CN113325863A - Flight control method of cross-medium aircraft and related equipment - Google Patents
Flight control method of cross-medium aircraft and related equipment Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 64
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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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
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Abstract
The invention relates to a flight control method of a cross-medium aircraft and related equipment, which are used for controlling the cross-medium flight of the aircraft in different media; the flight control method comprises the following steps: acquiring position information of an aircraft from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft under the flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium to the second medium or from the second medium to the first medium according to the motion state, and controlling the aircraft to switch to the first motion state or the second motion state when the position information is less than or equal to a preset first specific distance or a preset second specific distance, so that the aircraft flies from the first medium to the second medium or from the second medium to the first medium in the first motion state. The method can be widely applied to the technical field of cross-medium aircraft control.
Description
Technical Field
The invention relates to the technical field of cross-medium aircraft control. More particularly, the present invention relates to a method of flight control for a cross-media aircraft and related apparatus.
Background
In the prior art, there are many problems in the control technology of crossing different media by a medium aircraft, for example, the media density of the air medium is different from that of water, so the motion performance of the aircraft in different media also shows difference, for example, the density of air is less than that of water, and the aircraft can adapt to air flight through the structure of a large rotor. The aircraft is in water, and the flying structure of the small rotor wing is used for adapting to the underwater submerging movement, and when the aircraft moves across a medium, the structures of the small rotor wing and the small rotor wing are in contradiction.
Therefore, it is necessary to design an aircraft capable of simultaneously adapting to the high-quality moving attitude after the mid-span medium in water and in air, and a good operation mode of the aircraft facing the medium in water and air, so as to better adapt to the prior technical requirements of the cross-medium flight.
Disclosure of Invention
The invention aims to provide a flight control method of a cross-medium aircraft and related equipment.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided in a first aspect a method of flight control for a cross-media aircraft and associated apparatus for controlling the cross-media flight of the aircraft in different media; the flight control method comprises the following steps:
acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium;
controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft under the condition that the aircraft executes flight control parameters of flying from the first medium into the second medium or flying from the second medium into the first medium;
and controlling the aircraft to fly from a first medium into the second medium or from the second medium into the first medium according to the motion state.
Preferably, the controlling the motion state of the aircraft according to the position information specifically includes:
when the position information is smaller than or equal to a preset first specific distance, controlling the aircraft to be switched to a first motion state, so that the aircraft flies into the second medium from the first medium in the first motion state;
or,
when the position information is smaller than or equal to a preset second specific distance, controlling the aircraft to switch to a second motion state, so that the aircraft flies into the first medium from the second medium in the second motion state.
Preferably, the first motion state comprises: and switching the aircraft from a first speed to a second speed, gradually slowing the aircraft within the first specific distance, and enabling the aircraft to enter a second medium from a first medium at the second speed.
Preferably, the second motion state comprises: and switching the aircraft from the third speed to the fourth speed, gradually slowing the aircraft within the second specific distance, and enabling the aircraft to enter a second medium from the first medium at the second speed.
Preferably, the first motion state includes that the aircraft keeps a first motion attitude when flying from a first medium into a second medium and contacts the second medium at the first motion attitude.
Preferably, the first motion attitude is that the aircraft always keeps horizontal flight with the first medium and the second medium critical plane when flying from the first medium to the second medium.
Preferably, the second motion state includes that the aircraft maintains a second motion attitude when flying from the second medium into the first medium, and passes the first medium through the second medium at the second motion attitude.
Preferably, the second motion attitude is that the aircraft inclines when flying from the second medium into the first medium, so that one propeller of the aircraft enters the second medium from the first medium first.
In a second aspect, the present invention provides a flight control device for a cross-media aircraft, for controlling the cross-media flight of the aircraft in different media; the flight control device includes: the acquiring unit is used for acquiring position information of the aircraft at a critical surface between the first medium and the second medium, and the first control unit is used for controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and the second control unit is used for controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state. The first control unit is further configured to: when the position information is smaller than or equal to a preset first specific distance, controlling the aircraft to be switched to a first motion state, so that the aircraft flies into the second medium from the first medium in the first motion state; or when the position information is smaller than or equal to a preset second specific distance, controlling the aircraft to switch to a second motion state, so that the aircraft flies into the first medium from the second medium in the second motion state.
In a third aspect, the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program stored in the memory: acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
The invention at least comprises the following beneficial effects:
1. the invention discloses a flight control method of a cross-medium aircraft, which is used for controlling the aircraft to cross-fly in different media, and comprises the following steps: acquiring position information of an aircraft from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft under the flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state, wherein the first medium comprises air, the second medium comprises water, and controlling the aircraft to enter the air from the water or enter the water from the air according to the position information of the aircraft in the process of crossing the medium so as to ensure the stable flight attitude of the aircraft in the process of crossing the medium.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for flight control of a cross-media aircraft according to an embodiment of the invention;
FIG. 2 is a block diagram of a flight control device of a cross-media aircraft according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer-readable medium according to an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, the flight control method of the cross-medium aircraft of the present invention is used for controlling the cross-medium flight of the aircraft in different mediums; the flight control method comprises the following steps: acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium; the first medium comprises air, the second medium comprises water, and the motion state of the aircraft is controlled according to the position information; the motion state is a flight state of the aircraft under the condition that the aircraft executes flight control parameters of flying from the first medium into the second medium or flying from the second medium into the first medium; and controlling the aircraft to fly from a first medium into the second medium or from the second medium into the first medium according to the motion state.
In the technical scheme, when the aircraft flies across media, the aircraft enters the air from the water or enters the water from the air, the motion state of the aircraft is controlled according to the position information of the water-air boundary, when the aircraft flies into the water from the air, a fixed first specific distance is preset, after the aircraft enters the first specific distance, the first motion state is executed, the first motion state comprises that the aircraft is switched from a first speed to a second speed, the speed of the aircraft is gradually reduced within the first specific distance, the aircraft enters the water from the air at the second speed, when the aircraft enters the water from the air, the flight speed of the aircraft is firstly reduced, the aircraft is kept parallel to the water surface, when the aircraft contacts the water surface, a certain pressure is caused by the water surface to the aircraft, so when the aircraft contacts the water surface, the flight speed of the aircraft is gradually increased on the basis of the second speed, until the aircraft enters the water from the air; when the aircraft enters the air from water, a second specific distance aircraft is preset to enter a second specific distance, and then a second motion state is executed, wherein the second motion state comprises that the aircraft is switched from a third speed to a fourth speed, so that the speed of the aircraft in the second specific distance is gradually reduced, the aircraft enters the air from water at the second speed, when the aircraft enters the air from water, the flight speed of the aircraft needs to be gradually increased, the aircraft breaks through a horizontal plane by means of inertia, the success rate of water outflow is increased, and the flight attitude of the aircraft is adjusted after the aircraft leaves the water, so that the aircraft is adapted to the flight attitude of an air medium.
In another technical scheme, the controlling the motion state of the aircraft according to the position information specifically comprises: when the position information is smaller than or equal to a preset first specific distance, controlling the aircraft to be switched to a first motion state, so that the aircraft flies into the second medium from the first medium in the first motion state; or when the position information is smaller than or equal to a preset second specific distance, controlling the aircraft to switch to a second motion state, so that the aircraft flies into the first medium from the second medium in the second motion state.
In the above technical solution, the preset first specific distance includes a distance from the first medium to a critical plane of the second medium, and the distance information includes a reaction distance for adjusting a flight attitude of the aircraft, where the aircraft is to be close to the critical plane; when the aircraft enters a first specific distance, the flying attitude is adjusted to be a first motion state, the first motion state comprises that the aircraft gradually reduces the flying speed, so that the speed of the aircraft is gradually reduced in the first specific distance, when the aircraft enters water from the air, the flying speed of the aircraft is firstly reduced, so that the aircraft is parallel to the water surface, when the aircraft contacts the water surface, a certain upward pressure is caused to the aircraft by the water surface, so that when the aircraft contacts the water surface, the flying speed of the aircraft is gradually increased on the basis of a second speed until the aircraft enters the water from the air, and the motion attitude of the aircraft is adjusted to be a motion state which is consistent all the time. The preset second specific distance comprises the distance from the second medium to the critical surface of the second medium, and the distance information comprises the reaction distance of the aircraft to approach the critical surface and used for adjusting the flight attitude of the aircraft; when the aircraft enters a second specific distance, the flight attitude is adjusted to be in a second motion state, and the second motion state comprises the following steps: the speed of the aircraft is gradually increased within the second specific distance, and the success rate of water outlet is improved through inertia.
In another aspect, the first motion state includes: switching the aircraft from a first speed to a second speed, gradually slowing the aircraft within the first specific distance, and causing the aerial vehicle to enter the second medium from the first medium at the second speed, and hovering the aerial vehicle over a surface of the second medium prior to entering the second medium to maintain the aerial vehicle level with the second medium, wherein, the second medium is water, when the aircraft enters the water from the air, the aircraft firstly takes the slow speed, the second speed flies right above the water surface, after the aircraft hovers, the aircraft enters the water after the parallel attitude with the horizontal plane is adjusted, in the process of entering water, the power of entering water is gradually increased, as the water surface generates a certain reaction force to the airplane, when the aircraft is in contact with the water surface, the flight speed of the aircraft is gradually increased on the basis of the second speed so as to stabilize the aircraft into the water.
In another aspect, the second motion state includes: the aircraft is switched from the third speed to the fourth speed, so that the speed of the aircraft is gradually reduced within the second specific distance, the aircraft enters the first medium from the second medium at the second speed, the speed of the aircraft is gradually increased within the second specific distance when the aircraft enters the air from the water, the success rate of water outlet is improved through inertia, and water is discharged by means of the inertia of the aircraft in the process of entering the air from the water.
In the above technical solution, the fourth speed is lower than the third speed, after the aircraft enters the second specific distance, the aircraft gradually attenuates from the third speed to the fourth speed, and then the second medium slowly enters the first medium at the fourth speed.
In another technical solution, the first motion state includes that the aircraft maintains a first motion posture when flying from a first medium into a second medium and contacts with the second medium at the first motion posture, and the second motion state includes that the aircraft maintains a second motion posture when flying from the second medium into the first medium and passes through the first medium by the second medium at the second motion posture.
In the above technical solution, the first motion state is that the aircraft is switched from a first speed to a second speed, so that the speed of the aircraft is gradually reduced within the first specific distance, and the aircraft enters water from the air at the second speed, when the aircraft enters water from the air, the flight speed of the aircraft is firstly reduced, so that the aircraft is parallel to the water surface, and when the aircraft contacts the water surface, since the water surface generates a certain pressure to the aircraft, when the aircraft contacts the water surface, the flight speed of the aircraft is gradually increased on the basis of the second speed until the aircraft enters water from the air; the second motion state comprises that the aircraft is switched from a third speed to a fourth speed, the speed of the aircraft is gradually increased within the second specific distance, the aircraft enters the air from the water at the second speed, and when the aircraft enters the air from the water, the flying speed of the aircraft in the air is gradually adjusted to be adaptive to the flying speed in the air, so that the aircraft tends to be stable after breaking through the horizontal plane by means of inertia.
In another technical scheme, the first motion attitude is that the aircraft always keeps horizontal flight with the first medium and the second medium critical plane when flying from the first medium to the second medium.
In another technical solution, the second motion attitude is that the aircraft tilts when flying from the second medium into the first medium, so that one propeller of the aircraft enters the second medium from the first medium first.
A detection device for the flight of a cross-medium aircraft obtains the position information of the aircraft from the critical surface of a first medium and a second medium through a displacement detection device. The displacement detection device comprises a laser displacement detection device and an electromagnetic wave distance measurement device. The laser displacement detection device comprises an infrared laser displacement monitor, and the electromagnetic wave distance measurement device comprises a radar distance measurement device and the like. In the invention, the detection of the distance from the cross-medium airplane to the water surface is carried out by a pressure gauge and high-frequency electromagnetic wave intensity. Pressure gauges may be used to detect water pressure and air pressure. When the airplane crosses the water surface, the reading of the pressure gauge is greatly increased or greatly reduced, and the reading can be used as one criterion. High-frequency electromagnetic waves (such as 2.4ghz which is commonly used and the transmitting power is 0.1-0.15w) are transmitted from the ground, and the airplane can not receive signals in a deeper water area because water has good absorption and reflection effects on the high-frequency electromagnetic waves. The closer to the water surface, the better the signal. A steady signal can be received, typically 1-5cm from the water surface. Both methods are used to determine whether the aircraft is in water or air.
In summary, the flight control method of the cross-medium aircraft of the present invention is used for controlling the cross-medium flight of the aircraft in different mediums, and the flight control method includes: acquiring position information of an aircraft from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft under the flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state, wherein the first medium comprises air, the second medium comprises water, and controlling the aircraft to enter the air from the water or enter the water from the air according to the position information of the aircraft in the process of crossing the medium so as to ensure the stable flight attitude of the aircraft in the process of crossing the medium.
