CN113791628A - Rapid landing track planning method and device based on composite wing unmanned aerial vehicle - Google Patents
Rapid landing track planning method and device based on composite wing unmanned aerial vehicle Download PDFInfo
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- G05D1/04—Control of altitude or depth
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- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Abstract
The embodiment of the disclosure provides a fast landing track planning method, a fast landing track planning device and electronic equipment based on a composite wing unmanned aerial vehicle, belonging to the technical field of aircraft control, and the method comprises the following steps: after a landing command of the unmanned aerial vehicle is acquired, acquiring a landing coordinate of a landing point of the unmanned aerial vehicle; selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality; inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track; and taking the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correcting the first landing trajectory, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle. Through the processing scheme of the composite wing unmanned aerial vehicle, the unmanned aerial vehicle can be rapidly landed based on different modes of the composite wing unmanned aerial vehicle.
Description
Technical Field
The disclosure relates to the technical field of aircraft control, in particular to a fast landing trajectory planning method and device based on a composite wing unmanned aerial vehicle and electronic equipment.
Background
The unmanned aerial vehicle has the advantages of no need of human intervention, rapid deployment and the like, and is widely applied to various fields. Compound wing unmanned aerial vehicle indicates the perfect combination of fixed wing and rotor unmanned aerial vehicle type, and compound wing unmanned aerial vehicle just has these two kinds of unmanned aerial vehicle's advantage, and fixed wing unmanned aerial vehicle possesses that flight speed is fast, flight height is high, flight time is long, and rotor unmanned aerial vehicle possesses characteristics such as VTOL, hover, flexibility.
For the composite wing unmanned aerial vehicle, how to ensure that the composite wing unmanned aerial vehicle can land quickly and effectively is a technical problem to be solved.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for planning a fast landing trajectory based on a composite unmanned aerial vehicle, and an unmanned aerial vehicle, so as to at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a fast landing trajectory planning method based on a composite wing unmanned aerial vehicle, including:
after a landing command of the unmanned aerial vehicle is acquired, acquiring a landing coordinate of a landing point of the unmanned aerial vehicle;
selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
and taking the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correcting the first landing trajectory, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the unmanned aerial vehicle, obtaining the landing coordinates of the landing site of the unmanned aerial vehicle includes:
analyzing a landing execution instruction received by the unmanned aerial vehicle;
and determining the landing coordinates of the unmanned aerial vehicle based on the analyzed result.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the unmanned aerial vehicle and obtaining the landing coordinates of the landing site of the unmanned aerial vehicle, the method further includes:
and acquiring the current position coordinate and the flight height of the unmanned aerial vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, the selecting a preset unmanned aerial vehicle landing model includes:
obtaining model information of the unmanned aerial vehicle;
based on the model information, executing query to a server connected with the unmanned aerial vehicle;
and determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing trajectory includes:
and calculating the landing trajectory according to the minimum energy consumption principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing trajectory includes:
and calculating the landing trajectory according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
According to a specific implementation manner of the embodiment of the present disclosure, before the altitude control-based composite wing mode control curve of the unmanned aerial vehicle is used as a boundary control condition for landing of the unmanned aerial vehicle, and a first landing trajectory is modified to generate a second landing trajectory for fast landing of the unmanned aerial vehicle, the method further includes:
acquiring the flight height of the unmanned aerial vehicle in the current state;
determining a flight mode required by the unmanned aerial vehicle in the process of reaching the landing coordinate based on the flight height of the unmanned aerial vehicle in the current state, wherein the flight mode comprises a fixed wing flight mode and a rotor wing flight mode.
According to a specific implementation manner of the embodiment of the present disclosure, the method for generating a second landing trajectory for rapid landing of an unmanned aerial vehicle by using a height control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle to modify a first landing trajectory includes:
according to the unmanned aerial vehicle composite wing mode control curve, the flight track of the unmanned aerial vehicle is corrected in the rotor flight height interval, so that the flight track of the corrected rotor mode unmanned aerial vehicle is a straight line.
