CN112947544A - Aircraft control method, device, system and storage medium - Google Patents
Aircraft control method, device, system and storage medium Download PDFInfo
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Abstract
The application provides a control method, a device, a system and a storage medium of an aircraft, wherein the control method comprises the following steps: the method comprises the steps of determining the spatial position of a first aircraft according to first signals of positioning base stations at different positions on the ground or in the low altitude by acquiring the first signals of the positioning base stations at different positions, and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft. Wherein the number of positioning base stations is at least three. The control method can be applied to building areas in low-altitude cities, avoids collision accidents of aircrafts caused by weak GPS signals, and improves the control precision of the aircrafts among the urban buildings.
Description
Technical Field
The embodiment of the application relates to the technical field of flight control, in particular to a control method, a device and a system of an aircraft and a storage medium.
Background
Along with the development of flight control technique and the demand of trade, unmanned aerial vehicle is used in a plurality of fields because of advantages such as its size is small and exquisite, the flexibility ratio is high, with low costs, easy maintenance, for example emergency rescue, listen topography, environmental protection monitoring, commodity circulation transportation etc..
Generally, an unmanned aerial vehicle relies on a Global Positioning System (GPS) to provide Positioning information outdoors, but when the unmanned aerial vehicle is in a weak GPS or a scene without GPS signals, such as a forest, a tunnel, an indoor space, and a building, the unmanned aerial vehicle cannot acquire self Positioning information, or the Positioning information is inaccurate, which easily causes a flight accident of the unmanned aerial vehicle.
Disclosure of Invention
The embodiment of the application provides a method, a device and a system for controlling an aircraft and a storage medium, and improves the control precision of the aircraft between urban buildings.
A first aspect of embodiments of the present application provides a flight control system, including: the system comprises a first aircraft flying at low altitude and a plurality of positioning base stations arranged on the ground or at different positions of the low altitude, wherein the first aircraft is in communication connection with the plurality of positioning base stations;
the first aircraft is configured to:
acquiring first signals of positioning base stations at different positions;
determining the spatial position of a first aircraft according to first signals of positioning base stations at different positions;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
In one embodiment of the present application, the system further comprises: a second aircraft flying at low altitude, wherein the second aircraft is respectively in communication connection with the plurality of positioning base stations and the first aircraft;
the second aircraft is configured to transmit a second signal to the first aircraft, the second signal being indicative of a spatial location of the second aircraft;
the first aircraft is further used for receiving the second signal and adjusting the flight state of the first aircraft according to the spatial position of the second aircraft and the spatial position of the first aircraft, which are indicated by the second signal.
A second aspect of the embodiments of the present application provides a control method for an aircraft, applied to a first aircraft in the flight control system of any one of the first aspect, the control method including:
acquiring first signals of positioning base stations arranged on the ground or at different positions of a low altitude;
determining the spatial position of the first aircraft according to the first signals of the positioning base stations at different positions;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
In an embodiment of the present application, the acquiring a first signal of a positioning base station disposed at different positions on the ground or in a low altitude includes:
sending detection signals to all directions in space, wherein the detection signals are used for detecting positioning base stations around the first aircraft;
and receiving first signals returned by at least three positioning base stations, wherein the first signals are used for indicating the spatial position of each positioning base station.
In an embodiment of the present application, the acquiring a first signal of a positioning base station disposed at different positions on the ground or in a low altitude includes:
receiving first signals from at least three positioning base stations, the first signals being used for indicating the spatial position of each positioning base station and the time of transmitting the first signals.
In one embodiment of the present application, the determining the spatial position of the first aircraft according to the first signals of the positioning base stations at different positions includes:
determining distances of the first aircraft from at least three positioning base stations;
and determining the spatial position of the first aircraft according to the spatial positions in the first signals of the at least three positioning base stations and the distances between the first aircraft and the at least three positioning base stations.
In one embodiment of the present application, said adjusting a flight status of the first aircraft according to a spatial location of the first aircraft comprises:
determining environmental information around the first aircraft according to first signals of positioning base stations at different positions and the spatial position of the first aircraft;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft and the environmental information.
In one embodiment of the present application, the method further comprises:
receiving a second signal from a second aircraft, the second signal indicating a spatial location of the second aircraft;
and adjusting the flight state of the first aircraft according to the spatial positions of the first aircraft and the second aircraft.
