CN113495268A - Flight carrier and direction detection method using same - Google Patents

Flight carrier and direction detection method using same Download PDF

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Publication number
CN113495268A
CN113495268A CN202010282878.4A CN202010282878A CN113495268A CN 113495268 A CN113495268 A CN 113495268A CN 202010282878 A CN202010282878 A CN 202010282878A CN 113495268 A CN113495268 A CN 113495268A
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distance
angle
emitting surface
signal emitting
measuring device
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Inventor
戴源助
吴宗宪
王昱凯
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Industrial Technology Research Institute ITRI
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Industrial Technology Research Institute ITRI
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/62—Sense-of-movement determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/62—Sense-of-movement determination

Abstract

The flight vehicle comprises a body, a first distance measuring device, a second distance measuring device and a controller. The first distance measuring device is arranged on the body and used for detecting a first distance between the first distance measuring device and the reflector. The second distance measuring device is arranged on the body and used for detecting a second distance between the second distance measuring device and the reflector. The controller obtains an angle between the direction of the body and the reflector according to the first distance and the second distance.

Description

Flight carrier and direction detection method using same
Technical Field
The present disclosure relates to a vehicle and a direction detection method using the same, and more particularly, to a flying vehicle and a direction detection method using the same.
Background
Conventional flight vehicles typically include a camera that captures images of the environment in front of the flight vehicle. The flying vehicle can judge the relation between the flying vehicle and the surrounding environment by analyzing the environment image, whether the flying vehicle flies towards the target or impacts an obstacle or not. However, the lower the brightness of the environment where the flying vehicle is located, the less clear the captured environmental image is, resulting in a inaccurate determination result. Therefore, it is an object of the present invention to provide a technique capable of improving the above-mentioned conventional problems.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
The present disclosure relates to a flight vehicle and a direction detection method using the same, which can improve the conventional problems.
An embodiment of an aspect of the present disclosure provides a flight vehicle. The flight vehicle comprises a body, a first distance measuring device, a second distance measuring device and a controller. The first distance measuring device is arranged on the body and used for detecting a first distance between the first distance measuring device and the reflector. The second distance measuring device is arranged on the body and used for detecting a second distance between the second distance measuring device and the reflector. The controller obtains an angle between the direction of the body and the reflector according to the first distance and the second distance.
An embodiment of another aspect of the present disclosure provides a direction detection method. The direction detection method comprises the following steps. A first distance measuring device of the flying carrier detects a first distance between the first distance measuring device and a reflector; a second distance measuring device of the flying carrier detects a second distance between the second distance measuring device and the reflector; and the controller of the flying carrier obtains the angle between the direction of the body of the flying carrier and the reflector according to the first distance and the second distance.
For a better understanding of the above and other aspects of the disclosure, reference should be made to the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings:
drawings
Fig. 1A is a schematic view of a flight vehicle according to an embodiment of the disclosure.
Fig. 1B is a schematic diagram showing the flight vehicle and the reflector viewed from the tail of the flight vehicle of fig. 1A.
Fig. 1C is a geometric diagram of the flying vehicle of fig. 1A relative to a reflector.
Fig. 2A is a schematic view of a flight vehicle according to another embodiment of the disclosure.
Fig. 2B is a schematic diagram showing the flight vehicle and the reflector viewed from the tail of the flight vehicle in fig. 2A.
Fig. 2C is a geometric diagram of the flying vehicle of fig. 2A relative to a reflector.
Fig. 3A is a schematic view of a flight vehicle according to another embodiment of the disclosure.
FIG. 3B is a graph of the angle measured by the flying vehicle of FIG. 3A versus time.
Fig. 4 is a graph illustrating a distance difference between the first distance and the second distance measured by the flying vehicle of fig. 3A as a function of time.
Fig. 5 is a flowchart illustrating a method for detecting the direction of the flying vehicle shown in fig. 1A.