In a second aspect, an embodiment of the present disclosure further provides a fast landing trajectory planning apparatus based on a composite wing unmanned aerial vehicle, including:
the acquisition module is used for acquiring the landing coordinates of the landing point of the unmanned aerial vehicle after acquiring the landing command of the unmanned aerial vehicle;
the system comprises a selection module, a control module and a control module, wherein the selection module is used for selecting a preset unmanned aerial vehicle landing model, and the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
the generation module is used for inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
and the execution module is used for correcting the first landing trajectory by taking the altitude control-based unmanned aerial vehicle composite wing mode control curve as a boundary control condition for landing of the unmanned aerial vehicle, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for composite-wing drone-based fast landing trajectory planning in the first aspect as set forth above or any implementation of the first aspect.
In a fourth aspect, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for fast landing trajectory planning based on a composite wing drone according to the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the disclosed embodiments further provide a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to execute the method for fast landing trajectory planning based on a composite wing drone according to the first aspect or any one of the implementations of the first aspect.
The fast landing trajectory planning scheme based on the composite wing unmanned aerial vehicle in the embodiment of the disclosure comprises the following steps: after a landing command of the unmanned aerial vehicle is acquired, acquiring a landing coordinate of a landing point of the unmanned aerial vehicle; selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality; inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track; and taking the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correcting the first landing trajectory, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle. Through the processing scheme disclosed by the invention, the efficiency of the rapid landing track planning based on the composite wing unmanned aerial vehicle is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for planning a fast landing trajectory based on a composite wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 2 is a flowchart of another fast landing trajectory planning method based on a composite wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another fast landing trajectory planning method based on a composite wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart of another fast landing trajectory planning method based on a composite wing unmanned aerial vehicle according to the embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a fast landing trajectory planning device based on a composite wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a fast landing track planning method based on a composite wing unmanned aerial vehicle. The method for planning the fast landing trajectory based on the composite unmanned aerial vehicle provided by the embodiment can be executed by a computing device, the computing device can be implemented as software, or implemented as a combination of software and hardware, and the computing device can be integrally arranged in a server, a client and the like.
Referring to fig. 1, the method for planning a fast landing trajectory based on a composite wing drone in the embodiment of the present disclosure may include the following steps:
s101, after the landing command of the unmanned aerial vehicle is obtained, the landing coordinates of the landing point of the unmanned aerial vehicle are obtained.
After receiving the command of returning, the unmanned aerial vehicle can analyze the landing command, and then obtain the landing coordinates of the landing point. The landing coordinates indicate the places where the unmanned aerial vehicle needs to land, and the landing trajectory of the unmanned aerial vehicle can be determined based on the landing coordinates by analyzing the landing coordinates.
S102, selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality.
A plurality of unmanned aerial vehicle landing models can be set up in advance, and through the unmanned aerial vehicle landing models, the landing track of the unmanned aerial vehicle can be determined according to different models of the unmanned aerial vehicle.
Specifically, the unmanned aerial vehicle landing model can automatically calculate the landing trajectory of the unmanned aerial vehicle according to the flight speed, the flight altitude, the flight path angle and the self-mass of the unmanned aerial vehicle.
S103, inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track.
After obtaining the current position coordinate and the landing coordinate of the unmanned aerial vehicle, the current position coordinate and the landing coordinate of the unmanned aerial vehicle are respectively input into the landing model, so that the first landing track applicable to the landing of the unmanned aerial vehicle can be calculated. Through first landing orbit, can guide unmanned aerial vehicle to descend according to conventional landing mode.
And S104, taking the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correcting the first landing trajectory, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle.
In order to further revise unmanned aerial vehicle's descending orbit for unmanned aerial vehicle's descending process is more rapid, can revise first landing orbit. Specifically, the composite wing mode control curve of the unmanned aerial vehicle can be manufactured based on the flight height value of the unmanned aerial vehicle, and the unmanned aerial vehicle can determine the height interval in which the unmanned aerial vehicle adopts a fixed wing flight model or a rotor wing flight model.
The unmanned aerial vehicle composite wing mode control curve is used as a boundary condition of a flight trajectory and is input into an unmanned aerial vehicle landing model, and the first landing trajectory can be further corrected. For example, after unmanned aerial vehicle carries out rotor flight mode, can be revised into the straight line flight by the curve of hovering flight with unmanned aerial vehicle's descending orbit to further efficiency that improves unmanned aerial vehicle and land.