Referring to fig. 2, a flight control device for a cross-media aircraft according to an embodiment of the present application includes:
an acquisition unit 201, configured to acquire position information of the aircraft at a distance from a critical plane of the first medium and the second medium;
a first control unit 202, configured to control a motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium;
and a second control unit 203, configured to control the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
Referring to fig. 3, fig. 3 is a schematic view of an embodiment of an electronic device according to an embodiment of the present disclosure.
As shown in fig. 3, an electronic device according to an embodiment of the present application includes a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320, where the processor 320 executes the computer program 311 to implement the following steps: acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
As shown in fig. 4, an embodiment of the present application provides a computer-readable storage medium 400, on which a computer program 411 is stored, where the computer program 411 implements, when executed by a processor: acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium; controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium; and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
For another example, the division of the above-mentioned units is only one logical function division, and there may be other division manners in actual implementation, and for another example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; and the modifications, changes or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. A flight control method of a cross-medium aircraft is used for controlling the aircraft to cross-fly in different media; the flight control method is characterized by comprising the following steps:
acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium;
controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium;
and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
2. The method of flight control for a cross-media aircraft of claim 1, wherein the controlling the state of motion of the aircraft in accordance with the position information specifically comprises:
when the position information is smaller than or equal to a preset first specific distance, controlling the aircraft to be switched to a first motion state, so that the aircraft flies into the second medium from the first medium in the first motion state;
or,
when the position information is smaller than or equal to a preset second specific distance, controlling the aircraft to switch to a second motion state, so that the aircraft flies into the first medium from the second medium in the second motion state.
3. The method of flight control for a cross-media aircraft of claim 2, wherein the first state of motion comprises: the aircraft is switched from a first speed to a second speed, the aircraft is gradually slowed down in the first specific distance, and the aircraft enters the second medium from the first medium at the second speed.
4. The method of flight control for a cross-media aircraft of claim 3, wherein the second state of motion comprises: and switching the aircraft from a third speed to a fourth speed, gradually slowing the aircraft in the second specific distance, and enabling the aircraft to enter the first medium from the second medium at the fourth speed.
5. The method of flight control for a cross-media aircraft of claim 4, wherein the first state of motion comprises: the aircraft keeps a first motion attitude when flying from the first medium into the second medium and is in contact with the second medium at the first motion attitude; the first motion attitude is that the aircraft always keeps horizontal flight with the critical plane of the first medium and the second medium when flying from the first medium to the second medium.
6. The method of flight control for a cross-media aircraft of claim 5, wherein the second state of motion comprises the aircraft maintaining a second attitude of motion as it flies from the second medium into the first medium and traversing the first medium from the second medium at the second attitude of motion; the second motion attitude is that the aircraft inclines when flying from the second medium into the first medium, so that one top surface of the aircraft enters the second medium from the first medium firstly, and the aircraft is adjusted to be in a horizontal state after entering the first medium from the second medium.
7. A flight control device for a cross-media aircraft for controlling the cross-media flight of the aircraft in different media; characterized in that said flight control means comprises:
an acquisition unit configured to acquire position information of the aircraft at a distance from a critical plane of the first medium and the second medium;
the first control unit is used for controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium;
and the second control unit is used for controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
8. The flight control apparatus of a cross-media aircraft of claim 7, wherein the first control unit is further configured to:
when the position information is smaller than or equal to a preset first specific distance, controlling the aircraft to be switched to a first motion state, so that the aircraft flies into the second medium from the first medium in the first motion state;
or,
when the position information is smaller than or equal to a preset second specific distance, controlling the aircraft to switch to a second motion state, so that the aircraft flies into the first medium from the second medium in the second motion state.
9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to perform the following steps when executing the computer program stored in the memory:
acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium;
controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium;
and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor implements the steps of:
acquiring position information of the aircraft at a distance from critical surfaces of a first medium and a second medium;
controlling the motion state of the aircraft according to the position information; the motion state is a flight state of the aircraft executing flight control parameters of the first medium flying into the second medium or the second medium flying into the first medium;
and controlling the aircraft to fly from the first medium into the second medium or from the second medium into the first medium according to the motion state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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