CN117651883A - Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium - Google Patents

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Download PDF

Info

Publication number
CN117651883A
CN117651883A CN202180100512.3A CN202180100512A CN117651883A CN 117651883 A CN117651883 A CN 117651883A CN 202180100512 A CN202180100512 A CN 202180100512A CN 117651883 A CN117651883 A CN 117651883A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
ground
signal
detection device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180100512.3A
Other languages
Chinese (zh)
Inventor
祝煌剑
李勋
王春明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN117651883A publication Critical patent/CN117651883A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, the unmanned aerial vehicle comprising a first detection device for transmitting a detection signal and determining position information of a position point in an environment according to an echo signal of the received detection signal, the method comprising: determining a slope of the ground in front of the unmanned aerial vehicle (S101); determining a target signal orientation of a detection signal sent by a first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight (S102); adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation (S103); and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device (S104).

Description

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
Currently, unmanned aerial vehicles may be configured with a detection device (e.g., radar device, ultrasonic sensor, or TOF sensor), which may transmit a detection signal and sense an obstacle in the surrounding environment of the unmanned aerial vehicle according to the received echo signal of the detection signal, and the unmanned aerial vehicle may avoid the sensed obstacle during flight. Currently, in some cases, the signal orientation of the detection signal of the detection device of the unmanned aerial vehicle is fixed relative to the fuselage of the unmanned aerial vehicle when the detection signal is transmitted, and in some cases, the signal orientation of the detection signal of the detection device is rotated 360 degrees according to a fixed rotation speed mode when the detection signal is transmitted. Unmanned aerial vehicles often fly in environments with complex terrain, and during flight, the control of the signal orientations of these detection signals does not enable the detection device to quickly detect obstacles on undulating ground, which can affect the flight speed (e.g., horizontal flight speed) of the unmanned aerial vehicle.
Disclosure of Invention
Based on the above, the application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that the unmanned aerial vehicle can quickly detect obstacles on uneven ground.
In a first aspect, the present application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle including a first detection device, the first detection device being configured to send a detection signal and determine location information of a location point in an environment according to a received echo signal of the detection signal, the method including:
determining a slope of the ground in front of the unmanned aerial vehicle;
determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight;
adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation;
and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
In a second aspect, the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle including a first detection device for transmitting a detection signal and determining location information of a location point in an environment according to a received echo signal of the detection signal, the unmanned aerial vehicle further comprising: a memory and a processor;
The memory is used for storing a computer program;
the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
determining a slope of the ground in front of the unmanned aerial vehicle;
determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight;
adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation;
and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling an unmanned aerial vehicle as described above.
According to the unmanned aerial vehicle, the first detection device is used for sending the detection signal and determining the position information of the position point in the environment according to the received echo signal, and because the signal orientation of the detection signal can be adjusted according to the gradient of the ground in front of the flight, the target signal is oriented to the ground in front of the flight, so that in a complex terrain environment, the signal orientation of the detection signal can be flexibly adjusted according to the fluctuation trend of the ground in front of the unmanned aerial vehicle, the detection device can quickly detect the obstacle of the ground in front of the unmanned aerial vehicle and enable the unmanned aerial vehicle to avoid the obstacle, so that the flight safety of the unmanned aerial vehicle is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method of controlling an unmanned aerial vehicle of the present application;
FIG. 2 is a schematic diagram of a positive correlation between an angle of a target signal direction deviating from a vertical direction and a gradient of an unmanned aerial vehicle in an embodiment of a control method of the unmanned aerial vehicle of the present application when the unmanned aerial vehicle flies on a climbing slope;
FIG. 3 is a schematic diagram of a negative correlation between the angle of the target signal orientation from vertical and the slope of an unmanned aerial vehicle during downhill flight in an embodiment of a control method of the unmanned aerial vehicle of the present application;
FIG. 4 is a schematic diagram illustrating adjusting a signal orientation of a probe signal to a target signal orientation according to an embodiment of a control method of an unmanned aerial vehicle of the present application;
Fig. 5 is a schematic structural view of an embodiment of the unmanned aerial vehicle of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
At present, unmanned aerial vehicles can be provided with a detection device to sense obstacles in surrounding environments, so that the unmanned aerial vehicles can conveniently avoid the obstacles in the flight process. In some cases, the signal orientation of the detection signal transmitted by the detection device is fixed relative to the fuselage of the unmanned aerial vehicle, and in some cases, the signal orientation of the detection signal transmitted by the detection device is rotated 360 degrees in a fixed pattern. The control mode of the signal orientation of the detection signals cannot enable the detection device to rapidly detect obstacles on the undulating ground, and the flying speed of the unmanned aerial vehicle is affected.
According to the unmanned aerial vehicle, the first detection device is used for sending the detection signal and determining the position information of the position point in the environment according to the received echo signal, and because the signal orientation of the detection signal can be adjusted according to the gradient of the ground in front of the flight, the target signal is oriented to the ground in front of the flight, so that in a complex terrain environment, the signal orientation of the detection signal can be flexibly adjusted according to the fluctuation trend of the ground in front of the unmanned aerial vehicle, the detection device can quickly detect the obstacle of the ground in front of the unmanned aerial vehicle and enable the unmanned aerial vehicle to avoid the obstacle, so that the flight safety of the unmanned aerial vehicle is ensured.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a control method of an unmanned aerial vehicle of the present application, where the unmanned aerial vehicle includes a first detection device, and the first detection device is configured to send a detection signal and determine location information of a location point in an environment according to an echo signal of the received detection signal. And the unmanned aerial vehicle flies according to the position information of the position points in the environment.
The first detection device comprises at least one of a phased array radar (PAR, phased Array Radar), an ultrasonic sensor, and a Time of Flight (TOF) sensor. The detection signal includes a radar wave signal, an acoustic wave signal, or an optical signal. The first detection means may also comprise a millimeter wave radar or a lidar.
