CN113296532A - Flight control method and device of manned aircraft and manned aircraft - Google Patents
Flight control method and device of manned aircraft and manned aircraft Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The embodiment of the invention provides a flight control method and a flight control device of a manned aircraft and the manned aircraft, wherein the method comprises the following steps: respectively calculating flight state data of the manned aircraft by adopting sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups; identifying the sensor group in a normal state according to the flight state data of all the sensor groups; and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state. Can be at least two it is right to select the flight state data that the sensor group that is in normal condition corresponds among the sensor group manned vehicle carries out flight control, makes manned vehicle can use the flight state data of redundancy right manned vehicle controls, avoids better the error appears in the sensor group, influences manned vehicle normal operating's the condition improves manned vehicle's security effectively.
Description
Technical Field
The invention relates to the technical field of manned aircrafts, in particular to a flight control method of a manned aircraft, a flight control device of the manned aircraft and the manned aircraft.
Background
In the prior art, a group of sensors is usually required to be carried on an unmanned aerial vehicle in a flying process, and the unmanned aerial vehicle is controlled based on data of the sensors, so that the unmanned aerial vehicle can fly according to requirements of users. However, for the manned vehicle, the manned vehicle needs to maintain high safety during the flight process, so as to ensure the safety of passengers. The flight control mode of the existing unmanned aerial vehicle cannot meet the safety requirement of the manned aerial vehicle.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a flight control method for a manned aircraft, a flight control device for a manned aircraft, and a manned aircraft that overcome or at least partially solve the above-mentioned problems.
In order to solve the above problems, an embodiment of the present invention discloses a flight control method for a manned aircraft, where the manned aircraft includes at least two sensor groups, and the method includes:
respectively calculating flight state data of the manned aircraft by adopting sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups;
identifying the sensor group in a normal state according to the flight state data of all the sensor groups;
and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state.
Optionally, the step of respectively calculating the flight state data of the manned aircraft by using the sensing data collected by the sensor groups to obtain the flight state data corresponding to each group of sensor groups includes:
respectively carrying out combined navigation calculation on the sensing data acquired by the sensor group according to at least two types of sensing data acquired by the sensor group to obtain flight state data corresponding to each group of sensor groups
Optionally, the identifying the sensor group in the normal state according to the flight state data of all the sensor groups includes:
carrying out variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
and comparing each variance value with a preset variance threshold, and if a preset condition is met, determining that the state of the sensor group corresponding to the variance value is normal.
Optionally, the step of controlling the manned vehicle to fly by using the flight state data corresponding to the sensor group in the normal state includes:
and controlling the manned aircraft to fly by adopting flight state data corresponding to the sensor group with the highest preset priority level in the sensor group in a normal state according to the preset priority level of the sensor group.
The embodiment of the invention also discloses a flight control device of the manned aircraft, the manned aircraft comprises at least two sensor groups, and the device comprises:
the calculation module is used for calculating the flight state data of the manned aircraft respectively by adopting the sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups;
the identification module is used for identifying the sensor group in a normal state according to the flight state data of all the sensor groups;
and the control module is used for controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state.
Optionally, the calculation module comprises:
and the calculation sub-module is used for respectively carrying out combined navigation calculation on the sensing data acquired by the sensor groups according to the at least two types of sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups.
Optionally, the identification module comprises:
the variance calculation submodule is used for carrying out variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
and the identification submodule is used for comparing each variance value with a preset variance threshold value, and if a preset condition is met, the state of the sensor group corresponding to the variance value is considered to be normal.
Optionally, the control module comprises:
and the control sub-module is used for controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group with the highest preset priority in the sensor group in a normal state according to the preset priority of the sensor group.
The embodiment of the invention also discloses a manned aircraft, which comprises:
a plurality of sensor groups and a flight control unit;
the flight control unit is configured to perform one or more of the methods of embodiments of the invention.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described in embodiments of the invention.