Through the content in the above-mentioned embodiment, can revise unmanned aerial vehicle's descending route based on the different modes of unmanned aerial vehicle flight, improved the efficiency that unmanned aerial vehicle descends.
Referring to fig. 2, according to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the drone, obtaining the landing coordinates of the landing site of the drone includes:
s201, analyzing a landing execution instruction received by the unmanned aerial vehicle;
s202, determining the landing coordinates of the unmanned aerial vehicle based on the analysis result.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the unmanned aerial vehicle and obtaining the landing coordinates of the landing site of the unmanned aerial vehicle, the method further includes: and acquiring the current position coordinate and the flight height of the unmanned aerial vehicle.
Referring to fig. 3, according to a specific implementation manner of the embodiment of the present disclosure, the selecting a preset unmanned aerial vehicle landing model includes:
s301, acquiring model information of the unmanned aerial vehicle;
s302, based on the model information, executing query to a server connected with the unmanned aerial vehicle;
s303, determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing trajectory includes: and calculating the landing trajectory according to the minimum energy consumption principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing trajectory includes:
and calculating the landing trajectory according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
Referring to fig. 4, according to a specific implementation manner of the embodiment of the present disclosure, before the taking the altitude control-based composite wing mode control curve of the drone as a boundary control condition for landing of the drone, and correcting the first landing trajectory to generate a second landing trajectory for fast landing of the drone, the method further includes:
s401, acquiring the flying height of the unmanned aerial vehicle in the current state;
s402, determining a flight mode required by the unmanned aerial vehicle in the process of reaching the landing coordinates based on the flight height of the unmanned aerial vehicle in the current state, wherein the flight mode comprises a fixed wing flight mode and a rotor wing flight mode.
According to a specific implementation manner of the embodiment of the present disclosure, the method for generating a second landing trajectory for rapid landing of an unmanned aerial vehicle by using a height control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle to modify a first landing trajectory includes: according to the unmanned aerial vehicle composite wing mode control curve, the flight track of the unmanned aerial vehicle is corrected in the rotor flight height interval, so that the flight track of the corrected rotor mode unmanned aerial vehicle is a straight line.
Corresponding to the above embodiments, referring to fig. 5, the present embodiment further discloses a fast landing trajectory planning apparatus 50 based on a composite wing drone, including:
the obtaining module 501 is configured to obtain a landing coordinate of a landing point of the unmanned aerial vehicle after obtaining a landing command of the unmanned aerial vehicle.
After receiving the command of returning, the unmanned aerial vehicle can analyze the landing command, and then obtain the landing coordinates of the landing point. The landing coordinates indicate the places where the unmanned aerial vehicle needs to land, and the landing trajectory of the unmanned aerial vehicle can be determined based on the landing coordinates by analyzing the landing coordinates.
The selection module 502 is configured to select a preset unmanned aerial vehicle landing model, where the landing model can generate a landing trajectory of an unmanned aerial vehicle based on four control variables of speed, altitude, track angle, and quality.
A plurality of unmanned aerial vehicle landing models can be set up in advance, and through the unmanned aerial vehicle landing models, the landing track of the unmanned aerial vehicle can be determined according to different models of the unmanned aerial vehicle.
Specifically, the unmanned aerial vehicle landing model can automatically calculate the landing trajectory of the unmanned aerial vehicle according to the flight speed, the flight altitude, the flight path angle and the self-mass of the unmanned aerial vehicle.
A generating module 503, configured to input the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model, and generate a first landing trajectory.
After obtaining the current position coordinate and the landing coordinate of the unmanned aerial vehicle, the current position coordinate and the landing coordinate of the unmanned aerial vehicle are respectively input into the landing model, so that the first landing track applicable to the landing of the unmanned aerial vehicle can be calculated. Through first landing orbit, can guide unmanned aerial vehicle to descend according to conventional landing mode.
And the executing module 504 is configured to modify the first landing trajectory by using the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, so as to generate a second landing trajectory for rapid landing of the unmanned aerial vehicle.
In order to further revise unmanned aerial vehicle's descending orbit for unmanned aerial vehicle's descending process is more rapid, can revise first landing orbit. Specifically, the composite wing mode control curve of the unmanned aerial vehicle can be manufactured based on the flight height value of the unmanned aerial vehicle, and the unmanned aerial vehicle can determine the height interval in which the unmanned aerial vehicle adopts a fixed wing flight model or a rotor wing flight model.
