |
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