A third aspect of embodiments of the present application provides a control device of an aircraft, including:
the acquisition module is used for acquiring first signals of positioning base stations arranged on the ground or at different positions of a low altitude;
the positioning module is used for determining the spatial position of the first aircraft according to first signals of positioning base stations at different positions;
and the control module is used for adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
In one embodiment of the present application, the sending module is configured to send a probe signal to each direction in space, where the probe signal is used to probe a positioning base station around the first aircraft;
the receiving module is used for receiving first signals returned by at least three positioning base stations, and the first signals are used for indicating the spatial position of each positioning base station.
In an embodiment of the present application, the receiving module is further configured to receive a first signal from at least three positioning base stations, where the first signal is used to indicate a spatial location of each of the positioning base stations and a time at which the first signal is transmitted.
In an embodiment of the present application, the positioning module is specifically configured to:
determining distances of the first aircraft from at least three positioning base stations;
and determining the spatial position of the first aircraft according to the spatial positions in the first signals of the at least three positioning base stations and the distances between the first aircraft and the at least three positioning base stations.
In an embodiment of the present application, the control module is specifically configured to:
determining environmental information around the first aircraft according to first signals of positioning base stations at different positions and the spatial position of the first aircraft;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft and the environmental information.
In one embodiment of the present application, the receiving module is further configured to receive a second signal from a second aircraft, the second signal being indicative of a spatial location of the second aircraft;
and the control module is specifically used for adjusting the flight state of the first aircraft according to the spatial positions of the first aircraft and the second aircraft.
A fourth aspect of the embodiments of the present application provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of the second aspects.
A fifth aspect of embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor to implement the method of any one of the second aspects.
A sixth aspect of embodiments of the present application provides a computer program product comprising a computer program that, when executed by a processor, performs the method of any one of the second aspects.
The embodiment of the application provides a control method, a device and a system of an aircraft and a storage medium, wherein the control method comprises the following steps: the method comprises the steps of determining the spatial position of a first aircraft according to first signals of positioning base stations at different positions on the ground or in the low altitude by acquiring the first signals of the positioning base stations at different positions, and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft. Wherein the number of positioning base stations is at least three. The control method can be applied to building areas in low-altitude cities, avoids collision accidents of aircrafts caused by weak GPS signals, and improves the control precision of the aircrafts among the urban buildings.
Drawings
FIG. 1 is a schematic structural diagram of a flight control system provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a method for controlling an aircraft according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a spatial position of an unmanned aerial vehicle provided in an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating a method for controlling an aircraft according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;
fig. 7 is a hardware structure diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Among the prior art, city crow building is more, and unmanned aerial vehicle flies in city low latitude, and the crow building can shelter from unmanned aerial vehicle's GPS signal, leads to the unmanned aerial vehicle location inaccurate, leads to the accident that unmanned aerial vehicle hit the building very easily, consequently unmanned aerial vehicle all is in the high altitude in city flight at present, and the unmanned aerial vehicle of high altitude flight can lead to the fact the threat to city sky flying manned aircraft safety.
In view of the above problems, an embodiment of the present application provides a control method for an aircraft, where an Ultra-wide band (UWB) communication technology is used to automatically switch GPS positioning to UWB positioning for a low-altitude aircraft including an unmanned aerial vehicle in an environment where GPS signals are weak or no GPS signals, and the low-altitude aircraft communicates with a positioning base station disposed in low altitude or on the ground to determine self-positioning information, thereby improving positioning accuracy of the aircraft. Meanwhile, the low-altitude aircraft can broadcast self-positioning information to other low-altitude flying aircrafts in real time, collision among the aircrafts is avoided, and safety of a flying system is improved.
In this embodiment, the UWB technology is a wireless carrier communication technology, and it does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so that the occupied frequency spectrum range is wide. The UWB technology has the advantages of low system complexity, low transmitted signal power density, insensitivity to channel attenuation, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-degree wireless access in dense multipath places such as indoor and outdoor places.
Before describing the control method of the aircraft provided by the embodiment of the present application, first, a flight control system architecture provided by the embodiment of the present application is described with reference to fig. 1.
For example, fig. 1 is a schematic view of a flight control system provided in an embodiment of the present application, and as shown in fig. 1, the flight control system of the present embodiment includes a first aircraft flying at low altitude, an aircraft 101 shown in fig. 1, and a plurality of positioning base stations disposed on the ground or at different positions of the low altitude. The first aircraft is communicatively coupled to a plurality of positioning base stations.
As an example, the positioning base stations are disposed at four corners of the top and/or bottom of a building, or at protruding portions of a building, such as the positioning base station 102 located at the top of a building and the positioning base station 103 located at the bottom of a building as shown in fig. 1. Optionally, the positioning base station is a UWB positioning base station.
