CN114761896A - 航线高度调整方法、无人机作业方法及相关装置 - Google Patents

航线高度调整方法、无人机作业方法及相关装置 Download PDF

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Publication number
CN114761896A
CN114761896A CN201980101895.9A CN201980101895A CN114761896A CN 114761896 A CN114761896 A CN 114761896A CN 201980101895 A CN201980101895 A CN 201980101895A CN 114761896 A CN114761896 A CN 114761896A
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CN201980101895.9A
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郑立强
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Publication of CN114761896A publication Critical patent/CN114761896A/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0646—Rate of change of altitude or depth specially adapted for aircraft to follow the profile of undulating ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Abstract

一种航线高度调整方法、无人机作业方法及相关装置，该航线高度调整方法包括：获取作业航线及作业航线对应的初始高度表；通过无人机在高度方向上的最大垂直速度和最大垂直加速度对初始高度表进行优化，得到包括多个插值点及每个插值点的目标高度的目标高度表，使得无人机按照作业航线和目标高度表进行飞行时，在任意两个相邻插值点间飞行的垂直速度均小于最大垂直速度、以及在任意三个相邻插值点间飞行的垂直加速度均小于最大垂直加速度，使无人机在飞行过程中能够始终满足飞行性能要求。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN201980101895.9A 2019-11-01 2019-11-01 航线高度调整方法、无人机作业方法及相关装置 Pending CN114761896A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/115158 WO2021082014A1 (zh) 2019-11-01 2019-11-01 航线高度调整方法、无人机作业方法及相关装置

Publications (1)

Publication Number Publication Date
CN114761896A true CN114761896A (zh) 2022-07-15

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CN201980101895.9A Pending CN114761896A (zh) 2019-11-01 2019-11-01 航线高度调整方法、无人机作业方法及相关装置

Country Status (6)

Country Link
US (1) US20220254258A1 (zh)
EP (1) EP4053667A1 (zh)
CN (1) CN114761896A (zh)
AU (1) AU2019472642A1 (zh)
CA (1) CA3156786A1 (zh)
WO (1) WO2021082014A1 (zh)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2511233C2 (de) * 1975-03-14 1977-03-10 Dornier Gmbh Verfahren zur Verhinderung ungewollter Land- oder Wasserberührung von in niedriger Höhe fliegenden Fluggeräten
KR20160068260A (ko) * 2014-12-05 2016-06-15 부산대학교 산학협력단 실내환경에서의 쿼드로터형 무인비행체의 자세 안정화 및 고도 제어
CN104571127B (zh) * 2014-12-25 2017-06-27 中国人民解放军总参谋部第六十研究所 无人直升机前飞速度/垂直速度匹配的巡线飞行控制方法
CN106681344B (zh) * 2016-12-26 2019-08-27 湖南纳雷科技有限公司 一种用于飞行器的高度控制方法及控制系统
CN109947136B (zh) * 2019-02-28 2020-07-10 清华大学 一种面向无人机群体快速目标搜索的协同主动感知方法

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AU2019472642A1 (en) 2022-06-02
CA3156786A1 (en) 2021-05-06
US20220254258A1 (en) 2022-08-11
EP4053667A1 (en) 2022-09-07
WO2021082014A1 (zh) 2021-05-06

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