Description of the reference numerals
100. 200 and 300: flying vehicle
110: body
120: first distance measuring device
120 s: first signal transmitting surface
130: second distance measuring device
130 s: second signal transmitting surface
140: controller
350: angular velocity detector
A1, A1 p: angle of rotation
A 1', a1 ": included angle
AZ 1: longitudinal axis
ABC, abC, a 'O1C': triangle shape
B1: reflector
D1: direction of rotation
H1: first distance
H2: second distance
N1: first normal direction
N2: second normal direction
P1: first reference surface
P2: second reference plane
S1: a first detection signal
S1': first reflected signal
S2: the second detection signal
S2': second reflected signal
S110 to S130: step (ii) of
O1: intersection point
Δ T1, Δ T2: time interval
Δ H, Δ Hp: difference in distance
L: distance between two adjacent plates
α 1: first included angle
α 2: second included angle
α 3: third included angle
Figure BDA0002446021460000031
Included angle
Figure BDA0002446021460000032
Included angle
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Referring to fig. 1A and fig. 1B, fig. 1A is a schematic view of a flight vehicle 100 according to an embodiment of the disclosure, fig. 1B is a schematic view of the flight vehicle 100 and a reflector B1 viewed from a tail of the flight vehicle 100 in fig. 1A, and fig. 1C is a geometric relationship diagram of the flight vehicle 100 in fig. 1A with respect to a reflector B1. The flight vehicle 100 is, for example, an unmanned aerial vehicle or an aircraft capable of carrying people or cargo.
As shown in fig. 1A, the flight vehicle 100 includes a body 110, a first distance measuring device 120, a second distance measuring device 130, and a controller 140. The first distance measuring device 120 is disposed on the body 110 and is used for detecting a first distance H1 between the first distance measuring device 120 and the reflector B1. The second distance measuring device 130 is disposed on the body 110 and is used for detecting a second distance H2 between the second distance measuring device 130 and the reflector B1. The controller 140 obtains an angle a1 between the direction D1 and the reflector B1 according to the first distance H1 and the second distance H2. Thus, the flight vehicle 100 can adjust the channel according to the obtained angle a 1. In addition, during flight, the flying vehicle 100 may continuously (with time) obtain the latest angle a1 to continuously adjust the channel.
The "direction" in the embodiments of the present disclosure refers to an orientation of the flight vehicle 100, such as a direction along the longitudinal axis AZ1, and is determined according to the type and/or flight characteristics of the flight vehicle 100, such as a flight direction, such as forward flight or backward flight, but the embodiments of the present disclosure are not limited thereto. The "angle a 1" of the present disclosure refers to the angle between the flight direction of the flight vehicle 100 and the reflector B1, for example, when the flight vehicle 100 flies forward, the angle a1 is the head-wise angle, which is the angle between the head-wise direction and the reflector B1; when the flying vehicle 100 flies backward, the angle a1 is the tail angle, which is the angle between the tail orientation and the reflector B1
In one application, controller 140 of flight vehicle 100 may determine whether direction D1 is toward a target (not shown) according to angle a1, and when direction D1 is not toward the target, flight vehicle 100 corrects the navigation path to make direction D1 face the target. In another application, the controller 140 of the flying vehicle 100 can determine whether the body 110 and the reflector B1 are at a safe distance according to the angle a1 and the detected first distance H1, second distance H2 and angle a 1. For example, when one (e.g., the smallest) of the first distance H1 and the second distance H2 detected by the flying vehicle 100 is smaller than the safety distance value and the angle a1 is smaller than the safety angle value, the controller 140 of the flying vehicle 100 determines that the body 110 and the reflector B1 are not at the safety distance, so as to modify the flight path and keep the body 110 and the reflector B1 at the safety distance. In summary, the flying vehicle 100 of the present disclosure can fly toward the target according to the detected first distance H1 and the second distance H2 and keep a safe distance from the surrounding reflectors during the flying process.
As shown in fig. 1A and 1B, the first ranging device 120 can send the first detection signal S1, the first detection signal S1 is reflected from the reflector B1 to become the first reflection signal S1 ', and the first reflection signal S1' is received by the first ranging device 120. The second ranging device 130 can send a second detection signal S2, wherein the second detection signal S2 is reflected by the reflector B1 to become a second reflection signal S2 ', and the second reflection signal S2' is received by the second ranging device 130. In one embodiment, the controller 140 may calculate the first detection signal S1 and the first reflection signal S1 'to obtain the first distance H1, and may calculate the second detection signal S2 and the second reflection signal S2' to obtain the second distance H2. In another embodiment, the first ranging device 120 can independently calculate the first distance H1 according to the first detecting signal S1 and the first reflected signal S1 ', and the second ranging device 130 can independently calculate the second distance H2 according to the second detecting signal S2 and the second reflected signal S2'. As long as the flight vehicle 100 can obtain the first distance H1 and the second distance H2, the embodiments of the present disclosure do not limit the technical means for obtaining.
As shown in fig. 1A, the first ranging device 120 is positioned forward of the second ranging device 130 in a direction D1 (e.g., toward the front of the longitudinal axis AZ 1). In an embodiment, the first distance measuring device 120 and the second distance measuring device 130 are, for example, time of flight (ToF) distance measuring devices, sonar distance measuring devices, or other distance measuring devices. Since the first distance measuring device 120 and the second distance measuring device 130 employ signal emitting type distance measuring devices, the flight vehicle 100 can operate in low-light environment, such as a tunnel (as shown in fig. 1B), a basement, at night, or even dark environment. Further, the reflector B1 is, for example, an object of the environment, such as a wall, an obstacle, a building, a living being, or the like. For example, in the case of a tunnel, the inner wall surface of the reflector B1 is a cylindrical surface and may extend regularly along a straight line. However, the embodiments of the present disclosure do not limit the type, surface profile and/or extending manner of the reflector B1.
As shown in fig. 1A, the body 110 has a longitudinal axis (longitudinal axis) AZ1, a first reference plane P1, and a second reference plane P2. The longitudinal axis AZ1 is, for example, a central axis of the body 110, but the embodiments of the present disclosure are not limited thereto. The direction D1 is parallel to, e.g., substantially coincident with, the longitudinal axis AZ1, and the first reference plane P1 is substantially perpendicular to the second reference plane P2. The XY plane in the drawing is, for example, perpendicular to the first reference plane P1 and parallel to the second reference plane P2, while the Z axis is, for example, perpendicular to the XY plane. In the present embodiment, the first distance measuring device 120 and the second distance measuring device 130 are disposed in a coplanar manner. For example, the first ranging device 120 has a first signal emitting surface 120s and the second ranging device 130 has a second signal emitting surface 130s, wherein the first signal emitting surface 120s and the second signal emitting surface 130s are coplanar, such as overlapping in common with the first reference plane P1. In another embodiment, the first signal transmitting surface 120s and the second signal transmitting surface 130s may be staggered in a direction perpendicular to the first reference plane P1.
In the present embodiment, as shown in fig. 1B, the second reference plane P2 extends through the first signal emitting surface 120s, the second signal emitting surface 130s and the longitudinal axis AZ1, so that the first distance H1 and the second distance H2 are measured on the same reference plane (e.g., the second reference plane P2 in fig. 1B) as the direction D1, and the angle values obtained according to the first distance H1 and the second distance H2 are closer to the actual angle a1 of the body 110. In addition, the first reference plane P1 is substantially parallel to the direction D1, such that the angle a 1' between the first reference plane P1 and the reflector B1 is equivalent to the angle a1 between the direction D1 and the reflector B1.