As one example, aircraft 101 includes a GPS location module 1011, a UWB location module 1012, and a wireless communication module 1013. The GPS positioning module 1011 determines four parameters of the latitude and longitude, the altitude and the time correction of the aircraft 101 by calculating the pseudo distances to at least four satellites and using a distance intersection method. The UWB location module 1012 determines the three-dimensional spatial coordinates of the aircraft 101 by calculating the relative distances to at least three UWB location base stations in combination with the three-dimensional spatial coordinates of the UWB location base stations. The wireless communication module 1013 is used to receive or transmit signals to implement data communication with a satellite or a UWB positioning base station.
It should be noted that when the aircraft 101 does not enter the urban building area, the GPS positioning module 1011 may be used to acquire the own position information, when the aircraft 101 enters the urban building area, the GPS signal is weak due to the GPS signal being blocked by a tall building, and when the aircraft 101 detects that the GPS signal is weak, the GPS positioning module 1011 may be switched to the UWB positioning module 1012 to acquire the own position information.
In an embodiment of the application, the first aircraft is configured to acquire first signals of positioning base stations at different positions, determine a spatial position of the first aircraft according to the first signals of the positioning base stations at the different positions, and adjust a flight state of the first aircraft according to the spatial position of the first aircraft.
For example, the aircraft 101 shown in fig. 1 acquires the first signal of the positioning base station at different positions by sending a probe signal, or the aircraft 101 directly receives the first signal sent by the positioning base station at different positions. The aircraft 101 determines its own spatial position according to the first signals of the positioning base stations at different positions, and adjusts the flight attitude and/or the flight speed of the aircraft 101, thereby avoiding collision between the aircraft and the building.
Optionally, in some embodiments, the flight control system further includes a second aircraft, such as aircraft 104 shown in fig. 1, that is communicatively coupled to the plurality of positioning base stations and the first aircraft, respectively.
In one embodiment of the present application, the second aircraft is configured to transmit a second signal to the first aircraft, the second signal being indicative of a spatial location of the second aircraft. Correspondingly, the first aircraft is used for receiving the second signal and adjusting the flight state of the first aircraft according to the spatial position of the second aircraft and the spatial position of the first aircraft, which are indicated by the second signal.
Illustratively, the aircraft 101 shown in fig. 1 receives a communication signal sent by the aircraft 104, obtains a spatial position of the aircraft 104, and adjusts the flight attitude and/or the flight speed of the aircraft 101 according to the spatial position of the aircraft 101 and the spatial position of the aircraft 102, so as to avoid collision between the aircraft.
The aircraft of this application embodiment can be unmanned aerial vehicle, can also be other low-altitude aircraft, does not do any restriction to this application embodiment. For convenience of description, the following embodiments are illustrated by taking the drone as an example.
Based on the above system architecture, the control scheme of the aircraft of the present application is described in detail below with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flowchart of a control method of an aircraft according to an embodiment of the present application. The main body of the control method may be the first aircraft shown in fig. 1, and as shown in fig. 2, the aircraft control method provided in this embodiment includes the following steps:
The first signal of this embodiment may be a broadcast signal periodically transmitted by the positioning base station, or may be a feedback signal transmitted by the positioning base station in response to the sounding signal. Specifically, the first aircraft may acquire the first signal of the positioning base station in the following two ways.
In one possible embodiment, the first aircraft transmits probe signals in all directions in the space, which probe signals are used to probe the positioning base stations around the first aircraft. The first aircraft receives first signals returned by at least three positioning base stations, and the first signals are used for indicating the spatial position of each positioning base station. First signal
In one possible embodiment, the first aircraft receives first signals from at least three positioning base stations, the first signals being indicative of the spatial position of each positioning base station and the time at which the first signals were transmitted.
As can be seen from the above description, in the first embodiment, the first aircraft actively transmits the probe signal and receives the feedback signal of the positioning base stations around the first aircraft, so as to obtain the spatial positions of the positioning base stations around the first aircraft. In a second embodiment, the first aircraft directly receives a broadcast signal transmitted by a surrounding positioning base station, and the broadcast signal carries spatial position information of the positioning base station and a time for transmitting the broadcast signal.