The embodiment of the invention has the following advantages:
respectively calculating flight state data of the manned aircraft by adopting sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups; identifying the sensor group in a normal state according to the flight state data of all the sensor groups; and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state. Therefore, the flying state data corresponding to the sensor group in the normal state can be selected from at least two sensor groups to be right for the manned vehicle to carry out flying control, so that the manned vehicle can use redundant flying state data to control the manned vehicle, errors of the sensor groups are better avoided, the influence on the normal operation condition of the manned vehicle is influenced, and the safety of the manned vehicle is effectively improved.
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FIG. 1 is a flow chart illustrating steps of an embodiment of a method for controlling the flight of a manned aircraft in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps in an alternate embodiment of a method for flight control of a manned aircraft in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of steps of a method of sensor identification according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the steps of a flight control for a manned vehicle in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps in another embodiment of a manned aircraft flight control;
fig. 6 is a block diagram of an embodiment of a flight control device of a manned aircraft according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
According to the embodiment of the invention, the flight state data of the manned aircraft are respectively calculated by adopting the sensing data acquired by the sensor groups, so that the flight state data corresponding to each group of sensor groups is obtained. And then, identifying the sensor group in a normal state according to the flight state data of all the sensor groups, and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in the normal state. Therefore, the situation that the normal operation of the manned aircraft is influenced due to errors of the sensor group can be well avoided, and the safety of the manned aircraft is effectively improved.
Referring to FIG. 1, a flow chart of steps of an embodiment of a method of flight control for a manned aircraft, which may include at least two sensor groups, is shown in accordance with an embodiment of the present invention. The method may specifically comprise the steps of:
in an embodiment of the invention, the manned vehicle may have at least two sensor groups therein. Each of the sensor groups may include a plurality of different types of sensors. Therefore, the manned vehicle can know the current flight state of the manned vehicle based on the sensing data acquired by the sensor group.
In particular, the sensors may be used to collect relevant data generated during operation of the manned vehicle. A sensor as used herein may refer to any object or device used to gather information about an environment. The sensors may be of various types (e.g., biological, optical, chemical, mechanical, etc.) and may detect and/or measure objects, events, stimuli, and conditions. Both living and inanimate objects may have various sensors for gathering information about the environment. For example, for humans, optical sensors (e.g., eyes) may be used to acquire up to 80% of the external sensory information. For imaging devices (e.g., cameras), optical sensors (e.g., CCD image sensors) may be used to capture the images. Optical sensors may also be referred to as image sensors.
Optionally, the sensor group may include an inertial measurement component such as an accelerometer, an angular velocity meter, and the like, a Positioning module such as a GPS (Global Positioning System) module, a galileo Positioning module, a glonass Positioning module, a beidou Positioning module, a quasi zenith Positioning module, and the like, and may further include a compass, a barometer, an optical sensor, an ultrasonic module, a laser radar, and the like.
In the embodiment of the present invention, the sensors included in each of the sensor groups may be the same. Therefore, the manned vehicle can adopt the sensing data collected by the sensor groups to respectively calculate the flight state data of the manned vehicle, and the flight state data corresponding to each group of sensor groups is obtained. Thereby obtaining the flight state data corresponding to at least two groups of the sensor groups.
The flight state data may include flight attitude data such as pitch angle, roll angle, yaw angle, and the like, flight velocity data such as velocity, acceleration, angular velocity, and the like, and flight position data, among others. According to the flight state data, the current flight state of the manned vehicle can be known clearly, so that the manned vehicle can be controlled in a flight mode.
in the embodiment of the invention, because the flight control of the manned vehicle is basically controlled based on the flight state data corresponding to the sensor group, the flight state data can obviously influence whether the manned vehicle can accurately carry out the flight control or not, and influence the safety of the manned vehicle. Therefore, it is necessary to ensure that the sensing data collected by the sensor group and the flight state data obtained based on the sensing data have high accuracy.