Phased array radar, i.e., phase-controlled electronically scanned array radar, whose ability to rapidly and accurately switch beams enables the radar to complete scanning of full airspace within 1 minute; the phased array radar is a radar area array formed by a large number of identical radiating units, each radiating unit is independently controlled by a wave control and a phase shifter in phase and amplitude, and an accurate and predictable radiation pattern and beam pointing can be obtained; when the radar works, the transmitter distributes power to each antenna unit through the feeder line network, and the energy is radiated out through a large number of independent antenna units and is subjected to power synthesis in space to form the required beam direction. Ultrasonic sensors are sensors that convert ultrasonic signals into other energy signals (typically electrical signals); ultrasonic waves are mechanical waves with vibration frequencies higher than 20 kHz; the device has the characteristics of high frequency, short wavelength, small diffraction phenomenon, good directivity, capability of being used as rays to directionally propagate, and the like; the ultrasonic waves can be obviously reflected to form a reflected echo when encountering impurities or interfaces, and the Doppler effect can be generated when the ultrasonic waves collide with a living body. TOF sensors are based on the principle of obtaining the target distance by continuously emitting pulses of light (typically invisible light) onto the object being observed, then receiving the light returned from the object with the sensor, and detecting the round-trip time of the light pulses.
The method comprises the following steps: step S101, step S102, step S103, and step S104.
Step S101: a grade of the ground in front of the unmanned aerial vehicle is determined.
Step S102: and determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight.
Step S103: and adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation.
Step S104: and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
In this embodiment, the gradient of the ground in front of the unmanned aerial vehicle may be determined by detecting the ground in front of the unmanned aerial vehicle by the first detection device, or may be determined by detecting the ground in front of the unmanned aerial vehicle by another sensor.
When the ground in front of the flight has a gradient, if the unmanned aerial vehicle does not pay attention to the ground in front of the flight in the flight process, the flight safety of the unmanned aerial vehicle is difficult to ensure, and therefore the target signal is directed to the ground in front of the flight. From the perspective of controlling the flight of an unmanned aerial vehicle based on the location information of the collected location points, the orientation of the target signal towards the ground pointing in front of the flight may generally include two situations: one may be that the target signal is directed vertically towards the ground in front of the flight, i.e. the target area of interest of the unmanned aircraft is an area directed vertically towards the ground in front of the flight, so that the ground in front of the flight can be detected at close range; the other way is that the target signal is oriented obliquely to the ground in front of the flight, namely the target signal is oriented obliquely to the front, and the target signal is oriented at an acute angle smaller than 90 degrees with the ground, so that the ground in front of the flight can be detected remotely, and for the ground with the same gradient, the smaller the acute angle between the target signal and the ground is, the more remote the ground in front of the flight can be detected.
There are many ways to orient the target signal based on the slope of the ground. For example, the target signal orientation may be determined according to the magnitude of the gradient: when the gradient of the ground is large, the front view of the unmanned aerial vehicle is relatively narrow when the unmanned aerial vehicle flies, factors threatening the flight safety are increased, and in order to ensure the flight safety, a target signal is oriented to the ground which can be closer to the front of the flight, so that the ground can be conveniently detected at a short distance, and the condition of obstacles on the ground at a short distance can be detected; when the gradient of the ground is smaller, the front view of the unmanned aerial vehicle is relatively wider when the unmanned aerial vehicle flies, and factors threatening the flight safety can be reduced, and at the moment, the target signal can be slightly far away from the ground in front of the flight, so that the ground can be conveniently detected remotely, and the obstacle condition of the ground at a long distance can be detected; etc. The target signal orientation can be determined according to the gradient, and can be comprehensively determined by combining the actual working mode, specific operation, flight direction and other factors of the unmanned aerial vehicle: for example, for the same ground of the same grade, the angle of the target signal towards the ground pointing forward of the flight may be different when climbing uphill and flying downhill; for two different grounds with the same gradient, one ground is a fruit tree planted at intervals, one ground is a special grass planted, the angles of the target signals facing the ground pointing to the front of the flight can be different when the ground is crawled on an ascending slope, and the angles of the target signals facing the ground pointing to the front of the flight can be different when the ground is crawled on a descending slope.
The signal orientation of the detection signal can be adjusted to the target signal orientation by adopting a mechanical adjustment mode, for example, the mechanical wave signal can be adjusted by adopting a mechanical adjustment mode; the signal orientation of the detection signal can be adjusted by adopting an electronic adjustment mode, and the signal orientation of the detection signal can be adjusted to the target signal orientation, for example, the phased array radar wave signal can be adjusted by adopting the electronic adjustment mode.
When the ground has the slope, when the slope of ground changes, the signal orientation of detection signal can change along with taking place, and the positional information of the position point that first detection device gathered also can in time change fast, feeds back unmanned vehicles with these information of change fast, and unmanned vehicles can avoid the barrier according to the positional information of the position point that first detection device gathered, guarantees unmanned vehicles's flight security, owing to the barrier condition of detecting the ground in advance, unmanned vehicles can fly according to great flight speed (for example horizontal velocity) can not be slowed down, carries out safe, efficient operation.
According to the unmanned aerial vehicle, the first detection device is used for sending the detection signal and determining the position information of the position point in the environment according to the received echo signal, and because the signal orientation of the detection signal can be adjusted according to the gradient of the ground in front of the flight, the target signal is oriented to the ground in front of the flight, so that in a complex terrain environment, the signal orientation of the detection signal can be flexibly adjusted according to the fluctuation trend of the ground in front of the unmanned aerial vehicle, the detection device can quickly detect the obstacle of the ground in front of the unmanned aerial vehicle and enable the unmanned aerial vehicle to avoid the obstacle, so that the flight safety of the unmanned aerial vehicle is ensured.
In practical applications, the slope of the ground is not a concern in any case, and the situation of obstacles on the ground is a concern. In one embodiment, the target signal orientation is determined based on the grade of the ground only when the current mode of operation of the unmanned aerial vehicle is the first mode of operation. That is, the method may further include: determining a current working mode of the unmanned aerial vehicle; at this time, in step S102, the determining, according to the gradient of the ground, the target signal direction of the detection signal sent by the first detection device may include: and if the current working mode is the first working mode, determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground.