In one embodiment of the present application, the first signal is a broadcast signal periodically transmitted by the positioning base stations, and the first signal is used for indicating the spatial position of each positioning base station and the time of transmitting the first signal. Specifically, the first aircraft determines the spatial position of the first aircraft by:
firstly, determining the transmission time of a first signal according to the time of transmitting the first signal by a positioning base station and the time of receiving the first signal by a first aircraft; determining the relative distance between the first aircraft and the positioning base station according to the transmission time and the signal transmission speed of the first signal; after the relative distances between the first aircraft and the at least three positioning base stations are determined, the spatial position of the first aircraft is determined according to the relative distances between the first aircraft and the at least three positioning base stations and the spatial position of each positioning base station.
In one embodiment of the present application, the first signal is a feedback signal sent by the positioning base station in response to the sounding signal, and the first signal is used for indicating the spatial position of each positioning base station. Specifically, the first aircraft determines the spatial position of the first aircraft by:
firstly, determining the relative distance between a first aircraft and a positioning base station according to the time of the first aircraft for transmitting a detection signal, the time of receiving a first signal (namely a feedback signal) returned by the positioning base station and the signal transmission speed; after the relative distances between the first aircraft and the at least three positioning base stations are determined, the spatial position of the first aircraft is determined according to the relative distances between the first aircraft and the at least three positioning base stations and the spatial position of each positioning base station.
In this embodiment, UWB technology may be used for signal transmission between the first aircraft and the positioning base station, so that the signal transmission speed is a known quantity, and the transmission speed of the UWB signal is 500 Mbps.
For example, fig. 3 is a schematic diagram of the spatial position of the drone provided in the embodiment of the present application, as shown in fig. 3, three UWB positioning base stations are a, B, and C, respectively, the spatial position of each UWB positioning base station is fixed, and can be determined through a pre-test, and a determined accurate GPS position can be preset in each UWB positioning base station, so that each UWB positioning base station carries its GPS position when sending a broadcast signal. The spatial positions of the three UWB positioning base stations may be denoted as a (X1, Y1, Z1), B (X2, Y2, Z2), C (X3, Y3, Z3), respectively. Assuming that the spatial coordinates of the UWB positioning tag on the drone are set to D (X, Y, Z), the distance value of each UWB positioning base station from the drone can be determined by the following formula:
in addition, the unmanned aerial vehicle can determine the distance value between each UWB positioning base station and the unmanned aerial vehicle according to the time of sending the detection signal, the time of receiving the first signal and the signal transmission speed. Or the unmanned aerial vehicle analyzes the first signal to obtain the time of the UWB positioning base station for transmitting the first signal, and the distance value between each UWB positioning base station and the unmanned aerial vehicle can be determined according to the time of receiving the first signal, the time of the UWB positioning base station for transmitting the first signal, and the signal transmission speed. Therefore, the distance values between the three UWB positioning base stations and the drone in fig. 3 are known quantities, which are respectively denoted as S1, S2, and S3.
The space coordinates of the unmanned aerial vehicle can be solved through the following three formulas:
and step 203, adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
In one embodiment of the application, the first aircraft determines environmental information around the first aircraft according to the first signals of the positioning base stations at different positions and the spatial position of the first aircraft; and adjusting the flight state of the first aircraft according to the spatial position and the environmental information of the first aircraft.
It can be understood that after the first aircraft acquires the first signals of the plurality of positioning base stations at different positions, the spatial positions of the plurality of positioning base stations can be determined through the scheme provided by the above embodiment, and the contour information of buildings and the like around the first aircraft can be depicted through the spatial positions of the plurality of positioning base stations, so that the environmental information around the first aircraft can be acquired. According to the spatial position of the first aircraft in the environment, the distance between the first aircraft and the surrounding building can be determined, and if the distance is smaller than a preset first threshold value, the first aircraft can adjust the flight attitude and/or the flight speed of the first aircraft in time, so that the first aircraft is prevented from colliding with the surrounding building.
According to the aircraft control method provided by the embodiment of the application, the first signals of the positioning base stations arranged on the ground or at different positions of the low altitude are obtained, the spatial position of the first aircraft is determined according to the first signals of the positioning base stations at different positions, and the flight state of the first aircraft is adjusted according to the spatial position of the first aircraft. Wherein the number of positioning base stations is at least three. The control method can be applied to building areas in low-altitude cities, avoids collision accidents of aircrafts caused by weak GPS signals, and improves the control precision of low-altitude aircrafts.
The above embodiments show the interaction process between the aircraft and a plurality of positioning base stations arranged at fixed positions of urban buildings, the signal processing process of the aircraft, and the flight control strategy. In consideration of practical application scenarios, besides fixed obstacles such as urban buildings, other mobile obstacles such as other unmanned aerial vehicles may exist during low-altitude flight. Therefore, it is necessary to perform reasonable flight control on the flight process of the complex scene, so as to further improve the flight safety of the aircraft.