Therefore, after acquiring the flight state data corresponding to the sensor group, the sensor group in a normal state can be identified according to the flight state data of all the sensor groups. The flight state data corresponding to the sensor group in the normal state can be regarded as high in accuracy, and the manned vehicle can be controlled to fly based on the flight state data.
Specifically, after acquiring the flight state data corresponding to the sensor group, it may be determined whether the flight state data corresponding to the sensor group is stable, and if the flight state data is stable, it may be considered that the sensor group may stably provide the flight state data obtained based on the sensing data for the manned aircraft, and the sensor group is in a normal state. For example, it may be determined whether the flight status data is within a range of values. If the flight state data is within a numerical range, the flight state data can be considered to be stable, abnormal data does not appear in the flight state data, and the sensor group is in a normal state. For another example, the flight state data may be compared over a period of time, and if the flight state data is stably changed and there is no abnormal fluctuation, the flight state data may be considered to be stable, the flight state data has no abnormal data, and the sensor group is in a normal state.
103, controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in the normal state.
In the embodiment of the invention, after the sensor group in the normal state is determined, the flight state data corresponding to at least one sensor group in the normal state can be selected from the sensor group, and the manned aircraft can be controlled to fly. Therefore, the manned vehicle can be controlled by using reliable flight state data, and the manned vehicle is ensured to have higher safety.
According to the flight control method of the manned aircraft, the flight state data of the manned aircraft are respectively calculated by adopting the sensing data acquired by the sensor groups, and the flight state data corresponding to each group of sensor groups are obtained; identifying the sensor group in a normal state according to the flight state data of all the sensor groups; and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state. Therefore, the flying state data corresponding to the sensor group in the normal state can be selected from at least two sensor groups to be right for the manned vehicle to carry out flying control, so that the manned vehicle can use redundant flying state data to control the manned vehicle, errors of the sensor groups are better avoided, the influence on the normal operation condition of the manned vehicle is influenced, and the safety of the manned vehicle is effectively improved.
Referring to FIG. 2, a flow chart of steps of an embodiment of a method of flight control for a manned aircraft, which may include at least two sensor groups, is shown in accordance with an embodiment of the present invention. The method may specifically comprise the steps of:
in an embodiment of the invention, the manned vehicle may have at least two sensor groups therein. Each of the sensor groups may include a plurality of different types of sensors. The sensors included in each of the sensor groups may be identical.
The method comprises the steps of acquiring at least two types of sensing data collected by the sensor groups, and performing combined navigation calculation on the sensing data collected by the sensor groups respectively to obtain flight state data corresponding to each group of sensor groups. Thereby obtaining the flight state data corresponding to at least two groups of the sensor groups.
The flight state data may include flight attitude data such as pitch angle, roll angle, yaw angle, and the like, flight velocity data such as velocity, acceleration, angular velocity, and the like, and flight position data, among others. According to the flight state data, the current flight state of the manned vehicle can be known clearly, so that the manned vehicle can be controlled in a flight mode.
Specifically, the sensor group can collect various different types of sensing data, the manned vehicle can adopt a combined navigation mode, and the flight state data of the manned vehicle with higher accuracy is obtained through comprehensive calculation according to the various sensing data collected by the sensors. For example, accurate flight altitude data can be calculated by combining barometric pressure data collected by a barometer and position data collected by a GPS. For another example, a speed data may be determined based on a plurality of position data collected by the GPS module, another speed data may be determined based on an acceleration data collected by the accelerometer, and the direction data detected by the compass may be combined to obtain relatively accurate flight speed data.
in the embodiment of the invention, because the flight control of the manned vehicle is basically controlled based on the flight state data corresponding to the sensor group, the flight state data can obviously influence whether the manned vehicle can accurately carry out the flight control or not, and influence the safety of the manned vehicle. Therefore, it is necessary to ensure that the sensing data collected by the sensor group and the flight state data obtained based on the sensing data have high accuracy.
Therefore, after acquiring the flight state data corresponding to the sensor group, the sensor group in a normal state can be identified according to the flight state data of all the sensor groups. The flight state data corresponding to the sensor group in the normal state can be regarded as high in accuracy, and the manned vehicle can be controlled to fly based on the flight state data.
The step of identifying the sensor group in a normal state according to the flight state data of all the sensor groups includes:
s11, performing variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
in the embodiment of the invention, the sensor group can continuously collect the sensing data, so that the manned vehicle can continuously generate the flight state data by adopting the sensing data. Generally, if the sensor is in a normal state, the flight state data corresponding to the sensor group may be changed more stably within a preset time period. Therefore, variance calculation can be carried out on the flight state data acquired by the sensor group within a period of time, and the variance value of each flight state data is obtained.
Specifically, the average value of at least one flight state data corresponding to the sensor group in a period of time may be calculated first, and after the average value is calculated, the average value of the square of the difference between the flight state data and the average value may be calculated to obtain the variance value.
And S12, comparing each variance value with a preset variance threshold value, and if a preset condition is met, determining that the state of the sensor group corresponding to the variance value is normal.
In the embodiment of the invention, whether the flight state data of the sensor group in a period of time is concentrated in a certain data range is known in a mode of calculating the variance value so as to determine whether the flight state data is normal. If the flight state data is relatively concentrated in a certain data range, the flight state data is considered to have no abnormal data basically, and the flight state data is relatively concentrated, so that the flight state data is considered to be relatively stable, and the sensor group is in a normal state. If the flight state data is not relatively concentrated in a certain data range, but has a relatively obvious deviation, it can be considered that certain abnormal data may exist in the flight state data, so that the flight state data fluctuates, it can be considered that the flight state data is abnormal, and the sensor group is not in a normal state.
Thus, a variance threshold may be set to evaluate whether the flight status data is relatively concentrated and no anomalies are present. Each variance value may be compared with a preset variance threshold value, respectively, to determine whether the flight state data corresponding to the sensor group is stable. If the preset condition is met, the state of the sensor group corresponding to the variance value can be considered to be normal.
The preset condition may be that the variance value is greater than the variance threshold, the square of the variance value is greater than the variance threshold, and the like, which is not limited in the present invention.
And under the condition that the variance group of the flight state data meets the preset condition, the flight state data can be considered to be normal, and the state of the sensor group corresponding to the variance value is normal. And under the condition that the variance group of the flight state data does not meet the preset condition, the flight state data can be considered to be abnormal, and the state of the sensor group corresponding to the variance value is abnormal.
And 203, controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in the normal state.
In the embodiment of the invention, after the sensor group in the normal state is determined, the flight state data corresponding to at least one sensor group in the normal state can be selected from the sensor group, and the manned aircraft can be controlled to fly. Therefore, the manned vehicle can be controlled by using reliable flight state data, and the manned vehicle is ensured to have higher safety.
The step of adopting the flight state data corresponding to the sensor group in the normal state to control the flight of the manned aircraft comprises the following steps:
and S21, controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group with the highest preset priority in the sensor group in the normal state according to the preset priority of the sensor group.
In the embodiment of the present invention, the sensor group may be preset with a priority. The higher priority sensor group can be preferentially adopted to control the flight of the manned vehicle. Therefore, the flight state data corresponding to the sensor group with the highest preset priority in the sensor group in the normal state can be adopted to control the manned aircraft to fly according to the preset priority of the sensor group.
As an example of the present invention, if there are sensor groups a1, a2, and A3, the priorities of the sensor groups may be preset to a1 > a2 > A3. In this case, if the sensor group a1 is in a normal state, the flight state data corresponding to the sensor group a1 can be used to control the flight of the passenger vehicle. And if the sensor group A1 is not in a normal state, determining whether the sensor group A2 is in a normal state, and if the sensor group A2 is in a normal state, controlling the manned aircraft to fly by adopting the sensor group A2.
Therefore, under the condition that the sensor group with higher priority is in a normal state, the flying state data corresponding to the sensor group with higher priority can be continuously kept, the manned aircraft is controlled to carry out flying adjustment, and the influence of data errors possibly existing between the sensor groups on the normal operation of the manned unmanned aerial vehicle is avoided.
The step of adopting the flight state data corresponding to the sensor group in the normal state to control the flight of the manned aircraft comprises the following steps:
s31, if the current default sensor group is in a normal state, controlling the manned aircraft to carry out flight adjustment by adopting flight state data corresponding to the current default sensor group;
in an embodiment of the present invention, the manned vehicle may use one sensor group of at least two sensor groups as the current default sensor group. Under the condition that current acquiescent sensor group is in normal state, can continue to adopt current acquiescent the flight state data that sensor group corresponds control manned vehicle carries out the flight adjustment, avoids the data error that probably exists between the sensor group influences manned unmanned aerial vehicle normal operating.
S32, if the current default sensor group is not in a normal state, taking other sensor groups in normal states as a new current default sensor group, and controlling the manned vehicle to carry out flight adjustment by adopting the flight state data corresponding to the new current default sensor group.
In the embodiment of the present invention, if the currently default sensor group is not in the normal state, the sensor group cannot be used normally, and in order to ensure the safety of the manned aircraft, the currently default sensor group needs to be switched to another sensor group in the normal state. Therefore, other sensor groups in normal states can be used as new current default sensor groups, the new current default flight state data corresponding to the sensor groups are adopted to control the manned vehicle to carry out flight adjustment, and the manned vehicle can be ensured to adopt safe and stable data to control the manned vehicle to fly.
Specifically, the sensor group which is located behind the current default sensor group and is in the normal state may be sequentially searched according to a preset using sequence, and the sensor group is used as a new current default sensor group.
In the embodiment of the invention, the use sequence can be preset for the sensor group, so that the sensor group can be switched efficiently under the condition that the manned aircraft has a fault. Therefore, when the current default sensor group has a fault, the sensor group which is located behind the current default sensor group and is in a normal state can be sequentially searched according to a preset using sequence to serve as a new current default sensor group, and the switching of the current default sensor group is completed.
In a specific implementation, whether the sensor group located behind the currently-default sensor group is in a normal state or not may be sequentially searched according to a preset using sequence, the search may be completed when the sensor group in the normal state is searched, the sensor group in the normal state is used as a new currently-default sensor group, and then the manned aircraft may be controlled to perform flight adjustment by using flight state data corresponding to the new currently-default sensor group. Therefore, under the condition that the sensor group is abnormal, the switching of the current default sensor group can be completed quickly, the manned vehicle can use safe and stable flight state data as far as possible, and the manned vehicle is ensured to have higher flight stability.
According to the flight control method of the human aircraft, the combined navigation calculation is respectively carried out on the sensing data acquired by the sensor groups according to the at least two types of sensing data acquired by the sensor groups, and the flight state data corresponding to each group of sensor groups is obtained; identifying the sensor group in a normal state according to the flight state data of all the sensor groups; the adoption is in normal condition the flight state data that sensor group corresponds, control thereby manned vehicle flight can be at least two select the flight state data that sensor group that is in normal condition corresponds in the sensor group right manned vehicle carries out the flight adjustment, makes manned vehicle can use the flight state data of redundancy right manned vehicle controls, avoids betterly the error appears in sensor group, influences manned vehicle normal operating's the condition improves manned vehicle's security effectively.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a block diagram of a flight control apparatus of a manned vehicle according to an embodiment of the present invention is shown, where the manned vehicle includes at least two sensor groups, and the apparatus may specifically include the following modules:
the calculation module 601 is configured to calculate flight state data of the manned aircraft respectively by using sensing data acquired by the sensor groups to obtain flight state data corresponding to each group of sensor groups;
the identification module 602 is configured to identify the sensor group in a normal state according to the flight state data of all the sensor groups;
and the control module 603 is configured to control the manned aircraft to fly by using the flight state data corresponding to the sensor group in the normal state.
In one embodiment of the invention, the calculation module comprises:
and the calculation sub-module is used for respectively carrying out combined navigation calculation on the sensing data acquired by the sensor groups according to the at least two types of sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups.
In one embodiment of the invention, the identification module comprises:
the variance calculation submodule is used for carrying out variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
and the identification submodule is used for comparing each variance value with a preset variance threshold value, and if a preset condition is met, the state of the sensor group corresponding to the variance value is considered to be normal.
In one embodiment of the invention, the control module comprises:
and the control sub-module is used for controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group with the highest preset priority in the sensor group in a normal state according to the preset priority of the sensor group.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a manned aircraft, including:
a plurality of sensor groups and a flight control unit;
the flight control unit is configured to perform one or more of the methods of embodiments of the invention.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the methods described in embodiments of the invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The detailed description of the flight control method of the manned aircraft, the flight control device of the manned aircraft and the manned aircraft provided by the invention is provided, the specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A method of flight control for a manned vehicle, the manned vehicle including at least two sets of sensors, the method comprising:
respectively calculating flight state data of the manned aircraft by adopting sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups;
identifying the sensor group in a normal state according to the flight state data of all the sensor groups;
and controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state.
2. The method according to claim 1, wherein the step of calculating the flight status data of the manned aircraft respectively using the sensing data collected by the sensor groups to obtain the flight status data corresponding to each sensor group comprises:
and respectively carrying out combined navigation calculation on the sensing data acquired by the sensor groups according to at least two types of sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups.
3. The method of claim 1, wherein identifying the sensor group in a normal state from the flight status data of all sensor groups comprises:
carrying out variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
and comparing each variance value with a preset variance threshold, and if a preset condition is met, determining that the state of the sensor group corresponding to the variance value is normal.
4. The method according to claim 1, wherein the step of controlling the flight of the manned vehicle using the flight status data corresponding to the set of sensors in the normal state comprises:
and controlling the manned aircraft to fly by adopting flight state data corresponding to the sensor group with the highest preset priority level in the sensor group in a normal state according to the preset priority level of the sensor group.
5. A flight control device for a manned vehicle, the manned vehicle comprising at least two sets of sensors, the device comprising:
the calculation module is used for calculating the flight state data of the manned aircraft respectively by adopting the sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups;
the identification module is used for identifying the sensor group in a normal state according to the flight state data of all the sensor groups;
and the control module is used for controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group in a normal state.
6. The apparatus of claim 5, wherein the computing module comprises:
and the calculation sub-module is used for respectively carrying out combined navigation calculation on the sensing data acquired by the sensor groups according to the at least two types of sensing data acquired by the sensor groups to obtain the flight state data corresponding to each group of sensor groups.
7. The apparatus of claim 5, wherein the identification module comprises:
the variance calculation submodule is used for carrying out variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data;
and the identification submodule is used for comparing each variance value with a preset variance threshold value, and if a preset condition is met, the state of the sensor group corresponding to the variance value is considered to be normal.
8. The apparatus of claim 5, wherein the control module comprises:
and the control sub-module is used for controlling the manned aircraft to fly by adopting the flight state data corresponding to the sensor group with the highest preset priority in the sensor group in a normal state according to the preset priority of the sensor group.
9. A manned vehicle, comprising:
a plurality of sensor groups and a flight control unit;
the flight control unit is adapted to perform the method of one or more of claims 1-4.
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| CN202110548538.6A CN113296532A (en) | 2021-05-19 | 2021-05-19 | Flight control method and device of manned aircraft and manned aircraft |
| PCT/CN2021/127687 WO2022188433A1 (en) | 2021-03-10 | 2021-10-29 | Aircraft control device and method, and aircraft |
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