The first mode of operation may refer to a mode of operation in which the slope of the ground and the condition of an obstacle on the ground are of interest or the work performed is related to the slope of the ground and the obstacle on the ground during flight. When the current working mode is the first working mode, determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground. For example, the unmanned aerial vehicle sprays pesticides in the working area with uneven relief, or the unmanned aerial vehicle sprays seeds in the hillside working area, and the like, the unmanned aerial vehicle cannot be too high away from the ground in consideration of uniformity and effectiveness of spraying or sowing, and the unmanned aerial vehicle cannot be too close to the ground in consideration of flight safety, in which case, the unmanned aerial vehicle needs to pay attention to the change of the ground gradient during working, pay attention to the obstacle on the ground, and timely adjust the signal orientation of the detection signal according to the change of the ground gradient so as to quickly detect the obstacle on the ground in front of the unmanned aerial vehicle and enable the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the first mode of operation includes a mode in which the unmanned aerial vehicle maintains a predetermined altitude with respect to the ground below it. Unmanned aerial vehicles maintain a predetermined altitude of flight relative to the ground below them, which may also be referred to as ground-based flight. Through the mode, the unmanned aerial vehicle can adapt to different terrains, so that the flight safety can be ensured, and a better operation effect can be achieved.
In an embodiment, in order to obtain more accurate altitude information and to make the unmanned aerial vehicle fly like the ground more safely, the unmanned aerial vehicle may be provided with a second detecting device for measuring the altitude, and the second detecting device is used for sensing the altitude of the unmanned aerial vehicle relative to the ground. I.e. the unmanned aerial vehicle may further comprise second detecting means for sensing the altitude of the unmanned aerial vehicle with respect to the ground, at this time, step S104, the controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detecting means may comprise: and controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detection device and the height acquired by the second detection device. Specifically, the horizontal flight speed of the unmanned aerial vehicle can be determined according to the position information of the position point determined by the first detection device, and the vertical flight speed of the unmanned aerial vehicle can be controlled according to the height acquired by the second detection device. The second detection means includes, but is not limited to: radar devices, ultrasonic sensors, TOF sensors or vision sensors (e.g. binocular vision sensors), etc.
In an embodiment, if the unmanned aerial vehicle is traveling on a climbing slope, the target signal is directed vertically toward the ground. When it is desired to detect positional information of a position point in the environment that is directed vertically towards the ground, the target signal is directed vertically towards the ground. The target signal is directed vertically towards the ground, enabling the first detection means to detect the ground in front of the flight in close proximity. For example, the unmanned aerial vehicle flies on a hillside with a fixed gradient, when spraying pesticides on an orchard of the hillside, the position information of the position points of the fruit trees on the hillside needs to be detected to perform effective pesticide spraying operation, at the moment, the signal orientation of the detection signal can be adjusted to be vertically directed to the ground, and the position points of the fruit trees on the hillside are obtained, so that the unmanned aerial vehicle can avoid colliding with the fruit trees during flying, and on the other hand, the position points with the fruit trees on the hillside can be effectively sprayed with pesticides.
In an embodiment, if the unmanned aerial vehicle is flying on a slope, the target signal is positively correlated with the slope toward an angle deviating from the vertical direction; and/or, if the unmanned aerial vehicle is in downhill flight, the angle of the target signal direction deviating from the vertical direction is inversely related to the gradient.
When the unmanned aerial vehicle flies on a climbing slope, namely, when flying on an ascending slope, the target signal faces to the ground pointing to the front of the flight, and along with the increase of the gradient, the larger the angle of the target signal facing to the direction deviating from the vertical direction is. As shown in fig. 2, when the unmanned aerial vehicle works in a complex environment with a plurality of different slopes (horizontal ground, slope with a gradient of θ1, slope with a gradient of θ2) and gradually increasing gradients (0 < θ1 < θ2), the unmanned aerial vehicle keeps flying at a predetermined height H0 relative to the ground below the unmanned aerial vehicle, and as the gradient increases, the target signal is directed to the different grounds with increasing gradients (horizontal ground, slope with a gradient of θ1, slope with a gradient of θ2), the angle of the target signal directed to the direction away from the vertical is increasingly greater, that is, the angle of the target signal directed to the direction away from the vertical is positively correlated with the gradient. At this time, along with the continuous increase of the slope, the field of view of the unmanned aerial vehicle is continuously reduced when the unmanned aerial vehicle flies, and the target signal faces to the ground which is closer to the front of the flight and even vertically points to the ground so as to quickly detect whether the ground has an obstacle or not at a short distance, so that the unmanned aerial vehicle avoids the obstacle, and the unmanned aerial vehicle can fly at a larger flying speed (such as a horizontal flying speed) without slowing down the flying speed due to the condition of detecting the obstacle on the ground in advance, thereby carrying out safe and efficient operation.
When the unmanned aerial vehicle flies downhill, the target signal faces the ground pointing to the front of the flight, and the smaller the angle of the target signal from the vertical direction is as the gradient decreases. As shown in fig. 3, when the unmanned aerial vehicle works in a complex environment with a plurality of different slopes (slope of slope θ2, slope of slope θ1, horizontal ground) and gradually decreasing slopes (θ2 > θ1 > 0), the unmanned aerial vehicle keeps flying at a predetermined height H0 relative to the ground below the unmanned aerial vehicle, and as the slopes decrease, the target signal is directed to the different grounds (slope of slope θ2, slope of slope θ1, horizontal ground) with decreasing slopes, and the angle of the target signal directed to the different grounds is smaller and smaller, that is, the angle of the target signal directed to the different grounds is inversely related to the slope. At this time, along with the continuous reduction of the slope, the front view field of the unmanned aerial vehicle is continuously enlarged when the unmanned aerial vehicle flies, and the target signal direction can point to the ground far away from the front of the flight, so that whether the ground is provided with an obstacle or not can be detected remotely, and the unmanned aerial vehicle can avoid the obstacle, and the unmanned aerial vehicle can fly at a larger flying speed (such as a horizontal flying speed) without slowing down the flying speed due to the condition of detecting the obstacle on the ground in advance, so that safe and efficient operation can be performed.
In an embodiment, the method may further include: and if the current working mode is the second working mode, determining the speed direction of the unmanned aerial vehicle as the target signal direction of the detection signal sent by the first detection device.
The second mode of operation may refer to a mode of operation in which there is no concern about the slope of the ground and the condition of an obstacle on the ground during flight or in which there is no correlation with the slope of the ground and the condition of an obstacle on the ground during flight. In the second working mode, the unmanned aerial vehicle can safely fly at a higher altitude, the ground is not required to be concerned, the situation of obstacles on the ground is not required to be concerned, and whether the speed direction is an obstacle or not is required to be concerned at the moment, so that the speed direction of the unmanned aerial vehicle is determined to be the target signal direction of the detection signal sent by the first detection device.
The second mode of operation includes a line flight mode and/or a return mode. In the course flight mode and/or the return mode, the unmanned aerial vehicle can carry out course flight and/or return under a higher altitude, and the target signal direction of the detection signal is the speed direction of the unmanned aerial vehicle, so that the first detection device can rapidly detect whether an obstacle exists in the speed direction or not, and the unmanned aerial vehicle can avoid the obstacle when the obstacle exists, and the requirement of safe flight can be met.