As shown in fig. 1A, the second distance H2, the first reference plane P1, the included angle a1 'and the reflector B1 form a right triangle ABC, and the included angle a 1' is included between the first reference plane P1 and the reflector B1 of the right triangle ABC. As shown in fig. 1A and 1C, a distance Δ L between the first distance measuring device 120 and the second distance measuring device 130 along the longitudinal axis AZ1 and a distance difference Δ H between the first distance H1 and the second distance H2 form a right triangle abC, the right triangle abC includes an included angle a1 ", wherein the right triangle abC is an approximate triangle of the right triangle ABC, and thus the included angle a 1" is equal to the included angle a 1'. Thus, the angle A1 is obtained by obtaining the included angle A1 ″. The included angle A1' can be obtained according to the following formula (1).
A1＝A1′＝A1″＝tan-1(ΔH/ΔL)......(1)
Referring to fig. 2A to 2C, fig. 2A is a schematic view of a flight vehicle 200 according to another embodiment of the disclosure, fig. 2B is a schematic view of the flight vehicle 200 and a reflector B1 viewed from a tail of the flight vehicle 200 of fig. 2A, and fig. 2C is a geometric relationship diagram of the flight vehicle 200 of fig. 2A with respect to a reflector B1. The flight vehicle 200 includes a body 110, a first distance measuring device 120, a second distance measuring device 130, and a controller 140. The flight vehicle 200 of the embodiment of the present disclosure has the same or similar technical features as the flight vehicle 100, and the difference lies in that the first distance measuring device 120 and the second distance measuring device 130 of the flight vehicle 200 are configured in different manners.
As shown in fig. 2A, the body 110 has a longitudinal axis AZ1, a first reference plane P1 and a second reference plane P2, wherein the direction D1 is parallel to, e.g., substantially coincident with, the longitudinal axis AZ1, and the first reference plane P1 is substantially perpendicular to the second reference plane P2. In the present embodiment, as shown in fig. 2B, the second reference plane P2 extends substantially through the first signal emitting surface 120s, the second signal emitting surface 130s and the longitudinal axis AZ1, so that the measured first distance H1 and the second distance H2 are located on the same reference plane (e.g., the second reference plane P2 in fig. 2B) as the direction D1, and thus the angle value obtained according to the first distance H1 and the second distance H2 is closer to the actual angle a1 of the body 110.
As shown in fig. 2A and 2B, the first normal direction N1 (the first normal direction N1 is, for example, substantially parallel to the emitting direction of the first detection signal S1) of the first signal emitting surface 120S of the first distance measuring device 120 intersects the second normal direction N2 (the second normal direction N2 is, for example, substantially parallel to the emitting direction of the second detection signal S2) of the second signal emitting surface 130S of the second distance measuring device 130 at the intersection point O1. The first reference plane P1 passes through the intersection point O1 and is substantially parallel to the direction D1 such that the angle A1' between the first reference plane P1 and the reflector B1 is equivalent to the angle A1 between the direction D1 and the reflector B1.
In the present embodiment, the first signal transmitting surface 120s and the second signal transmitting surface 130s are disposed non-coplanar. For example, as shown in fig. 2A and fig. 2C, a first included angle α 1 is formed between the first normal direction N1 of the first signal emitting surface 120s and the second normal direction N2 of the second signal emitting surface 130s, and the first included angle α 1 is, for example, non-0 degree or non-180 degrees, that is, the first signal emitting surface 120s and the second signal emitting surface 130s are not coplanar. In one embodiment, the first included angle α 1 is, for example, 90 degrees, that is, the first signal emitting surface 120s is disposed perpendicular to the second signal emitting surface 130 s.
As shown in fig. 2A and 2C, the first reference plane P1, the reflector B1, the intersection point O1 and the second distance H2 form a triangle a 'O1C', wherein the triangle a 'O1C' is not a right triangle. The first reference plane P1 of the triangle A ' O1C ' includes an included angle A1 ' with the reflector B1. Since first reference plane P1 passes through intersection point O1 and is substantially parallel to direction D1, included angle A1' is equal to angle A1. In other words, the angle A1 is obtained as long as the angle A1' is obtained. The included angle a 1' can be obtained by the following formulas (2) to (4).
Figure BDA0002446021460000071
Figure BDA0002446021460000072
Figure BDA0002446021460000073
In equations (2) - (4), referring to fig. 2C, the second included angle α 2 represents an included angle between the first normal direction N1 of the first signal emitting surface 120s and the first reference surface P1 (or the direction D1), the third included angle α 3 represents an included angle between the second normal direction N2 of the second signal emitting surface 130s and the first reference surface P1 (or the direction D1), the first included angle α 1 can be divided into an included angle α 11 and an included angle α 12,
Figure BDA0002446021460000074
equal to the sum of the distance from the second emission surface 130s to the intersection point O1 and the second distance H2, and
Figure BDA0002446021460000075
equal to the sum of the distance from the first emitting surface 120s to the intersection point O1 and the first distance H1. In one embodiment, the included angles α 11, α 12, α 02 and α 13 are all 45 degrees, which should not be construed as limiting the disclosure. In addition, the second included angle α 2 and the third included angle α 3 can be changed as the angle a1 between the direction D1 and the reflector B1 changes. The present embodiment does not limit the individual values of the included angle α 11 and the included angle α 12, as long as the controller 140 can calculate the angle a1 quickly. In one embodiment, the sum of the included angle α 11 and the second included angle α 2 is a constant, such as 90 degrees, and the sum of the included angle α 12 and the third included angle α 3 is a constant, such as 90 degrees, but the embodiment of the disclosure is not limited thereto.
Referring to fig. 3A, fig. 3A is a schematic diagram illustrating a flight vehicle 300 according to another embodiment of the disclosure, and fig. 3B is a diagram illustrating a relationship between an angle a1 measured by the flight vehicle 200 of fig. 3A and time. The flight vehicle 300 includes a body 110, a first distance measuring device 120, a second distance measuring device 130, a controller 140, and an angular velocity detector 350. The flight vehicle 300 has the same or similar technical features as the flight vehicle 100, except that the flight vehicle 300 further includes an angular velocity detector 350. The angular velocity detector 350 is used for detecting the angular velocity of the body 110. The angular velocity detector 350 is, for example, a gyroscope, an acceleration detector, or the like. In another embodiment, the angular velocity of the body 110 can be fed back to the controller 140 by a control device (not shown) for controlling the flight of the body, and in this design, the angular velocity detector 350 can be optionally omitted from the flight vehicle 300.
The flight vehicle 300 of the embodiment of the disclosure can filter the abnormal angle, and avoid the abnormal angle from adversely affecting the channel of the flight vehicle 300. In detail, as shown in fig. 3A, when the reflector B1 has an irregular or suddenly changing structure, such as the recess B11, the value of the angle a1 obtained by the flying vehicle 300 changes suddenly, such as rises (as shown in fig. 3B) or falls. However, the abrupt angle can only represent a local change of the reflector B1, and cannot represent an overall change of the reflector B1, so the abrupt angle A1p can be ignored by the flying vehicle 300.
The specific processing method is, for example: the controller 140 is further configured to: (1) judging whether a plurality of angles A1 in the time interval delta T1 have a plurality of sudden change angles A1 p; (2) judging whether the angular velocity of the body 110 is changed; (3) when the numerical abrupt angle A1p exists and the angular velocity of the body 110 is unchanged, the abrupt angle A1p is filtered out (i.e., ignored or not considered). Therefore, the channel correction error caused by the channel misjudgment of the flight vehicle 300 due to the angle A1p with the sudden change of the value can be avoided. In one embodiment, the ratio of the difference (which may be an absolute value) between the value of the angle A1p and the average of the angles A1 over a previous period (e.g., the time interval Δ T2) to the average is, for example, higher than a predetermined threshold. In other words, when the controller 140 obtains the angle A1 corresponding to the above ratio, the angle A1 is determined to be the angle A1p with an abrupt change in value.
Fig. 4 is a graph showing a distance difference Δ H between the first distance H1 and the second distance H2 measured by the flying vehicle 300 of fig. 3A as a function of time. The flight vehicle 300 includes a body 110, a first distance measuring device 120, a second distance measuring device 130, a controller 140, and an angular velocity detector 350. The angular velocity detector 350 is used for detecting the angular velocity of the body 110. In the embodiment of the present disclosure, the controller 140 is further configured to: (1) obtaining a plurality of distance differences Δ H between a plurality of first distances H1 and a plurality of second distances H2 within a time interval Δ T1; (2) judging whether the distance differences delta H have numerical value abrupt distance differences delta Hp or not; (3) judging whether the angular velocity of the body 110 is changed; (4) when the distance differences Δ H have the numerical abrupt distance differences Δ Hp and the angular velocity of the body 110 is unchanged, the numerical abrupt distance differences Δ Hp are filtered (i.e., ignored or not considered). Therefore, the channel correction error caused by the channel misjudgment of the flying carrier 300 due to the distance difference delta Hp with the numerical mutation can be avoided. In one embodiment, the ratio of the difference (which may be an absolute value) between the distance difference Δ Hp of the abrupt change and an average of the distance differences Δ H in a previous period (e.g., the time interval Δ T2) to the average is higher than a predetermined threshold (predetermined threshold), for example. In other words, when the controller 140 obtains the distance difference Δ H corresponding to the aforementioned ratio, it is determined that the distance difference Δ H is the distance difference Δ Hp with an abrupt change in value.
Referring to fig. 5, a flowchart of a direction detecting method of the flying vehicle 100 of fig. 1A is shown. In step S110, the first distance measuring device 120 of the flying vehicle 100 detects a first distance H1 between the first distance measuring device 120 and the reflector B1. In step S120, the second distance measuring device 130 of the flying vehicle 100 detects a second distance H2 between the second distance measuring device 130 and the reflector B1. In step S130, the controller 140 of the flight vehicle 100 obtains an angle a1, for example, a head-direction angle, between the direction D1 of the body 110 of the flight vehicle 100 and the reflector B1 according to the first distance H1 and the second distance H2. Several embodiments of the specific method for obtaining the angle a1 are described above, and thus, the detailed description thereof is omitted. In addition, the direction detection method of the flight vehicles 200 and 300 may also adopt a similar method, and the description thereof is omitted.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (20)

1. A flying vehicle comprising:
a body:
the first distance measuring device is arranged on the body and used for detecting a first distance between the first distance measuring device and the reflector;
the second distance measuring device is arranged on the body and used for detecting a second distance between the second distance measuring device and the reflector; and
and the controller obtains an angle between the direction of the body and the reflector according to the first distance and the second distance.
2. The flying vehicle of claim 1, wherein the body has a first reference surface that is substantially parallel to the direction; the first distance measuring device is provided with a first signal transmitting surface, the second distance measuring device is provided with a second signal transmitting surface, and the first signal transmitting surface and the second signal transmitting surface are overlapped on the first reference surface.
3. The flight vehicle of claim 1, wherein the first ranging device has a first signal emitting surface, the second ranging device has a second signal emitting surface, the body has a longitudinal axis and a second reference surface, the direction being parallel to the longitudinal axis, the second reference surface extending through the first signal emitting surface, the second signal emitting surface and the longitudinal axis.
4. The flying vehicle of claim 1, wherein the first ranging device has a first signal emitting surface and the second ranging device has a second signal emitting surface, the first signal emitting surface being perpendicular to the second signal emitting surface.
5. The flying vehicle of claim 1, wherein the first distance measuring device has a first signal emitting surface, the second distance measuring device has a second signal emitting surface, a first angle is formed between a first normal direction of the first signal emitting surface and a second normal direction of the second signal emitting surface, and a second angle is formed between the first normal direction of the first signal emitting surface and the second normal direction; the controller is further configured to:
obtaining the angle between the direction and the reflector according to the first distance, the second distance, the first included angle and the second included angle.
6. The flying vehicle of claim 5, wherein the first angle is 90 degrees and the second angle is 45 degrees.
7. The flying vehicle of claim 5, wherein the body has a first reference surface passing through an intersection of the first normal direction and the second normal direction and substantially parallel to the direction.
8. The flying vehicle of claim 1, further comprising:
an angular velocity detector for detecting an angular velocity of the body;
wherein, the controller is further configured to:
judging whether the angle with a numerical mutation exists in the plurality of angles in the time interval;
judging whether the angular speed of the body changes;
when the angle with the numerical value mutation is included in the angles and the angular speed of the body is not changed, the angle with the numerical value mutation is filtered.
9. The flying vehicle of claim 1, further comprising:
an angular velocity detector for detecting an angular velocity of the body;
wherein, the controller is further configured to:
obtaining a plurality of distance differences between a plurality of first distances and a plurality of second distances in a time interval;
judging whether the distance difference value with numerical value mutation exists in the distance difference values;
judging whether the angular speed of the body changes;
when the distance difference with numerical mutation exists in the distance differences and the angular speed of the body is not changed, the distance difference with numerical mutation is filtered.
10. The flight vehicle of claim 1, wherein the first ranging device is located forward of the second ranging device.
11. A direction detection method includes:
a first distance measuring device of the flying carrier detects a first distance between the first distance measuring device and a reflector;
a second distance measuring device of the flying carrier detects a second distance between the second distance measuring device and the reflector; and
the controller of the flying carrier obtains the angle between the direction of the body of the flying carrier and the reflector according to the first distance and the second distance.
12. The method of claim 11, wherein the body has a first reference surface substantially parallel to the direction; the first distance measuring device is provided with a first signal transmitting surface, the second distance measuring device is provided with a second signal transmitting surface, and the first signal transmitting surface and the second signal transmitting surface are overlapped on the first reference surface.
13. The direction detection method as claimed in claim 11, wherein the first distance measurement device has a first signal emitting surface, the second distance measurement device has a second signal emitting surface, the body has a longitudinal axis and a second reference surface, the direction is parallel to the longitudinal axis, and the second reference surface extends through the first signal emitting surface, the second signal emitting surface and the longitudinal axis.
14. The direction detection method as claimed in claim 11, wherein the first distance measurement device has a first signal emitting surface, the second distance measurement device has a second signal emitting surface, and the first signal emitting surface is disposed perpendicular to the second signal emitting surface.
15. The direction detection method as claimed in claim 11, wherein the first distance measurement device has a first signal emitting surface, the second distance measurement device has a second signal emitting surface, a first angle is formed between a first normal direction of the first signal emitting surface and a second normal direction of the second signal emitting surface, and a second angle is formed between the first normal direction of the first signal emitting surface and the direction; the direction detection method further comprises the following steps:
obtaining the angle between the direction and the reflector according to the first distance, the second distance, the first included angle and the second included angle.
16. The method of claim 15, wherein the first angle is 90 degrees and the second angle is 45 degrees.
17. The direction detection method as claimed in claim 15, wherein the body has a first reference surface passing through an intersection of the first normal direction and the second normal direction and substantially parallel to the direction.
18. The method of claim 11, further comprising:
the angular speed detector of the flying carrier detects the angular speed of the body;
the controller judges whether the angle with a numerical value mutation exists in a plurality of angles in a time interval;
the controller judges whether the angular speed of the body changes; and
when the angle with the numerical mutation is in the angles and the angular speed of the body is not changed, the controller filters the angle with the numerical mutation.
19. The method of claim 11, further comprising:
the angular speed detector of the flying carrier detects the angular speed of the body;
the controller obtains a plurality of distance differences between a plurality of first distances and a plurality of second distances in a time interval;
the controller judges whether the distance difference value with a numerical value mutation exists in the distance difference values;
the controller judges whether the angular speed of the body changes; and
when the distance difference with numerical mutation is contained in the distance differences and the angular speed of the body is not changed, the controller filters the distance difference with numerical mutation.
20. The method of claim 11, wherein the first distance measuring device is located in front of the second distance measuring device.
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