TWI809614B - UAV control method and system and remote controller for remote control of UAV - Google Patents

Abstract

The invention provides a UAV control method and system and a remote controller for remote control of the UAV. The UAV control method includes: using the remote control to control the flight of the teaching UAV, and collecting the relevant navigation data of the teaching UAV during the flight process and feeding it back to the UAV control device; processing and storing; and the UAV control device sends a control command to at least one UAV according to the saved data to control the flight of at least one UAV.

Description

UAV control method and system and remote controller for remote control of UAV

The invention relates to the technical field of drones, in particular to a control method and system for drones and a remote controller for remote control of drones.

With the development of drone technology, the scope of use of drones is also wider. Drone programming has gradually become an important part of youth programming. Currently, there are two ways of programming UAVs: programming language programming and graphical programming. Programming Language-style programming requires solid mathematical knowledge, a deep understanding of various engineering control theories, and a strong three-dimensional space movement thinking, and it takes a long time to realize the actions and routes of the drone. Graphical programming is a simple drag-and-drop programming method, but it can only control the drone to do some simple actions and routes. For complex scene control, graphical programming is difficult or takes a long time in order to achieve.

According to one aspect of the present invention, a method for controlling a drone is provided, including: using a remote controller to control the flight of the teaching drone, and collecting and feeding back to the drone in real time the information about the navigation of the teaching drone during the flight The control device; the UAV control device processes and saves the received data; and the UAV control device sends control instructions to at least one UAV to control the flight of at least one UAV according to the saved data.

According to another aspect of the present invention, a drone control system is provided, including: a remote controller; and a drone control device, wherein the remote controller is configured to control the flight of the teaching drone, and will teach the drone to fly during the flight. The data related to navigation are collected in real time and fed back to the UAV control device; and the UAV control device is configured to process and save the received data, and send control instructions to at least one UAV according to the saved data to control the UAV. Describe the flight of at least one drone.

According to yet another aspect of the present invention, there is provided a remote controller for remote control of a drone, including: a rocker; and a processor, wherein the processor is configured to convert the amount of change of the rocker of the remote controller into an output target for the drone Space vector, so that the UAV can perform position control according to the target space vector.

According to the UAV control method and system of the embodiment of the present invention and the remote controller used to remotely control the UAV, the remote controller controls the flight of the teaching UAV, so that the collected navigational data is fed back to the UAV control device, and the UAV control device The data is processed and saved, and then at least one drone can be programmed and controlled according to the data, so as to realize the repeated replay of the flight route of the drone. The data is processed and optimized by the drone control device, so that the displacement increment of the control drone can get rid of the influence of the drone's deviation from the route caused by the interference of the wireless transmission signal from the remote controller to the drone control device, so it can be applied to In more complex scene control. In addition, according to the drone control method and system and the remote controller of the embodiments of the present invention, the programming method for the drone is simple, and the programming control of the drone can be quickly realized.

100: UAV control method

103,400: processing

S1031: The drone control device sets corresponding identifiers for multiple drones respectively

S1032: The drone control device sends control instructions and corresponding identifiers to multiple drones to control the flight of multiple drones

500: UAV control system

501: remote control

502: UAV control device

600: computing device

601: Processor

602: memory

603: mass storage device

604: Input/Output (I/O) device

605: communication interface

606: System bus bar

607: Joystick

H: flying height

S101, S102, S103: steps

S401: Determine whether the received identifier is the identifier of the drone

S402: In the case that the received identifier is the identifier of the drone, adjust the flight of the drone according to the received control instruction

S403: In the case that the received identifier is not the identifier of the drone, maintain the current flight of the drone

T: time

The features and advantages of the present invention will be more clearly understood by reference to the drawings, which are schematic and should not be construed as limiting the invention in any way, in which:

Fig. 1 shows the flow chart of a kind of unmanned aerial vehicle control method according to the embodiment of the present invention;

Fig. 2 shows the comparative schematic diagram of the partial height path of the teaching flight and the recurring flight of the unmanned aerial vehicle;

Fig. 3 shows the flow chart of the process of sending a control command to a plurality of drones by a drone control device according to an embodiment of the present invention;

Fig. 4 shows the flowchart of the processing of multiple unmanned aerial vehicles after receiving the control instruction sent by the unmanned control device;

Fig. 5 shows the block diagram of a kind of unmanned aerial vehicle control system according to the embodiment of the present invention; And

FIG. 6 shows a block diagram of a computing device that can implement a drone control device according to an embodiment of the present invention.

According to the embodiments of the present invention, a teaching-type drone control method and system and a remote controller for remote control of drones are provided. The programming control of the drone is simple, easy to implement, and can also be applied to complex control scenarios middle. A method and system for controlling a drone and a remote controller for controlling a drone according to embodiments of the present invention will be described in detail below with reference to the drawings.

Features and exemplary embodiments of various aspects of the invention will be described in detail below. The following description covers numerous specific details in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be implemented without some of these specific details. implemented under the circumstances. The following description of the embodiments is only to provide a clearer understanding of the technical solutions of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific configuration set forth below, but covers any modifications, substitutions and improvements of related features, structures, operations, etc. without departing from the spirit of the present invention.

Fig. 1 shows a flow chart of a UAV control method according to an embodiment of the present invention. As shown in FIG. 1 , a UAV control method 100 according to an embodiment of the present invention includes steps S101-S103.

At step S101, the remote control is used to control the flight of the teaching UAV, and the relevant navigation data during the flight of the teaching UAV are collected in real time and fed back to the UAV control device.

In some embodiments, using the remote controller to control the flight of the teaching UAV includes: converting the variation of the joystick of the remote controller into a target space vector output by the UAV; and the UAV receives the target space vector for position control.

The traditional UAV remote control method is to change the change of the joystick of the remote control into the speed increment of controlling the UAV. According to the UAV control method implemented in the present invention, the amount of change of the rocking stick of the remote controller is converted into the target space vector (comprising the position on the X, Y direction and the position on the Y direction) of the UAV in three-dimensional space (X, Y, Z). high). That is to say, the output of the remote control to the UAV is the target space vector.

Specifically, the target space vector of the teaching UAV is determined as the current position of the teaching UAV plus the incremental displacement obtained by converting the measured value of the remote stick, wherein the incremental displacement is based on the measured value of the remote stick, The joystick value of the joystick is normalized to the coefficient of the flight speed and the compensation value of the taught drone brake when the joystick is released.

More specifically, the change amount of the joystick is converted into the target space vector of the UAV according to the following formula (1):

、

為鬆搖桿時無人機刹車的漸變補償值。 Among them, P _x , P _y , P _z are the target position of the UAV in the X and Y directions and the target height in the Z direction, P _{x 0} , P _{y 0} , P _{z 0} are the UAVs in the X and Y directions The current position of and the current altitude in the Z direction, R _x , R _y , R _z are the measured values of the joystick in the X, Y, and Z directions, λ is the coefficient that normalizes the joystick value to the flight speed, dt is the time when the joystick has output, and

,

It is the gradual compensation value of drone braking when the stick is released.

According to the above formula (1), the target space vector of the UAV is determined by normalizing and integrating the measurement value of the remote rod, and converting it into the displacement increment of the current position of the UAV. By performing brake compensation on the drone's brakes, the trajectory of the drone is smoother and the position is more accurate when braking.

In some embodiments, the compensation value for teaching the UAV to brake when the joystick is released is determined in the following manner: when the measured value of the joystick is less than the threshold value used to distinguish whether the joystick is shaking when the joystick is released , the braking distance obtained by time integration during the flight process of the teaching UAV is differentiated within the braking time and gradually accumulated.

Specifically, when the joystick is released, the compensation value for teaching the UAV brake can be determined by the following formula (2):

Among them, A is the threshold for distinguishing whether the joystick is shaking, B is the limit braking distance, C is the limit braking time, T is the braking time, |ʃ( kR _x ) dt | is the braking distance in the X direction, |ʃ( kR _y ) dt | is the braking distance in the Y direction.

、

僅在鬆搖桿|R _x |<A和|R _y |<A時，對飛行過程時間dt積分得到的刹車距離進行刹車時間T內微分，並漸變累加，使刹車平滑過渡，減少無人機由於飛行速度過快導致過沖現象，也保證目標空間向量的實現。 From the above formula (2), it can be seen that,

,

Only when the rocker is loose | R _x |< A and | R _y |< A , the braking distance obtained by integrating the flight time dt is differentiated within the braking time T, and gradually accumulated to make the braking smooth transition and reduce the UAV due to Too fast flight speed leads to overshoot phenomenon, which also ensures the realization of the target space vector.

In some embodiments, the position control of the teaching drone according to the target space vector includes: making a difference between the target space vector and the actual space vector of the teaching drone and using a cascade function to perform control operations to obtain the teaching drone The target attitude and target vertical velocity of .

Specifically, the UAV performs position control according to the following formula (3):

Among them, T _{x_angle} , Ty_angle , T _{z_height} are the UAV target attitude and target vertical rate output respectively, P _x , P _y , P _z are the target position of the UAV in the _X and Y directions and the target in the Y direction respectively Height, P _{x_real} , P _{y_real} , P _{z_real} are the actual position and height of the UAV in the X and Y directions respectively, and PID ^u _PID () is a cascade operation function.

Through the above method, the smoothness of the switching action can be improved when the drone is switched from hovering to flying moving state or from flying state to hovering state. In the case of movement, it can accurately realize various actions and speeds in the flight movement process, and provide high-precision displacement and process fluency for subsequent autonomous route planning and action control.

At step S102, the UAV control device processes and saves the received data.

In some embodiments, wireless transmission is used to transmit data between the remote controller and the unmanned control device. Based on the characteristics of wireless transmission, the receiving rate (receiving rate) of unmanned control devices will show nonlinear changes with the signal interference of the environment and the transmission distance, that is, the lower the signal interference and the closer the transmission distance, the higher the receiving rate (receiving rate) The higher the value, the higher the signal interference and the farther the transmission distance, the lower the receiving rate (receiving rate). The data received by the unmanned control device will be affected by this characteristic. It is intuitively reflected that the lower the reception rate (packet collection rate), the worse the integrity of the reproduced route, that is, it is impossible to control the UAV to follow the established route path and action. flight.

In combination with this feature, in some embodiments, the processing of the received data by the UAV control device includes: removing incomplete data and data with changes exceeding expectations from the received data and performing data compensation; or using the received data The heartbeat packet in judges whether there is missing data, and compensates if there is missing data.

In some embodiments, the UAV control device only saves the spatial position and control actions of the UAV in the received data. Data integrity can be determined by changes in spatial location.

After compensation by the above method, when the reception rate (packet collection rate) of the unmanned control device is only about 82%, the displacement of the actual flight route is basically the same as that of the teaching and reproduction flight route. Fig. 2 shows a schematic diagram of the comparison of part of the altitude path between the teaching (actual) flight and the recurring flight of the drone. In Fig. 2, the abscissa represents the time T, and the ordinate represents the flight height H, and the actual flight and recurring flight curves are shown by the arrows in the figure. It can be clearly seen from FIG. 2 that the time deviation is within about 3%, that is to say, the method according to the embodiment of the present invention can obtain good reproducibility of flying the UAV.

In an embodiment of the present invention, the information related to navigation may include teaching the space vector and attitude actions of the UAV. The UAV control device can adjust the space vector in the saved data, so as to adjust the flight route.

Through the above method, the flight path of the UAV can be saved, and the real trajectory displacement and action can be restored with high precision. At the same time, the set flight path trajectory can be repeatedly realized, and the path trajectory can also be simply modified.

At step S103, the UAV control device sends a control command to at least one UAV to control the flight of at least one UAV according to the stored data.

According to the method of the embodiment of the present invention, it is possible to realize multi-machine formation of UAVs and sending of route trajectories. Thus, in some embodiments, the at least one drone includes a plurality of drones. In this case, the UAV control device sends a control instruction to the at least one UAV according to the saved information to control the flight of the at least one UAV, as shown in 3 . Fig. 3 shows a flow chart of the process of sending control instructions to multiple drones by the drone control device according to an embodiment of the present invention. As shown in FIG. 3 , the processing S103 of the UAV control device sending control instructions to a plurality of UAVs according to the saved data may include: S1031, the UAV control device respectively sets corresponding identifiers for the plurality of UAVs; and S1032, The drone control device sends control instructions and corresponding identifiers to the multiple drones to control the flight of the multiple drones.

In some embodiments, the UAV control device sends the same or different control instructions to multiple UAVs. In some embodiments, when the UAV control device sends the same control instruction to multiple UAVs, it uses time-sharing to prevent communication congestion.

Fig. 4 shows a flow chart of the processing of multiple drones after receiving the control instruction sent by the unmanned control device. As shown in Figure 4, the processing 400 of multiple drones after receiving the control instructions sent by the unmanned control device includes: S401, judging whether the received identifier is the identifier of the drone; If the identifier of the drone is the identifier of the drone, adjust the flight of the drone according to the received control instruction; and S403, if the identifier received is not the identifier of the drone, maintain the The current flight of the drone.

Through the above method according to the embodiment of the present invention, use the remote controller to control the flight route trajectory of the UAV, and then save the trajectory data by the UAV control system, and then the system will automatically control the UAV to reproduce the route trajectory. In this way, the programming of UAV routes can be realized, which can greatly reduce the burden on users. According to the technical level requirements and development cycle, many complicated route planning can be reproduced, and the route trajectory can be easily modified by modifying route data. In addition, through the above-mentioned method according to the embodiment of the present invention, the function of multi-machine formation can also be added under the premise of ensuring the integrity and immediacy of the drone route, and multiple drones can fly different routes or fly the same route.

The drone control method according to the embodiment of the present invention has been described above, and the drone control system according to the embodiment of the present invention will be described below with reference to the drawings. Fig. 5 shows a block diagram of a UAV control system according to an embodiment of the present invention. As shown in FIG. 5 , a drone control system 500 according to an embodiment of the present invention includes: a remote controller 501 ; and a drone control device 502 . The remote controller 501 is configured to control the flight of the teaching UAV, and to collect and feed back the relevant navigation data of the teaching UAV during the flight to the UAV control device in real time; and the UAV control device is configured to receive The data is processed and saved, and a control command is sent to at least one unmanned aerial vehicle according to the saved data to control the flight of the at least one unmanned aerial vehicle.

Specifically, the remote controller 501 is configured to convert the change amount of the joystick of the remote controller into a target space vector output for the teaching UAV, so that the teaching UAV performs position control according to the target space vector. In some embodiments, the remote controller 501 is configured to determine the target space vector of the teaching drone as the current position of the teaching drone plus the incremental displacement obtained by converting the measured value of the joystick, wherein the increment The displacement is determined according to the measured value of the joystick, the coefficient of normalizing the joystick value of the joystick to the flight speed, and the compensation value of teaching the UAV brake when the joystick is released.

In some embodiments, the remote controller 501 is configured to determine the compensation value for teaching the drone to brake when the joystick is released in the following manner: by measuring the value of the joystick when the joystick is released is less than the value used to distinguish the remote In the case of whether the stick is shaken or not, the braking distance obtained by time integration during the flight process of the teaching drone is differentiated within the braking time and gradually accumulated.

FIG. 6 shows a block diagram of a computing device that can implement a remote controller and a drone control device according to an embodiment of the present invention. As shown, computing device 600 may include one or more processors or processor 601 and memory 602 . For purposes of this disclosure, including claims, the terms "processor" and "processor core" are considered synonymous unless the context clearly requires otherwise. Processor 601 may include any type of processor, such as a central processing unit, a microprocessor, and the like. The processor 601 may be implemented as an integrated circuit with multiple cores, for example, a multi-core microprocessor. In an embodiment, memory 602 may be system memory. In some embodiments, the memory 602 can be integrated with the processor 601 . count The computing device 600 may include a mass storage device 603 (e.g., magnetic disk, hard disk drive, volatile memory (e.g., dynamic random access memory (DRAM), compact disc) read-only memory, CD-ROM), multipurpose digital disc (digital versatile disk, DVD), etc.). In general, memory 602 and/or mass storage device 603 can be any type of temporary and/or or persistent storage, including, but not limited to, volatile and non-volatile memory, optical, magnetic, and/or solid-state mass storage, etc. Volatile memory can include, but is not limited to, static and/or dynamic random access memory The non-volatile memory may include but not limited to EEPROM, phase change memory, resistive memory, etc.

Computing device 600 may also include input/output (I/O) devices 604 (e.g., display (e.g., touch screen display), keyboard, cursor controls, remote control, game controller, image capture device, etc.) and a communication interface 605 (eg, network interface card, modem, infrared receiver, radio receiver (eg, Bluetooth), etc.). The communication interface 605 can communicate with other devices in a wired or wireless manner to exchange data. For example, through the communication interface 605, the remote controller 501 can send data to the drone and/or the drone control device 502, or the drone control can send control instructions to at least one drone.

The elements of computing device 600 described above may be coupled to each other via system bus 606 , which represents one or more bus bars. In the case of multiple bus bars, they may be bridged by one or more bus bar bridges (not shown). Each of these elements may perform its conventional function as known in the art. Specifically, the memory 602 and the mass storage device 603 can be used to store the working copy and the permanent copy of the programming instructions for the operation of the remote control device and the drone control device. The various elements may be implemented by assembly instructions supported by processor(s) 601 or a high-level language that may be compiled into such instructions. A permanent copy of the programming instruction can be put into the mass storage device 603 at the factory, or in the field through, for example, a distribution medium (not shown) (such as a compact disc (Compact Disc, CD)), or through the communication interface 605 (from a distribution Server (not shown)) to distribute. Therefore, in some embodiments, the present invention provides a computer-readable storage medium, which stores instructions, and when executed by a processor, the instructions cause the processor to perform the above-mentioned remote control of the teaching drone, or cause the processor to perform The UAV control device controls at least one UAV.

It should be understood that the common parts of the remote controller and the UAV control device are shown in the figure, and as the implementation of the remote controller, it also includes a joystick 607 (shown in dotted line in FIG. 6 ) for making a flight. line instructions. In some embodiments, a remote controller for remote control of a drone includes: a joystick 607; and a processor 601, wherein the processor 601 is configured to convert the amount of change of the joystick 607 of the remote controller into an output value for the drone. The target space vector, so that the UAV can perform position control according to the target space vector. In some embodiments, the processor 601 is configured to determine the target space vector of the UAV as the current position of the UAV plus the incremental displacement obtained by converting the measured value of the joystick 607, wherein the incremental displacement is based on 607 is determined by the measured value of the joystick, the coefficient of normalizing the joystick value of the joystick to the flight speed, and the compensation value of the UAV brake when the joystick 607 is released. In some embodiments, the processor 601 is configured to determine the compensation value for the UAV braking when the joystick 607 is released in the following manner: the measured value of the joystick 607 when the joystick 607 is released is smaller than the value used to distinguish the joystick 607 In the case of whether the threshold value of 607 shakes, the braking distance obtained by the time integration of the UAV flight process is differentiated within the braking time and gradually accumulated.

In FIG. 6, the number, capability, and/or capacity of the various elements may vary depending on whether computing device 600 is used as a stationary computing device or as a mobile computing device. In various implementations, the computing device 600 can include a laptop, a small notebook, a notebook, an ultranote, a smart phone, a tablet device, a personal digital assistant (PDA), an ultramobile computer, a mobile One or more components of a phone or digital camera. In alternative implementations, computing device 600 may be any other electronic device that processes data.

The above detailed description of the embodiments of the present invention covers numerous specific details in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The above description of the embodiments is only to provide a clearer understanding of the present invention by showing examples of the present invention. The present invention is by no means limited to any specific configuration and method steps set forth below, but covers any modification, substitution and improvement of related elements, components and method steps without departing from the teaching of the present invention.

It should be noted that in the scope of claims, the word "comprises" or "includes" does not exclude the presence of elements or components not listed in the claims. The article "a" or "an" preceding an element or elements also does not exclude the presence of a plurality of such elements or elements.

In addition, it should be noted that the language used in the specification has been chosen primarily for the purpose of readability and instruction rather than to explain or delimit the inventive subject matter. Accordingly, many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. Regarding the scope of the present invention, the The descriptions made are illustrative rather than restrictive, and the scope of the present invention is defined by the appended claims.

100: UAV control method

S101, S102, S103: steps

Claims (14)

A method for controlling an unmanned aerial vehicle, comprising: using a remote controller to control the flight of a teaching unmanned aerial vehicle, and immediately collecting and feeding back information about the navigation of the teaching unmanned aerial vehicle during the flight to the unmanned aerial vehicle control device, the teaching unmanned aerial vehicle It includes: converting the change amount of the joystick of the remote controller into a target space vector output by the teaching drone; and performing position control by the teaching drone according to the target space vector, wherein the teaching drone The target space vector of the teaching UAV is determined as the current position of the teaching UAV plus the incremental displacement obtained by converting the measured value of the remote rod, wherein the incremental displacement is based on the measurement value of the remote rod value, the coefficient of the joystick value of the joystick normalized to the flight speed and the compensation value of the teaching UAV braking when the joystick is released; the UAV control device carries out the data received processing and saving; and the UAV control device sends a control instruction to at least one UAV according to the saved information to control the flight of the at least one UAV. The method according to claim 1, wherein the navigation-related information includes the space vector and gesture action of the teaching UAV. The method according to claim 2, further comprising: the UAV control device adjusting the space vector in the saved data. The method according to claim 1, wherein when the joystick is released, the compensation value of the teaching UAV braking is determined by the following method: by the measurement value of the joystick when the joystick is released If it is less than the threshold used to distinguish whether the joystick is shaken, the braking distance obtained by time integration during the flight process of the teaching drone is differentiated within the braking time and gradually accumulated. The method according to claim 1, wherein the position control of the teaching UAV according to the target space vector includes: making a difference between the target space vector and the actual space vector of the teaching UAV and using The cascade function performs control calculations to obtain the target attitude and target vertical velocity of the teaching UAV. The method as described in claim 1, wherein the processing of the received data by the UAV control device includes: removing incomplete data and data with changes exceeding expectations from the received data and performing data processing. Compensation; or judge whether there is missing data through the received heartbeat packet in the data, and make compensation if there is missing data. The method according to claim 1, wherein the at least one unmanned aerial vehicle includes a plurality of unmanned aerial vehicles, and wherein the unmanned aerial vehicle control device sends control instructions to the at least one unmanned aerial vehicle according to the stored data to control the The flight of at least one UAV includes: the UAV control device sets corresponding identifiers for the plurality of UAVs; and the UAV control device sends control instructions and corresponding identifiers to the plurality of UAVs to control the flight of the plurality of unmanned aerial vehicles. The method according to claim 7, wherein the UAV control device sends the same or different control instructions to the plurality of UAVs. The method according to claim 8, wherein when the UAV control device sends the same control instruction to the plurality of UAVs, it adopts time-sharing transmission. The method according to claim 7, wherein, after each of the plurality of UAVs receives the control instruction and the corresponding identifier sent by the UAV control device: determine whether the received identifier is the drone's identifier; if the received identifier is the drone's identifier, adjust the flight of the drone according to the received control instructions; and; if the received identifier is not the drone's In the case of the identifier of the unmanned aerial vehicle, the current flight of the unmanned aerial vehicle is maintained. An unmanned aerial vehicle control system, comprising: a remote controller, configured to convert the change amount of the joystick of the remote controller into a target space vector output for the teaching drone, so that the teaching drone can space vector to perform position control, and the target space vector of the teaching drone is determined as the current position of the teaching drone plus the incremental displacement obtained by converting the measured value of the joystick, wherein the Incremental displacement is determined based on the measured value of the joystick, the coefficient of normalizing the joystick value of the joystick to the flight speed, and the compensation value of the brake of the teaching drone when the joystick is released; and the drone control device, in which The remote controller is configured to control the flight of the teaching UAV, and collect and feed back the relevant navigation data of the teaching UAV during the flight to the UAV control device in real time; and the UAV control The device is configured to process and save the received data, and send a control command to at least one drone according to the saved data to control the flight of the at least one drone. The system according to claim 11, wherein the remote controller is configured to determine the compensation value of the teaching UAV braking when the joystick is released in the following manner: by releasing the joystick When the measured value of the joystick is less than the threshold value used to distinguish whether the joystick is shaken, the braking distance obtained by time integration during the flight process of the teaching drone is differentiated within the braking time and gradually accumulated. A remote control for controlling a drone, comprising: a joystick; and a processor, wherein the processor is configured to convert the amount of change of the joystick of the remote control into a target space vector output by the drone, In order for the UAV to perform position control according to the target space vector, the target space vector of the UAV is determined as the current position of the UAV plus the incremental displacement obtained by converting the measured value of the joystick , wherein the incremental displacement is determined according to the measured value of the joystick, the coefficient of normalizing the joystick value of the joystick to the flight speed, and the compensation value of the UAV braking when the joystick is released. The method according to claim 13, wherein the processor is configured to determine the compensation value of the UAV braking when the joystick is released by: When the measured value of the joystick is less than the threshold value used to distinguish whether the joystick is shaken, the braking distance obtained by time integration during the flight of the drone is differentiated within braking time and gradually accumulated.

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