In an embodiment, the slope of the ground may be determined using position information of the position points acquired by other detection means of the unmanned aerial vehicle than the first detection means. The other detecting means may comprise a second detecting means as described above, or may be detecting means different from the second detecting means. The other detection means may be a visual sensor (e.g. a binocular visual sensor). In the flight process of the unmanned aerial vehicle, the other detection devices can acquire the position information of the position point on the ground in front of the unmanned aerial vehicle, and the gradient of the ground is determined according to the position information of the position point.
In one embodiment, the slope of the ground may be determined directly using the position information of the position point acquired by the first detection device. I.e. step S101, the determining the gradient of the ground in front of the unmanned aerial vehicle may include: substep S1011 and substep S1012.
Sub-step S1011: and acquiring the position information of the position point of the ground in front of the flight acquired by the first detection device at the historical moment.
Sub-step S1012: and determining the gradient of the ground according to the position information of the position point of the ground.
In this embodiment, the position information of the position point at the historical moment is obtained, so that on one hand, the position information of the position point acquired by the first detection device can be directly and fully utilized, and on the other hand, the gradient of the ground in front of the flight can be directly and quickly determined according to the position information of the position point, and the time is not required to wait for the first detection device to transmit the detection signal and acquire the position information of the position point of the ground in front of the flight.
Typically, the first detection means transmits detection signals to the ground in front of the flight at intervals to detect the ground in front. If the front ground topography is not changed greatly, the interval time can be longer, and if the front ground topography is changed greatly, the topography is more complex, the interval time can be shorter. The historical time may be the position information acquired by the first detecting device at a longer interval, or the position information acquired by the first detecting device at a shorter interval. In order to obtain gradient information that the current ground is closer and more accurate, whether the first detection device collects the current ground for a longer time or a shorter time, the historical moment may be the last moment, and the position information of the position point of the ground may be the position information of the position point of the ground in front of the flight, which is collected by the first detection device at the last moment.
In the substep S1012, before determining the slope of the ground according to the position information of the position point of the ground, the impurity point rejection may be performed on the position information of the position point of the ground according to a preset requirement or standard for rejecting the position information of the position point of the ground, and some position information with noise is removed, so as to obtain a more accurate slope of the ground according to the position information of the position point after noise is removed.
In an embodiment, the determining the gradient of the ground according to the position information of the position point of the ground in the substep S1012 may further include: and fitting a reference plane according to the position information of the position points of the ground, and determining the gradient of the reference plane as the gradient of the ground.
In this embodiment, a plane (or curved surface) fitting method may be used to obtain a reference plane, and after the fitting is completed, the distance between the position points of the ground and the reference plane is the smallest. And then determining the included angle between the reference plane and the horizontal plane as the gradient of the reference plane, and determining the gradient of the reference plane as the gradient of the ground.
In an embodiment, in step S103, the adjusting the signal direction of the detection signal sent by the first detection device to the target signal direction may include: substep S1031 and substep S1032.
Substep S1031: the gesture of a transmitting component for transmitting the detection signal in the first detection device is acquired.
Sub-step S1032: and adjusting the signal orientation of the detection signal to the target signal orientation according to the posture of the transmitting component.
The detection signal is emitted by the emitting component of the first detection device, so that the signal orientation of the detection signal is related to the gesture of the emitting component, the gesture of the emitting component is acquired first, and then the signal orientation of the detection signal is adjusted to the target signal orientation according to the gesture of the emitting component.
In an embodiment, the unmanned aerial vehicle includes a fuselage and an attitude sensor for sensing an attitude of the fuselage, the first detection device is mounted on the fuselage or mounted on the fuselage through a carrier, and the acquiring the attitude of the transmitting component that transmits the detection signal in the first detection device in S1031 may include: substep S10311, substep S10312, and substep S10313.
Substep S10311: and acquiring the gesture acquired by the gesture sensor.
Substep S10312: and acquiring the relative position between the machine body and the first detection device.
Substep S10313: and determining the posture of the transmitting component according to the posture and the relative position.
The attitude sensor is a high performance three-dimensional motion attitude measurement system based on Micro-Electro-Mechanical System technology (MEMS). The three-dimensional attitude and azimuth data after temperature compensation are obtained through an embedded low-power ARM processor. And outputting zero drift three-dimensional attitude azimuth data expressed by quaternion and Euler angles in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology. The first detection device is arranged on the unmanned aerial vehicle body, the gesture sensor can sense the gesture of the unmanned aerial vehicle body, and the gesture of the body can be determined by combining the relative position between the body and the first detection device.
The signal orientation of the probe signal can be adjusted in two ways: one is electronic and the other is mechanical, as described in detail below.
In an embodiment, the transmitting component is a phased array radar antenna, and the adjusting the signal orientation of the probe signal to the target signal orientation according to the pose of the transmitting component in step S1032 may include: and adjusting the signal orientation of the detection signal to the target signal orientation according to the gesture of the phased array radar antenna.
The phased array radar antenna is independently controlled by the wave control and the phase shifter in phase and amplitude, and can obtain an accurate and predictable radiation pattern and beam pointing. During the operation of the phased array radar, power is distributed to each phased array radar antenna through a feeder line network according to the gestures of the phased array radar antennas, and energy is radiated out through a large number of independent phased array radar antennas and power synthesis is carried out in space, so that the required target signal orientation is formed.
In an embodiment, the unmanned aerial vehicle includes an attitude adjustment mechanism that carries and adjusts the attitude of the transmitting component, and the adjusting the signal orientation of the detection signal to the target signal orientation according to the attitude of the transmitting component in the substep S1032 may include: and controlling an attitude adjusting mechanism according to the attitude of the transmitting component to adjust the attitude of the transmitting component so as to adjust the signal orientation of the detection signal to the target signal orientation.
In this embodiment, the attitude of the emitting member is adjusted by controlling the attitude adjusting mechanism, so that the signal orientation of the detection signal is adjusted to the target signal orientation. The present embodiment is suitable for adjusting the signal orientation of the mechanical wave signal.
The method according to the embodiment of the present application will be described below with a specific example. In the following example, the first detection device is a phased array radar and the attitude sensor is an inertial measurement unit (IMU, inertial Measurement Unit).