Fig. 4 is a schematic flowchart of a control method for an aircraft according to an embodiment of the present application, where based on the steps of the method shown in fig. 1, the control method according to the embodiment further includes the following steps:
step 301 receives a second signal from a second aircraft, the second signal indicating a spatial position of the second aircraft.
In this embodiment, the first aircraft and the second aircraft perform signal communication through a pre-agreed communication protocol, and the communication protocol is not limited in this embodiment.
The first aircraft receives a second signal from the second aircraft, and the second signal can be regarded as a broadcast signal sent by the second aircraft and used for broadcasting the real-time spatial position of the second aircraft, and all the aircraft within a preset range around the second aircraft can receive the second signal.
Similarly, the first aircraft determines its spatial position by using the solution of the above embodiment, and may also send a signal to other surrounding aircraft in a broadcast manner to indicate its real-time spatial position.
After the first aircraft analyzes the second signal, the spatial position of the second aircraft is obtained, the distance value between the two aircraft can be determined according to the spatial positions of the first aircraft and the second aircraft, and if the distance value is smaller than a preset second threshold value, the first aircraft needs to adjust the flight attitude and/or the flight speed of the first aircraft in time so as to avoid collision between the aircraft.
According to the aircraft control method provided by the embodiment of the application, the position relation between the first aircraft and other aircraft is monitored while the position relation between the first aircraft and urban buildings is monitored. The method comprises the steps of determining the distance between a first aircraft and other aircraft by receiving broadcast signals sent by other aircraft around the first aircraft, and if the distance is smaller than a preset distance threshold value, adjusting the flight attitude and/or the flight speed of the first aircraft in time to avoid collision between the aircraft and improve the control precision of the aircraft.
On the basis of the above embodiments, optionally, in some embodiments, the positioning problem of the unmanned aerial vehicle flying at low altitude in the city can be solved by combining the GPS positioning technology and the UWB positioning technology. Specifically, when the aircraft detects that the GPS signal is weak or no GPS signal, the GPS positioning is switched to UWB positioning, and the spatial position and the surrounding environment of the aircraft are determined through data communication with a plurality of UWB positioning base stations at fixed positions and other aircraft, so that the flight state of the aircraft can be accurately controlled. When the aircraft detects the GPS signal recovery, the UWB positioning is switched to the GPS positioning, and the spatial position and the surrounding environment of the aircraft are determined through data communication with a plurality of satellites and other aircraft, so that the flight state of the aircraft can be accurately controlled.
In the embodiment of the present application, the control device may be divided into functional modules according to the method embodiment, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a form of hardware or a form of a software functional module. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation. The following description will be given by taking an example in which each functional module is divided by using a corresponding function.
Fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present application. As shown in fig. 5, the control device 400 provided in this embodiment includes:
an obtaining module 401, configured to obtain first signals of positioning base stations disposed on the ground or in different low altitudes;
a positioning module 402, configured to determine a spatial position of the first aircraft according to first signals of positioning base stations at different positions;
a control module 403, configured to adjust a flight status of the first aircraft according to the spatial position of the first aircraft.
Fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present application, and based on the device shown in fig. 5, as shown in fig. 6, the control device 400 according to the embodiment further includes: a sending module 404 and a receiving module 405.
A sending module 404, configured to send a probe signal to each direction in a space, where the probe signal is used to probe a positioning base station around the first aircraft;
a receiving module 405, configured to receive a first signal returned by at least three positioning base stations, where the first signal is used to indicate a spatial position of each positioning base station.
In an embodiment of the present application, the receiving module 405 is further configured to receive a first signal from at least three positioning base stations, where the first signal is used to indicate a spatial location of each of the positioning base stations and a time when the first signal is transmitted.
In an embodiment of the present application, the positioning module 402 is specifically configured to:
determining distances of the first aircraft from at least three positioning base stations;
and determining the spatial position of the first aircraft according to the spatial positions in the first signals of the at least three positioning base stations and the distances between the first aircraft and the at least three positioning base stations.
In an embodiment of the present application, the control module 403 is specifically configured to:
determining environmental information around the first aircraft according to first signals of positioning base stations at different positions and the spatial position of the first aircraft;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft and the environmental information.