The unmanned aerial vehicle composite wing mode control curve is used as a boundary condition of a flight trajectory and is input into an unmanned aerial vehicle landing model, and the first landing trajectory can be further corrected. For example, after unmanned aerial vehicle carries out rotor flight mode, can be revised into the straight line flight by the curve of hovering flight with unmanned aerial vehicle's descending orbit to further efficiency that improves unmanned aerial vehicle and land.
Through the content in the above-mentioned embodiment, can revise unmanned aerial vehicle's descending route based on the different modes of unmanned aerial vehicle flight, improved the efficiency that unmanned aerial vehicle descends.
For parts not described in detail in this embodiment, reference is made to the contents described in the above method embodiments, which are not described again here.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, including:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for fast landing trajectory planning based on a composite wing drone of the aforementioned method embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method for fast landing trajectory planning based on a composite wing drone in the aforementioned method embodiments.
Referring now to FIG. 6, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 6, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic apparatus 60 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While the figures illustrate an electronic device 60 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 609, or may be installed from the storage means 608, or may be installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. 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.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A fast landing track planning method based on a composite wing unmanned aerial vehicle is characterized by comprising the following steps:
after a landing command of the unmanned aerial vehicle is acquired, acquiring a landing coordinate of a landing point of the unmanned aerial vehicle;
selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
and taking the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correcting the first landing trajectory, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle.
2. The method of claim 1, wherein obtaining landing coordinates of a landing site of the drone after obtaining the landing command of the drone comprises:
analyzing a landing execution instruction received by the unmanned aerial vehicle;
and determining the landing coordinates of the unmanned aerial vehicle based on the analyzed result.
3. The method of claim 1, wherein after obtaining the landing coordinates of the landing site of the drone after obtaining the landing command of the drone, the method further comprises:
and acquiring the current position coordinate and the flight height of the unmanned aerial vehicle.
4. The method of claim 1, wherein selecting a pre-set drone landing model comprises:
obtaining model information of the unmanned aerial vehicle;
based on the model information, executing query to a server connected with the unmanned aerial vehicle;
and determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
5. The method of claim 1, wherein said inputting the current position coordinates and landing coordinates of the drone into the landing model generates a first landing trajectory comprising:
and calculating the landing trajectory according to the minimum energy consumption principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
6. The method of claim 1, wherein said inputting the current position coordinates and landing coordinates of the drone into the landing model generates a first landing trajectory comprising:
and calculating the landing trajectory according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate to generate a first landing trajectory.
7. The method of claim 1, wherein before the altitude control-based drone composite wing mode control curve is used as a boundary control condition for drone landing, the first landing trajectory is modified to generate a second landing trajectory for drone landing rapidly, the method further comprises:
acquiring the flight height of the unmanned aerial vehicle in the current state;
determining a flight mode required by the unmanned aerial vehicle in the process of reaching the landing coordinate based on the flight height of the unmanned aerial vehicle in the current state, wherein the flight mode comprises a fixed wing flight mode and a rotor wing flight mode.
8. The method of claim 7, wherein the step of using the altitude control-based UAV composite wing mode control curve as a boundary control condition for UAV landing to modify the first landing trajectory to generate a second landing trajectory for rapid landing of the UAV comprises:
according to the unmanned aerial vehicle composite wing mode control curve, the flight track of the unmanned aerial vehicle is corrected in the rotor flight height interval, so that the flight track of the corrected rotor mode unmanned aerial vehicle is a straight line.
9. A fast landing track planning device based on a composite wing unmanned aerial vehicle is characterized by comprising:
the acquisition module is used for acquiring the landing coordinates of the landing point of the unmanned aerial vehicle after acquiring the landing command of the unmanned aerial vehicle;
the system comprises a selection module, a control module and a control module, wherein the selection module is used for selecting a preset unmanned aerial vehicle landing model, and the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
the generation module is used for inputting the current position coordinates and the landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
and the execution module is used for correcting the first landing trajectory by taking the altitude control-based unmanned aerial vehicle composite wing mode control curve as a boundary control condition for landing of the unmanned aerial vehicle, and generating a second landing trajectory for rapid landing of the unmanned aerial vehicle.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the preceding claims 1-8.
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