(1) Estimating the gradient of the ground in front of the flight:
and according to the radar detection result of the backward direction of the beam regulated at the previous moment, estimating the gradient of the ground in front of the flight in the environment. The radar detection result mainly consists of a series of position points { T } 1 ,T 2 ,…T N Each reflection point includes positional information { x, y, z } of the detected obstacle with respect to the radar, electromagnetic information { P, R, S }, and the like.
In the electromagnetic information { P, R, S }, P represents the reflected energy of the detected obstacle, R represents the equivalent reflection area (RCS, radar Cross-Section) of the detected obstacle, and S represents the Signal-to-Noise Ratio (SNR) of the detected obstacle.
Performing miscellaneous point elimination on the series of position points according to the electromagnetic information of the position points and a preset electromagnetic elimination standard to obtain position information { x, y, z } of the position points after the miscellaneous points are eliminated, then performing three-dimensional modeling on the operation environment by using a plane (curved surface) fitting method and the like, and then predicting the topography of the operation environment by using the model to obtain the gradient (represented by theta) of the ground in front of the flight, and also obtaining the height (represented by H0) of the unmanned aerial vehicle relative to the ground below the unmanned aerial vehicle.
(2) And determining the target signal orientation of the detection signal sent by the first detection device to be vertically pointed to the ground according to the gradient theta of the ground by combining with the current operation requirement of the unmanned aerial vehicle.
(3) Radar pose estimation:
and obtaining the real-time attitude of the unmanned aerial vehicle by utilizing an inertial measurement unit on the unmanned aerial vehicle, and obtaining the real-time attitude of the radar according to the installation position of the radar relative to the unmanned aerial vehicle.
(4) Signal orientation adjustment:
and (3) carrying out signal orientation adjustment according to the orientation of the target signal in the step (2) to the ground vertically and the estimated attitude of the radar in the step (3), so that the adjusted target signal is oriented to the ground vertically by the orientation AB, and finally, as shown in fig. 4, the following relation is satisfied: sigma = pi/2- (theta + beta), sigma represents the angle between the target signal direction AB directed perpendicularly to the ground and the plane L1 of the fuselage wing of the unmanned aerial vehicle, and beta represents the angle between the plane L1 of the fuselage wing of the unmanned aerial vehicle and the horizontal plane L0.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle 100 of the present application, where the unmanned aerial vehicle 100 includes a first detecting device 3, and the first detecting device 3 is configured to send a detecting signal and determine location information of a location point in an environment according to an echo signal of the detecting signal received, and the unmanned aerial vehicle 100 further includes: a memory 1 and a processor 2; the first detecting device 3 and the memory 1 are respectively connected with the processor 2 through buses. The processor 2 may be a micro control unit, a central processing unit or a digital signal processor, etc. The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, a removable hard disk, or the like. The unmanned aerial vehicle of the embodiment can execute the steps in the control method of the unmanned aerial vehicle, and the detailed description of the related content is referred to the related content of the control method of the unmanned aerial vehicle, which is not repeated here.
The memory is used for storing a computer program; the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
determining a slope of the ground in front of the unmanned aerial vehicle; determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight; adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation; and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
Wherein the processor, when executing the computer program, performs the steps of: determining a current working mode of the unmanned aerial vehicle; and if the current working mode is the first working mode, determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground.
Wherein the first mode of operation comprises a mode in which the unmanned aerial vehicle maintains a predetermined altitude with respect to the ground below it.
Wherein the unmanned aerial vehicle comprises second detection means for sensing the altitude of the unmanned aerial vehicle relative to the ground, the processor, when executing the computer program, performing the steps of: and controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detection device and the height acquired by the second detection device.
And if the unmanned aerial vehicle flies on a climbing slope, the target signal is vertically directed to the ground.
If the unmanned aerial vehicle flies on a climbing slope, the angle of the target signal, deviating from the vertical direction, is positively correlated with the slope; and/or if the unmanned aerial vehicle is flying downhill, the angle of the target signal towards the direction deviating from the vertical is inversely related to the gradient.
Wherein the processor, when executing the computer program, performs the steps of: and if the current working mode is the second working mode, determining the speed direction of the unmanned aerial vehicle as the target signal direction of the detection signal sent by the first detection device.
Wherein the second operating mode comprises an airline flight mode and/or a return mode.
Wherein the processor, when executing the computer program, performs the steps of: acquiring position information of a position point of the ground in front of the flight, which is acquired by the first detection device at the historical moment; and determining the gradient of the ground according to the position information of the position point of the ground.
Wherein the processor, when executing the computer program, performs the steps of: and fitting a reference plane according to the position information of the position points of the ground, and determining the gradient of the reference plane as the gradient of the ground.
Wherein the processor, when executing the computer program, performs the steps of: acquiring the gesture of a transmitting component for transmitting the detection signal in a first detection device; and adjusting the signal orientation of the detection signal to the target signal orientation according to the posture of the transmitting component.
The unmanned aerial vehicle comprises a body and an attitude sensor for sensing the attitude of the body, the first detection device is arranged on the body or arranged on the body through a bearing piece, and the processor realizes the following steps when executing the computer program: acquiring the gesture acquired by the gesture sensor; acquiring the relative position between the machine body and the first detection device; and determining the posture of the transmitting component according to the posture and the relative position.
Wherein the transmitting component is a phased array radar antenna, and the processor, when executing the computer program, performs the steps of: and adjusting the signal orientation of the detection signal to the target signal orientation according to the gesture of the phased array radar antenna.
The unmanned aerial vehicle comprises a gesture adjusting mechanism for bearing and adjusting the gesture of the transmitting part, and the processor realizes the following steps when executing the computer program: and controlling an attitude adjusting mechanism according to the attitude of the transmitting component to adjust the attitude of the transmitting component so as to adjust the signal orientation of the detection signal to the target signal orientation.
The first detection device comprises at least one of a phased array radar, an ultrasonic sensor and a time-of-flight sensor.
Wherein the detection signal comprises a radar wave signal, an acoustic wave signal or an optical signal.
The present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling an unmanned aerial vehicle as defined in any one of the above. For detailed descriptions of related contents, please refer to the related content section, and detailed descriptions thereof are omitted.
The computer readable storage medium may be an internal storage unit of the unmanned aerial vehicle, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, etc.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (33)

