CN113238580B - Method and system for switching static placement deviation and dynamic flight deviation of unmanned aerial vehicle - Google Patents
Method and system for switching static placement deviation and dynamic flight deviation of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a method and a system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle, wherein the method for switching the static placement deviation and the dynamic flight deviation of the unmanned aerial vehicle comprises the following steps: receiving a deviation acquisition instruction; confirming the current state of the airplane by judging the locking and unlocking states of the individual motors of the current airplane; and displaying the deviation of the ground station. The method for switching the static placing deviation and the dynamic flying deviation of the formation airplane realizes the switching of the static deviation and the dynamic deviation calculation of the airplane by using different deviation calculation methods corresponding to static placing marks and dynamic switching marks; the current position of the airplane is judged by judging the locking and unlocking states of the airplane motor, and then corresponding deviation calculation switching is carried out, so that the returned ground station deviation data is real and reliable, the problem of abnormal ground station display deviation caused by disordered return of the deviation data is perfectly solved, the judgment feeling in the operation process is greatly improved, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a static placement deviation and dynamic flight deviation switching method and system for an unmanned aerial vehicle.
Background
At present, in the flight process of formation aircrafts, the ground station interface displays the aircraft deviation, so that great convenience is provided for operators, the takeoff position of each aircraft and the deviation in the flight process can be conveniently confirmed, and whether the flight position of the aircraft is abnormal or not can be conveniently confirmed.
The display deviation of the ground station interface is displayed by reporting the individual plane cluster plane in real time, the deviation of the plane is divided into dynamic deviation and static deviation, and the dynamic deviation is obtained by calculating the xyz axis deviation of the expected position and the actual position of the plane when the plane flies; the static deviation is obtained by the deviation between the takeoff position of the airplane and the actual placing position xyz of the airplane. The aircraft is in different states and different deviation calculation methods are used.
The prior art has the problems that the use scenes of two deviation methods cannot be well distinguished, and the phenomenon is that the displayed deviation is greatly different from the actual deviation when the airplane is on the ground or in a flying state. Meanwhile, static deviation and dynamic deviation are mixed together, when the formation aircraft stands on the ground, the placement deviation of the current individual aircraft is displayed, when the flight starts, the calculation method of the placement deviation is not switched to the calculation of the dynamic flight deviation in time, so that the deviation information returned to the ground station is abnormal, the deviation display of the aircraft group of the ground station is abnormal, and misunderstanding is brought to operators.
In the formation flight of unmanned aerial vehicles, the problems of inaccurate display and unreliable calculation method exist in the static deviation and flight deviation feedback of the cluster aircraft, so that the deviation of the local coordinate system seen when the aircraft returns the deviation data displayed by the ground station is abnormal, great misunderstanding is brought to operators, and operation is seriously hindered. Therefore, it is a problem to be solved in the art to design a method for switching display of static placement deviation and dynamic flight deviation of a formation airplane.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) The prior art cannot well distinguish the use scenes of the two deviation methods, and the phenomenon is that the displayed deviation is greatly different from the actual deviation sometimes when the airplane is on the ground or in a flying state.
(2) In the prior art, static deviation and dynamic deviation are mixed together, when a formation airplane stands on the ground, the placing deviation of the current airplane individual is displayed, when the formation airplane starts flying, the placing deviation calculation method is not switched to the dynamic flying deviation calculation in time, so that deviation information returned to a ground station is abnormal, the ground station airplane group airplane deviation display is abnormal, and misunderstanding is brought to operators.
(3) In the formation flight of unmanned aerial vehicles, the problems of inaccurate display and unreliable calculation method exist in the static deviation and flight deviation feedback of the cluster aircraft, so that when the aircraft returns the deviation data displayed by the ground station, the local coordinate system deviation is abnormal, great misunderstanding is brought to operators, and operation is seriously hindered.
The significance of solving the problems and the defects is as follows:
the misunderstanding of operation operators caused by the deviation of the ground station display cluster is reduced, the operation efficiency is improved, and the use convenience is improved. The problem that the airplane refuses to fly when the deviation is displayed abnormally due to the influence of the deviation feedback abnormity on the flight mission is solved, and the airplane group is controlled to fly better by distinguishing the dynamic deviation from the static deviation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle.
The invention is realized in this way, and a method for switching the static placing deviation and the dynamic flying deviation of the unmanned aerial vehicle comprises the following steps:
receiving a deviation acquisition instruction;
determining the current state of the airplane by judging the current locking and unlocking state of the individual motors of the airplane;
and step three, displaying the deviation of the ground station.
Further, in the second step, the determining the current state of the aircraft by judging the current locking and unlocking state of the individual motors of the aircraft comprises:
if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method;
if the motor of the airplane rotates at present and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method.
Further, according to the switching method of the static placing deviation and the dynamic flying deviation of the unmanned aerial vehicle, the deviation type of the unmanned aerial vehicle is divided into a static deviation and a dynamic deviation, the variable focused by the lock during deviation calculation comprises the deviation type and the current aircraft locking and unlocking state value, and the implementation method comprises the following steps:
deviation type enumeration: {
Rest deviation =0;
dynamic bias =1;
}；
the deviation calculation method comprises the following control structures: {
A type of deviation;
the current locking and unlocking state of the airplane;
}。
another object of the present invention is to provide a system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle, which applies the method for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle, and the system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle comprises:
the instruction receiving module is used for receiving a deviation acquiring instruction;
the airplane state confirmation module is used for confirming the current state of the airplane by judging the current state of locking and unlocking the individual motors of the airplane;
and the deviation display module is used for displaying the deviation of the ground station.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
receiving a deviation acquisition instruction; confirming the current state of the airplane by judging the current locking and unlocking state of the individual motor of the airplane; if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method; if the current airplane motor rotates and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method; and displaying the deviation of the ground station.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
receiving a deviation acquisition instruction; confirming the current state of the airplane by judging the locking and unlocking states of the individual motors of the current airplane; if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method; if the current airplane motor rotates and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method; and displaying the deviation of the ground station.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to apply the drone static placement deviation and dynamic flight deviation switching system when executed on an electronic device.
Another object of the present invention is to provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to apply the system for switching the static placement deviation and the dynamic flight deviation of a drone.
The invention also aims to provide an information data processing terminal, which is used for realizing the switching system of the static placing deviation and the dynamic flying deviation of the unmanned aerial vehicle.
The invention also aims to provide an application of the static placement deviation and dynamic flight deviation switching system for the unmanned aerial vehicles in formation flight of the unmanned aerial vehicles.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the switching method of the static placement deviation and the dynamic flight deviation of the unmanned aerial vehicle, the static deviation calculation and the dynamic deviation calculation are accurately switched by determining the airplane deviation calculation method through judging the locking and unlocking state of the airplane.
The invention realizes the switching of static deviation calculation and dynamic deviation calculation of the airplane by using different deviation calculation methods corresponding to static and dynamic switching marks, and obtains the technical effect that a normal and stable deviation record is reported by a formation airplane cluster for a ground station.
According to the method for switching the static placement deviation and the dynamic flight deviation of the formation airplane, the current position of the airplane is judged by judging the locking and unlocking states of the airplane motor, and then corresponding deviation calculation switching is carried out, so that the return of the deviation data of the ground station is real and reliable, the problem of abnormal display deviation of the ground station caused by disorder of the return of the deviation data is perfectly solved, the judgment feeling in the operation process is greatly improved, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for switching a static placement deviation and a dynamic flight deviation of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for switching a static placement deviation and a dynamic flight deviation of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 3 is a block diagram of a system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle according to an embodiment of the present invention;
as shown in fig. 4, it can be seen from the log data record that the motor locking and unlocking state completely matches the display of the deviation state, and perfectly and correctly displays the deviation calculation mode which should be existed currently.
In the figure: 1. an instruction receiving module; 2. an aircraft state confirmation module; 3. and a deviation display module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method and a system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for switching the static placement deviation and the dynamic flight deviation of the unmanned aerial vehicle provided by the embodiment of the invention includes the following steps:
s101, receiving a deviation acquisition instruction;
s102, confirming the current state of the airplane by judging the current locking and unlocking state of the individual motor of the airplane;
and S103, displaying the deviation of the ground station.
A schematic diagram of a method for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle provided by the embodiment of the invention is shown in fig. 2.
As shown in fig. 3, the system for switching static placement deviation and dynamic flight deviation of an unmanned aerial vehicle according to the embodiment of the present invention includes:
the instruction receiving module 1 is used for receiving a deviation obtaining instruction;
the airplane state confirmation module 2 is used for confirming the current state of the airplane by judging the locking and unlocking states of the individual motors of the current airplane;
and the deviation display module 3 is used for displaying the deviation of the ground station.
The technical solution of the present invention will be further described with reference to the following examples.
According to the scheme, the method for switching the static placing deviation and the dynamic flying deviation of the formation airplane is designed, so that the static placing deviation and the dynamic flying deviation are correctly returned to the ground station and displayed on a PC interface, and the user experience of operators is improved.
Deviation type enumeration: {
Rest deviation =0;
dynamic bias =1;
}；
the deviation calculation method has a control structure that: {
A type of deviation;
the current locking and unlocking state of the airplane;
}；
deviation calculation switching processing: and confirming the current state of the airplane by judging the locking and unlocking states of the individual motors of the current airplane. If the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and a static deviation calculation method is used for the deviation calculation method;
if the motor of the current airplane rotates and the airplane is in an unlocked state, the airplane is in a flying state at present, and a dynamic deviation calculation method is adopted in the deviation calculation method;
the flow chart is shown in fig. 2.
The method for switching the static placement deviation and the dynamic flight deviation of the formation airplane provided by the embodiment of the invention confirms the airplane deviation calculation method by judging the locking and unlocking states of the airplane, and realizes accurate switching of static deviation calculation and dynamic deviation calculation.
According to the method for switching the static placement deviation and the dynamic flight deviation of the formation airplane, the current position of the airplane is judged by judging the locking and unlocking states of the motor of the airplane, and then corresponding deviation calculation switching is carried out, so that the returned ground station deviation data is real and reliable, the problem of abnormal ground station display deviation caused by the disordered returned deviation data is perfectly solved, the judgment feeling in the operation process is greatly improved, and the operation efficiency is improved.
As shown in fig. 4, it can be seen from the log data record that the motor locking and unlocking state completely matches the display of the deviation state, and perfectly and correctly displays the current deviation calculation mode.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the embodiments of the present invention, and the scope of the present invention should not be limited thereto, and any modifications, equivalents and improvements made by those skilled in the art within the technical scope of the present invention as disclosed in the present invention should be covered by the scope of the present invention.
Claims (9)
1. A static placing deviation and dynamic flying deviation switching method for an unmanned aerial vehicle is characterized by comprising the following steps:
step one, receiving a deviation acquisition instruction;
determining the current state of the airplane by judging the current locking and unlocking state of the individual motors of the airplane;
step three, displaying the deviation of the ground station;
in the second step, the determining the current state of the airplane by judging the current locking and unlocking state of the individual motors of the airplane comprises the following steps:
if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method;
if the motor of the airplane rotates at present and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method.
2. The method for switching the static placement deviation and the dynamic flight deviation of the unmanned aerial vehicle according to claim 1, wherein the types of the deviation of the unmanned aerial vehicle are static deviation and dynamic deviation, and the variables concerned by locking in the deviation calculation include the type of the deviation and the current aircraft locking and unlocking state value.
3. An unmanned aerial vehicle static placement deviation and dynamic flight deviation switching system applying the unmanned aerial vehicle static placement deviation and dynamic flight deviation switching method of any one of claims 1~2, the unmanned aerial vehicle static placement deviation and dynamic flight deviation switching system comprising:
the instruction receiving module is used for receiving a deviation acquiring instruction;
the airplane state confirmation module is used for confirming the current state of the airplane by judging the current state of locking and unlocking the individual motors of the airplane; if the motor of the airplane does not rotate at present and the airplane is in a locking state, the airplane is on the ground at present, and the static deviation calculation method is used in the deviation calculation method;
if the motor of the airplane rotates at present and the airplane is in an unlocking state, the airplane is in a flying state at present, and a dynamic deviation calculation method is adopted in a deviation calculation method;
and the deviation display module is used for displaying the deviation of the ground station.
4. Use of the system of claim 3 in unmanned aerial vehicle static placement deviation and dynamic flight deviation switching in formation flight.
5. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
receiving a deviation acquisition instruction; confirming the current state of the airplane by judging the current locking and unlocking state of the individual motor of the airplane; if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method; if the current airplane motor rotates and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method; and displaying the deviation of the ground station.
6. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
receiving a deviation acquisition instruction; confirming the current state of the airplane by judging the current locking and unlocking state of the individual motor of the airplane; if the motor of the airplane does not rotate at present and the airplane is in a locked state, the airplane is on the ground at present, and the deviation calculation method uses a static deviation calculation method; if the current airplane motor rotates and the airplane is in an unlocked state, the airplane is in a flying state at present, and the deviation calculation method adopts a dynamic deviation calculation method; and displaying the deviation of the ground station.
7. A computer program product stored on a computer readable medium, comprising a computer readable program that, when executed on an electronic device, provides a user input interface to apply the drone static placement bias and dynamic flight bias switching system of claim 3.
8. A computer readable storage medium storing instructions that, when executed on a computer, cause the computer to apply the drone static placement bias and dynamic flight bias switching system of claim 3.
9. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the unmanned aerial vehicle static placement deviation and dynamic flight deviation switching system according to claim 3.
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