In one embodiment of the present application, the receiving module 405 is further configured to receive a second signal from a second aircraft, the second signal being indicative of a spatial location of the second aircraft;
the control module 403 is specifically configured to adjust a flight state of the first aircraft according to spatial positions of the first aircraft and the second aircraft.
The control device provided in this embodiment may implement the technical solutions of any of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
In practical application, can be integrated on aircrafts such as unmanned aerial vehicle with above-mentioned controlling means, realize the accurate flight control to unmanned aerial vehicle.
Fig. 7 is a hardware structure diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 7, an electronic device 500 according to the embodiment includes:
a memory 501;
a processor 502; and
a computer program;
the computer program is stored in the memory 501 and configured to be executed by the processor 502 to implement the technical solution of any one of the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
Optionally, the memory 501 may be separate or integrated with the processor 502. When the memory 501 is a separate device from the processor 502, the electronic device 500 further comprises: a bus 503 for connecting the memory 501 and the processor 502.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor 502 to implement the steps of any one of the above method embodiments.
Embodiments of the present application further provide a computer program product, which includes a computer program, and when being executed by a processor, the computer program implements the steps of any one of the above method embodiments.
An embodiment of the present application further provides a chip, including: the system comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the technical scheme of the method embodiment.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art 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; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.
Claims (12)
1. A flight control system, comprising: the system comprises a first aircraft flying at low altitude and a plurality of positioning base stations arranged on the ground or at different positions of the low altitude, wherein the first aircraft is in communication connection with the plurality of positioning base stations;
the first aircraft is configured to:
acquiring first signals of positioning base stations at different positions;
determining the spatial position of a first aircraft according to first signals of positioning base stations at different positions;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
2. The system of claim 1, further comprising: a second aircraft flying at low altitude, wherein the second aircraft is respectively in communication connection with the plurality of positioning base stations and the first aircraft;
the second aircraft is configured to transmit a second signal to the first aircraft, the second signal being indicative of a spatial location of the second aircraft;
the first aircraft is further used for receiving the second signal and adjusting the flight state of the first aircraft according to the spatial position of the second aircraft and the spatial position of the first aircraft, which are indicated by the second signal.
3. A control method for an aircraft, applied to a first aircraft in the flight control system according to claim 1 or 2, the control method comprising:
acquiring first signals of positioning base stations arranged on the ground or at different positions of a low altitude;
determining the spatial position of the first aircraft according to the first signals of the positioning base stations at different positions;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
4. The method of claim 3, wherein the obtaining the first signal of the positioning base station disposed at different positions on the ground or in the low altitude comprises:
sending detection signals to all directions in space, wherein the detection signals are used for detecting positioning base stations around the first aircraft;
and receiving first signals returned by at least three positioning base stations, wherein the first signals are used for indicating the spatial position of each positioning base station.
5. The method of claim 3, wherein the obtaining the first signal of the positioning base station disposed at different positions on the ground or in the low altitude comprises:
receiving first signals from at least three positioning base stations, the first signals being used for indicating the spatial position of each positioning base station and the time of transmitting the first signals.
6. The method according to any one of claims 3-5, wherein determining the spatial position of the first aircraft based on the first signals of the positioning base stations at different locations comprises:
determining distances of the first aircraft from at least three positioning base stations;
and determining the spatial position of the first aircraft according to the spatial positions in the first signals of the at least three positioning base stations and the distances between the first aircraft and the at least three positioning base stations.
7. The method of any of claims 3-5, wherein the adjusting the flight status of the first aircraft as a function of the spatial location of the first aircraft comprises:
determining environmental information around the first aircraft according to first signals of positioning base stations at different positions and the spatial position of the first aircraft;
and adjusting the flight state of the first aircraft according to the spatial position of the first aircraft and the environmental information.
8. The method according to any one of claims 3-5, further comprising:
receiving a second signal from a second aircraft, the second signal indicating a spatial location of the second aircraft;
and adjusting the flight state of the first aircraft according to the spatial positions of the first aircraft and the second aircraft.
9. A control device for an aircraft, comprising:
the acquisition module is used for acquiring first signals of positioning base stations arranged on the ground or at different positions of a low altitude;
the positioning module is used for determining the spatial position of the first aircraft according to first signals of positioning base stations at different positions;
and the control module is used for adjusting the flight state of the first aircraft according to the spatial position of the first aircraft.
10. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 3 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which computer program is executed by a processor to implement the method according to any one of claims 3 to 8.
12. A computer program product comprising a computer program, characterized in that the computer program realizes the method of any of claims 3 to 8 when executed by a processor.
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