  1. A method of controlling an unmanned aerial vehicle, the unmanned aerial vehicle comprising a first detection device for transmitting a detection signal and determining location information of a location point in an environment from a received echo signal of the detection signal, the method comprising:
    determining a slope of the ground in front of the unmanned aerial vehicle;
    determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight;
    adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation;
    and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
  2. The method according to claim 1, wherein the method further comprises:
    determining a current working mode of the unmanned aerial vehicle;
    the determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground comprises the following steps:
    and if the current working mode is the first working mode, determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground.
  3. The method of claim 2, wherein the first mode of operation comprises a mode in which the unmanned aerial vehicle remains flying at a predetermined altitude relative to the ground below it.
  4. A method according to claim 3, wherein the unmanned aerial vehicle comprises a second detection device for sensing the altitude of the unmanned aerial vehicle relative to the ground,
    the controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detecting device comprises the following steps:
    and controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detection device and the height acquired by the second detection device.
  5. The method according to any one of claim 1 to 4, wherein,
    And if the unmanned aerial vehicle flies on a climbing slope, the target signal is vertically directed to the ground.
  6. The method according to any one of claims 1 to 5, wherein,
    if the unmanned aerial vehicle flies on a climbing slope, the angle of the target signal, deviating from the vertical direction, is positively correlated with the slope; and/or
    And if the unmanned aerial vehicle flies downhill, the angle of the target signal facing away from the vertical direction is inversely related to the gradient.
  7. The method according to any one of claims 2-6, further comprising:
    and if the current working mode is the second working mode, determining the speed direction of the unmanned aerial vehicle as the target signal direction of the detection signal sent by the first detection device.
  8. The method of claim 7, wherein the second mode of operation comprises a line flight mode and/or a return mode.
  9. The method of any one of claims 1-8, wherein determining the slope of the ground ahead of the unmanned aerial vehicle comprises:
    acquiring position information of a position point of the ground in front of the flight, which is acquired by the first detection device at the historical moment;
    And determining the gradient of the ground according to the position information of the position point of the ground.
  10. The method of claim 9, wherein determining the grade of the ground based on the location information of the location point of the ground comprises:
    and fitting a reference plane according to the position information of the position points of the ground, and determining the gradient of the reference plane as the gradient of the ground.
  11. The method according to any one of claims 1-10, wherein adjusting the signal orientation of the probe signal sent by the first probe device to the target signal orientation comprises:
    acquiring the gesture of a transmitting component for transmitting the detection signal in a first detection device;
    and adjusting the signal orientation of the detection signal to the target signal orientation according to the posture of the transmitting component.
  12. The method of claim 11, wherein the unmanned aerial vehicle comprises a fuselage and an attitude sensor for sensing the attitude of the fuselage, the first detection device is mounted on the fuselage or on the fuselage via a carrier,
    the method for acquiring the gesture of the transmitting component for transmitting the detection signal in the first detection device comprises the following steps:
    Acquiring the gesture acquired by the gesture sensor;
    acquiring the relative position between the machine body and the first detection device;
    and determining the posture of the transmitting component according to the posture and the relative position.
  13. The method according to claim 11 or 12, wherein the transmitting means is a phased array radar antenna, and the adjusting the signal orientation of the probe signal to the target signal orientation according to the attitude of the transmitting means includes:
    and adjusting the signal orientation of the detection signal to the target signal orientation according to the gesture of the phased array radar antenna.
  14. The method of claim 11 or 12, wherein the unmanned aerial vehicle comprises an attitude adjustment mechanism that carries and adjusts the attitude of the launching component, the adjusting the signal orientation of the probe signal to the target signal orientation according to the attitude of the launching component comprising:
    and controlling an attitude adjusting mechanism according to the attitude of the transmitting component to adjust the attitude of the transmitting component so as to adjust the signal orientation of the detection signal to the target signal orientation.
  15. The method of any one of claims 1-14, wherein the first detection device comprises at least one of a phased array radar, an ultrasonic sensor, a time-of-flight sensor.
  16. The method of any one of claims 1-15, wherein the probe signal comprises a radar wave signal, an acoustic wave signal, or an optical signal.
  17. An unmanned aerial vehicle, comprising a first detection device for transmitting a detection signal and determining location information of a location point in an environment from a received echo signal of the detection signal, the unmanned aerial vehicle further comprising: a memory and a processor;
    the memory is used for storing a computer program;
    the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
    determining a slope of the ground in front of the unmanned aerial vehicle;
    determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground, wherein the target signal orientation points to the ground in front of the flight;
    adjusting the signal orientation of the detection signal sent by the first detection device to the target signal orientation;
    and controlling the unmanned aerial vehicle to fly according to the position information of the position point acquired by the first detection device.
  18. The unmanned aerial vehicle of claim 17, wherein the processor, when executing the computer program, performs the steps of:
    Determining a current working mode of the unmanned aerial vehicle;
    and if the current working mode is the first working mode, determining the target signal orientation of the detection signal sent by the first detection device according to the gradient of the ground.
  19. The unmanned aerial vehicle of claim 18, wherein the first mode of operation comprises a mode in which the unmanned aerial vehicle remains flying at a predetermined altitude relative to the ground below it.
  20. The unmanned aerial vehicle of claim 19, wherein the unmanned aerial vehicle comprises a second detection device for sensing the altitude of the unmanned aerial vehicle relative to the ground,
    the processor, when executing the computer program, implements the steps of:
    and controlling the unmanned aerial vehicle to fly according to the position information of the position point determined by the first detection device and the height acquired by the second detection device.
  21. The unmanned aerial vehicle of any of claims 17-20, wherein,
    and if the unmanned aerial vehicle flies on a climbing slope, the target signal is vertically directed to the ground.
  22. The unmanned aerial vehicle of any of claims 17-21, wherein,
    if the unmanned aerial vehicle flies on a climbing slope, the angle of the target signal, deviating from the vertical direction, is positively correlated with the slope; and/or
    And if the unmanned aerial vehicle flies downhill, the angle of the target signal facing away from the vertical direction is inversely related to the gradient.
  23. The unmanned aerial vehicle of any of claims 18-22, wherein the processor, when executing the computer program, performs the steps of:
    and if the current working mode is the second working mode, determining the speed direction of the unmanned aerial vehicle as the target signal direction of the detection signal sent by the first detection device.
  24. The unmanned aerial vehicle of claim 23, wherein the second mode of operation comprises a line flight mode and/or a return mode.
  25. The unmanned aerial vehicle of any of claims 17-24, wherein the processor, when executing the computer program, performs the steps of:
    acquiring position information of a position point of the ground in front of the flight, which is acquired by the first detection device at the historical moment;
    and determining the gradient of the ground according to the position information of the position point of the ground.
  26. The unmanned aerial vehicle of claim 25, wherein the processor, when executing the computer program, performs the steps of:
    And fitting a reference plane according to the position information of the position points of the ground, and determining the gradient of the reference plane as the gradient of the ground.
  27. The unmanned aerial vehicle of any of claims 17-26, wherein the processor, when executing the computer program, performs the steps of:
    acquiring the gesture of a transmitting component for transmitting the detection signal in a first detection device;
    and adjusting the signal orientation of the detection signal to the target signal orientation according to the posture of the transmitting component.
  28. The unmanned aerial vehicle of claim 27, wherein the unmanned aerial vehicle comprises a fuselage and an attitude sensor for sensing the attitude of the fuselage, the first detection device is mounted on the fuselage or on the fuselage via a carrier,
    the processor, when executing the computer program, implements the steps of:
    acquiring the gesture acquired by the gesture sensor;
    acquiring the relative position between the machine body and the first detection device;
    and determining the posture of the transmitting component according to the posture and the relative position.
  29. The unmanned aerial vehicle of claim 27 or 28, wherein the transmitting means is a phased array radar antenna, and the processor, when executing the computer program, performs the steps of:
    And adjusting the signal orientation of the detection signal to the target signal orientation according to the gesture of the phased array radar antenna.
  30. The unmanned aerial vehicle of claim 27 or 28, wherein the unmanned aerial vehicle comprises an attitude adjustment mechanism that carries and adjusts the attitude of the launching component, the processor, when executing the computer program, performing the steps of:
    and controlling an attitude adjusting mechanism according to the attitude of the transmitting component to adjust the attitude of the transmitting component so as to adjust the signal orientation of the detection signal to the target signal orientation.
  31. The unmanned aerial vehicle of any of claims 17-30, wherein the first detection device comprises at least one of a phased array radar, an ultrasonic sensor, a time-of-flight sensor.
  32. The unmanned aerial vehicle of any of claims 17-31, wherein the probe signal comprises a radar wave signal, an acoustic wave signal, or an optical signal.
  33. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the method of controlling an unmanned aerial vehicle according to any one of claims 1-16.
CN202180100512.3A 2021-11-15 2021-11-15 Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Pending CN117651883A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/130656 WO2023082255A1 (en) 2021-11-15 2021-11-15 Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN117651883A true CN117651883A (en) 2024-03-05

Family

ID=86334945

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180100512.3A Pending CN117651883A (en) 2021-11-15 2021-11-15 Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium

Country Status (2)

Country Link
CN (1) CN117651883A (en)
WO (1) WO2023082255A1 (en)

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5371581A (en) * 1993-03-08 1994-12-06 Schwartz Electro-Optics, Inc. Helicopter obstacle warning system
IL149934A (en) * 2002-05-30 2007-05-15 Rafael Advanced Defense Sys Airborne reconnaissance system
CN1166922C (en) * 2002-07-18 2004-09-15 上海交通大学 Multiple-sensor and multiple-object information fusing method
FR2888955B1 (en) * 2005-07-21 2007-08-24 Airbus Sas METHOD AND DEVICE FOR SECURING AUTOMATIC LOW ALTITUDE FLIGHT OF AN AIRCRAFT
CN101033973B (en) * 2007-04-10 2010-05-19 南京航空航天大学 Attitude determination method of mini-aircraft inertial integrated navigation system
PL2208083T3 (en) * 2007-10-23 2014-08-29 Selex Es Spa System for the precision localization of a target on the ground by a flying platform and associated method of operation
CN101968353B (en) * 2010-09-29 2012-02-08 清华大学 Laser probing and image identification based terrain tracking method for unmanned helicopter
CN102023003A (en) * 2010-09-29 2011-04-20 清华大学 Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition
CN102541066A (en) * 2011-12-16 2012-07-04 新时代集团国防科技研究中心 Automatic height fixing control method for unmanned spacecraft operation
FR3012231B1 (en) * 2013-10-18 2016-01-01 Univ Aix Marseille DEVICE AND METHOD FOR INFLATER FIELD TRACKING FOR MICRODRONE
CN103673979A (en) * 2013-12-10 2014-03-26 苏州市峰之火数码科技有限公司 Aerial photographing device used for continuous plotting
CN104061905A (en) * 2014-06-16 2014-09-24 江苏恒创软件有限公司 Aerial photographing device and ground target height measuring method based on unmanned helicopter
CN204489196U (en) * 2015-02-12 2015-07-22 深圳大学 The many rotor wing unmanned aerial vehicles of a kind of fuels and energy
CN204631626U (en) * 2015-06-02 2015-09-09 成都理工大学 A kind of terrain following device for unmanned plane during flying
CN105549616B (en) * 2016-01-05 2018-02-16 深圳市易飞行科技有限公司 A kind of multiaxis unmanned plane obstacle avoidance system and its barrier-avoiding method based on laser array
WO2018000399A1 (en) * 2016-06-30 2018-01-04 深圳市大疆创新科技有限公司 Agricultural drone operation method, system, and agricultural drone
CN205787903U (en) * 2016-06-30 2016-12-07 深圳市大疆创新科技有限公司 Agricultural unmanned plane
WO2018094576A1 (en) * 2016-11-22 2018-05-31 深圳市大疆创新科技有限公司 Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle
JP6783950B2 (en) * 2016-11-23 2020-11-11 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Obstacle avoidance control method for unmanned aerial vehicles and unmanned aerial vehicles
CN106527468A (en) * 2016-12-26 2017-03-22 德阳科蚁科技有限责任公司 Unmanned aerial vehicle obstacle avoidance control method and system thereof, and unmanned aerial vehicle
CN109073747A (en) * 2017-04-11 2018-12-21 深圳市大疆创新科技有限公司 A kind of avoidance obstacle method of unmanned vehicle and unmanned vehicle
CN107505625A (en) * 2017-08-29 2017-12-22 北醒（北京）光子科技有限公司 A kind of Air Vehicle Detection method
CN109720557A (en) * 2017-10-27 2019-05-07 极翼机器人(上海)有限公司 A kind of unmanned vehicle and its flight control method
JP2021504790A (en) * 2017-12-18 2021-02-15 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Control method for unmanned aerial vehicles or agricultural unmanned aerial vehicles, and control devices for unmanned aerial vehicles
WO2020041959A1 (en) * 2018-08-28 2020-03-05 深圳市大疆创新科技有限公司 Continuous-wave radar terrain-prediction method, device, system, and unmanned aerial vehicle
WO2020103029A1 (en) * 2018-11-21 2020-05-28 深圳市大疆创新科技有限公司 Ground gradient calculation method, apparatus and device, and storage medium
WO2021087702A1 (en) * 2019-11-04 2021-05-14 深圳市大疆创新科技有限公司 Sloped terrain prediction method and device, radar, unmanned aerial vehicle, and operation control method
WO2021087643A1 (en) * 2019-11-04 2021-05-14 深圳市大疆创新科技有限公司 Ground clutter suppression and terrain estimation method, unmanned aerial vehicle, rotating radar, and storage medium

Also Published As

Publication number Publication date
WO2023082255A1 (en) 2023-05-19

Similar Documents

Publication Publication Date Title
JP7441800B2 (en) Systems and methods for enhancing target detection
CN112437885B (en) System and method for detecting objects
CN106950978B (en) Fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane
WO2019119243A1 (en) Obstacle avoidance method for unmanned aerial vehicle and unmanned aerial vehicle
US20200388172A1 (en) Obstacle avoidance control method for unmanned aerial vehicle, radar system, and unmanned aerial vehicle
JP2019505806A (en) Multicopter with radar system
US10131446B1 (en) Addressing multiple time around (MTA) ambiguities, particularly for lidar systems, and particularly for autonomous aircraft
JP7429054B2 (en) System and method for combining radar data
CN110134145A (en) Unmanned plane avoidance obstacle method, flight controller and unmanned vehicle
US8704700B2 (en) Passive bird-strike avoidance systems and methods
US11921213B2 (en) Non-line-of-sight correction for target detection and identification in point clouds
JP2007501945A (en) System and method for target location
CN107783115A (en) The remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle
CN107783114A (en) The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method
CN110597289A (en) Unmanned aerial vehicle obstacle avoidance system and unmanned aerial vehicle obstacle avoidance method
EP3508869A1 (en) Light-weight radar system
CN117651883A (en) Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium
CN115685094A (en) Clutter suppression method for MIMO radar of unmanned aerial vehicle
US20230266456A1 (en) Systems and methods of target detection
US20210382140A1 (en) Apparatus for and methods of controlling radar contact
WO2021081930A1 (en) Mobile platform
WO2023082253A1 (en) Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium
US20240036188A1 (en) Passive transponder, flying object and method for determining a position of an object

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination