WO2017147781A1 - 存储介质、无人飞行器及震荡检测、追踪控制方法和系统 - Google Patents

存储介质、无人飞行器及震荡检测、追踪控制方法和系统 Download PDF

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Publication number
WO2017147781A1
WO2017147781A1 PCT/CN2016/075156 CN2016075156W WO2017147781A1 WO 2017147781 A1 WO2017147781 A1 WO 2017147781A1 CN 2016075156 W CN2016075156 W CN 2016075156W WO 2017147781 A1 WO2017147781 A1 WO 2017147781A1
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WIPO (PCT)
Prior art keywords
flight
axis
aerial vehicle
unmanned aerial
commutations
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PCT/CN2016/075156
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English (en)
French (fr)
Inventor
钱杰
臧波
赵丛
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深圳市大疆创新科技有限公司
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Priority to CN201680003387.3A priority Critical patent/CN107003681B/zh
Priority to PCT/CN2016/075156 priority patent/WO2017147781A1/zh
Publication of WO2017147781A1 publication Critical patent/WO2017147781A1/zh
Priority to US16/119,765 priority patent/US20190018103A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/017—Detecting state or type of motion
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/2111—Location-sensitive, e.g. geographical location, GPS

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to a storage medium, an unmanned aerial vehicle and an oscillation detecting and tracking control method and system thereof.
  • the present invention provides an oscillating detection method for an unmanned aerial vehicle to confirm whether the unmanned aerial vehicle is oscillated, and to timely determine the unmanned aerial vehicle before the undulation amplitude of the unmanned aerial vehicle is large.
  • the status is adjusted to avoid affecting the normal operation and flight of the UAV, and even crashes.
  • a first aspect of the present invention provides a method for detecting an oscillation of an unmanned aerial vehicle, comprising:
  • a second aspect of the present invention provides a tracking control method for an unmanned aerial vehicle, including:
  • Whether to continue tracking the target is determined according to the oscillating condition of the unmanned aerial vehicle.
  • a third aspect of the present invention provides an oscillating detection system for an unmanned aerial vehicle, comprising:
  • a first acquiring module configured to acquire flight data of the unmanned aerial vehicle
  • a first processing module configured to determine, according to the flight data, a number of commutations of the unmanned aircraft switching between different flight directions according to the flight data;
  • the first determining module is configured to determine, according to the number of commutations, whether the unmanned aerial vehicle is oscillating.
  • a fourth aspect of the present invention provides a tracking control system for an unmanned aerial vehicle, comprising:
  • a second acquiring module configured to acquire flight data of the unmanned aerial vehicle
  • a second processing module configured to determine, according to the flight data, a number of commutations of the unmanned aircraft switching between different flight directions according to the flight data;
  • a second determining module configured to determine, according to the number of commutation times, whether the unmanned aerial vehicle is oscillating
  • the second determining module is further configured to determine whether to continue tracking the target according to the oscillating condition of the unmanned aerial vehicle.
  • a fifth aspect of the present invention provides an unmanned aerial vehicle comprising: a first flight data collection device and a first processor;
  • the first flight data collection device is configured to acquire flight data of the unmanned aerial vehicle
  • the first processor is configured to execute:
  • a fifth aspect of the present invention provides a storage medium, in which a program code is stored, and when the program code is executed, a method for detecting an oscillation of an unmanned aerial vehicle is performed, and the method specifically includes:
  • a seventh aspect of the present invention provides another unmanned aerial vehicle comprising: a second flight data collection device and a second processor;
  • the second flight data collection device is configured to acquire flight data of the unmanned aerial vehicle
  • the second processor is configured to execute:
  • Whether to continue tracking the target is determined according to the oscillating condition of the unmanned aerial vehicle.
  • An eighth aspect of the present invention provides another storage medium, in which the program code is stored, and when the program code is executed, the tracking control method of the unmanned aerial vehicle is executed, and the method specifically includes:
  • Whether to continue tracking the target is determined according to the oscillating condition of the unmanned aerial vehicle.
  • the storage medium, the unmanned aerial vehicle and the oscillation detecting and tracking control method and system thereof are provided, and the commutation of the unmanned aerial vehicle between different flight directions is determined according to the flight data by acquiring the preset time According to the number of commutations, it is determined whether the unmanned aerial vehicle is oscillated, and then it can be confirmed whether the unmanned aerial vehicle is oscillated, and the state of the unmanned aerial vehicle is adjusted in time before confirming that the unmanned aerial vehicle has a large amplitude of oscillation. In order to avoid affecting the normal operation and flight of the UAV, and even the crash, the safety and reliability of the UAV flight is improved.
  • FIG. 1 is a schematic flow chart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flowchart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic flowchart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 3 of the present invention
  • FIG. 4 is a schematic flow chart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 4 of the present invention
  • FIG. 5 is a schematic flowchart diagram of a tracking control method for an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 6 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • FIG. 7 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • FIG. 8 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 4 of the present invention.
  • FIG. 9 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 5 of the present invention.
  • FIG. 10 is a schematic structural diagram of an oscillation detecting system of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 11 is a schematic structural diagram of a tracking control system for an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 12 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 13 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • FIG. 1 is a schematic flowchart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 1 of the present invention. As shown in FIG. 1 , the method for detecting an oscillation of the unmanned aerial vehicle is shown in FIG. 1 . ,include:
  • flight data for acquiring the unmanned aerial vehicle and the means of acquisition.
  • Those skilled in the art can set according to specific design requirements, such as setting flight data to include any one or any combination of flight direction, flight trajectory, flight speed, flight acceleration, flight geographic location, and flight environment.
  • those skilled in the art may adopt different means for acquiring data, such as acquiring flight direction information through a direction sensor, acquiring flight speed or flight acceleration information through a speed sensor or an acceleration sensor, and setting a GPS.
  • the positioning device acquires the geographical location information of the flight; acquires the flight path information by acquiring the time, the position, the speed and the acceleration information of the flight; acquires the flight environment information such as the temperature and the wind speed of the unmanned aerial vehicle through the temperature sensor and the wind speed sensor; of course, the technology in the field
  • the personnel may also use other methods to obtain other flight data of the UAV, as long as the technical effects that can be achieved by the embodiment can be implemented, and details are not described herein again.
  • the specific range of the preset time is not limited, and those skilled in the art can set according to specific design requirements, for example, the preset time can be set to 3s, 5s, 10s, 1min, etc., in addition, for the above difference
  • the flight direction may include two different, angled directions of flight, such as the combination of East, West, South, North, and any two of the southeast, northeast, southwest, and northwest in the map; of course, different directions of flight
  • a plurality of different, angled directions of flight may also be included, such as combinations of any number (greater than two) of east, west, south, north, and southeast, northeast, southwest, and northwest in the map;
  • the range of angles is not limited.
  • those skilled in the art can set according to specific design requirements, such as setting an angle to an acute angle, an obtuse angle, or a right angle, etc., as long as the unmanned aerial vehicle can be in different flight directions.
  • the effect of switching can be performed, and will not be described here.
  • the specific manner of determining the number of commutations according to the flight data is not limited, and those skilled in the art can set according to specific design requirements, for example, a direction sensor can be disposed on the unmanned aerial vehicle, and a drone can be obtained through the direction sensor.
  • the number of commutations; wherein the commutation in this embodiment is relative to the flight direction of the unmanned aerial vehicle at the previous moment; specifically, in order to more clearly understand the number of commutations of the unmanned aerial vehicle, it can be set in the air.
  • Relative coordinate system the meaning of the relative coordinate system is: in the preset spatial range, the relative zero point is determined according to the flight path of the unmanned aerial vehicle; if the unmanned aerial vehicle is in the range of 50m-100m in front of the horizontal direction, Then the relative zero of the relative coordinate system can be set to 75m, then the UAV spans 75m each time. At the same time, it can be regarded as a reversal once: Of course, those skilled in the art can also use other methods to determine the number of commutations of the UAV, as long as the above effects can be achieved, and details are not described herein again.
  • the specific determination method for determining whether the unmanned aerial vehicle is oscillated according to the number of commutations is not limited, and those skilled in the art may set according to specific design requirements; wherein, according to certain requirements, those skilled in the art may determine Standard or experience to determine whether the UAV is oscillating; if it is determined that the unmanned aircraft oscillates within the preset 3s time range and the number of commutations reaches 5 or more, it is determined that the UAV has oscillated; Then, at this time, it is only necessary to determine whether the number of commutations acquired within the preset time is 5 or more.
  • the skilled person can also divide the oscillation into multiple levels according to the strength of the oscillation, such as high oscillation level, medium oscillation level, low oscillation level, no oscillation level, etc., for the above different levels of oscillation Corresponding to different oscillating judgment criteria; in order to more clearly understand the technical solution in this embodiment, the following specific embodiments are exemplified: Assumption: the standard of high oscillating level is: within the preset 3 s time range, the number of commutation times is reached.
  • the standard of the middle shock level is: within the preset 3s time range, the number of commutation times is 7 times or more, and the number of commutation times is less than 10 times;
  • the standard of low oscillation level is: preset In the 3s time range, the number of commutation times is 5 times or more, and the number of commutation times is less than 7 times;
  • the standard of low oscillation level is: within the preset 3s time range, the number of commutation times is less than 5 times;
  • the judgment criteria of each oscillation level only need to analyze the number of commutations obtained, determine which standard the number of commutations obtained falls into, and determine the unmanned aerial vehicle correspondingly.
  • the oscillating detection method of the unmanned aerial vehicle determines the number of commutations of the unmanned aerial vehicle between different flight directions according to the flight data, and determines whether the unmanned aerial vehicle is determined according to the number of commutation times. Occurrence of oscillation, which can confirm whether the UAV is oscillating, and adjust the state of the UAV in time to confirm the normal operation and flight of the UAV, or even occur before confirming that the unmanned aircraft has a large amplitude of oscillation. The crash situation has improved the safety and reliability of UAV flight.
  • Embodiments set different flight directions to include a first flight direction and a second flight direction, and an angle is formed between the first flight direction and the second flight direction.
  • the specific direction features of the first flight direction and the second flight direction may be set by a person skilled in the art according to specific design requirements, such as East, West, South, North, and Southeast, Northeast, and Southwest in the map. And a combination of any two of the northwest; or the first flight direction or the second flight direction may be set to any one of any two of the eight directions; for example, setting the first flight direction For the east-south 35° angle, the second flight direction is set to a 70° north-south angle and so on.
  • the specific value of the angle formed between the first flight direction and the second flight direction is not limited, and those skilled in the art can set according to the model and design requirements of the unmanned aerial vehicle, for example, the angle can be set to 90°, 180° or 270°, etc., of course, the angle can also be set to other values such as 70°, 80°, 110°, 130° or 150°; in addition, for this angle, it can be
  • the human aircraft is set before the flight, and may also be set after the UAV is flying.
  • the angle is set to a pre-angle; thus, the UAV can be learned in real time during the flight of the UAV. Whether the state of the turbulence occurs, so as to carry out and adjust the unmanned aerial vehicle, to avoid affecting the flight effect of the unmanned aerial vehicle, and even the crash situation, thereby improving the safety and reliability of the flight of the unmanned aerial vehicle.
  • FIG. 2 is a schematic flow chart of a method for detecting an oscillation of an unmanned aerial vehicle according to a second embodiment of the present invention.
  • the angle between the first flight direction and the second flight direction is formed.
  • the first flight direction and the second flight direction are opposite directions; at this time, in order to better understand the technical solution, the first flight direction at this time is defined as a forward flight direction. Defining the second flight direction as the reverse flight direction, therefore,
  • S12 Determine, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data, including:
  • S121 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data.
  • the specific meanings of the forward flight direction and the reverse flight direction are not limited, and those skilled in the art can set according to specific design requirements, and the unmanned aerial vehicle is in the process of flying the unmanned aerial vehicle.
  • the front flight and the backward flight are oscillated; the upper and lower flight oscillating means that the unmanned aerial vehicle oscillates between the upward flight and the downward flight; wherein, in order to better represent the occurrence of the turbulence, the unmanned aerial vehicle flies to the left Forward flight and upward flight are defined as the unmanned aerial vehicle flying in the forward flight direction; correspondingly, the unmanned aerial vehicle flying to the right, backward flying and downward flying is defined as the unmanned aerial vehicle flying in the reverse direction Flying in the
  • the number of commutations for determining that the UAV is switched between different flight directions according to the flight data is specifically limited to determining the number of commutations of the UAV between the forward flight direction and the reverse flight direction based on the flight data, due to the positive
  • the opposite directions of flight direction and reverse flight direction improve the accuracy and reliability of flight data analysis, which can improve the accuracy and reliability of the unmanned aerial vehicle oscillating detection, and thus can be used for unmanned aerial vehicles. Accurate judgment is made as to whether or not the oscillation occurs in the forward direction and the reverse direction of flight in order to make timely adjustments to the unmanned aerial vehicle.
  • the technical solution determines the number of commutations of the unmanned aerial vehicle between the forward flight direction and the reverse flight direction according to the flight data within a preset time.
  • the specific determination manner is not limited, and those skilled in the art can set according to specific design requirements, wherein the determination of the number of commutation times can be obtained by:
  • S1211 Perform fast Fourier transform FFT on the flight data in the preset time to determine a frequency corresponding to the flight data;
  • the flight data of the preset time is collected, and after the fast Fourier transform FFT is performed on the flight data, the frequency spectrum is obtained, and the frequency information corresponding to the flight data can be obtained intuitively through the spectrum image;
  • the preset time and the flight data have the same meanings as the preset time and the flight data in the above embodiment. For details, refer to the detailed description above, and details are not described herein again.
  • S1212 Determine the number of commutations according to the frequency.
  • the specific determination manner of determining the number of commutation times according to the frequency is not limited, and those skilled in the art can set the frequency and amplitude of the judgment oscillation according to specific design requirements, for example, it can be set to have a standard amplitude and Frequency range; the spectrum of the velocity can be obtained according to the velocity information, and the amplitude and frequency in the spectrogram are compared with the standard amplitude and frequency; the spectrum information of the current velocity is greater than or equal to the standard amplitude and the frequency is In the standard frequency range, the unmanned aerial vehicle is considered to be oscillating; if the spectrum information of the current speed does not exist, the amplitude is greater than or equal to the standard amplitude, or the frequency is outside the standard frequency range, then the unmanned aerial vehicle is not considered The commutation occurs; or, the time domain map can be obtained according to the speed information, and the direction origin is set in the time domain graph.
  • the number of commutations only needs to calculate the number of origins across the direction in the time domain graph; of course, the skill
  • the domain technician can also use other methods to process information such as speed, acceleration, angular velocity, etc., as long as the number of commutations can be determined according to information such as speed, angular velocity, angular velocity, and the like, and will not be described herein.
  • the flight data is processed by the fast Fourier transform FFT to obtain the frequency corresponding to the information of speed, acceleration, angular velocity, etc., and the number of commutation times is determined by the frequency, so that the unmanned aerial vehicle can be obtained intuitively, quickly and accurately.
  • the acquisition efficiency and accuracy of the oscillating detection are improved, and the oscillating state of the unmanned aerial vehicle can be quickly judged during the flight of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be adjusted in time, thereby further ensuring the unmanned Flight safety and reliability of the aircraft.
  • FIG. 3 is a schematic flowchart of a method for detecting an oscillation of an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • a flight data is processed by using a fast Fourier transform FFT; Efficiency and accuracy of flight data processing, but
  • the processor and memory consumption in the unmanned aerial vehicle are high, which will occupy most of the resources of the processor and the memory, and it is easy for the processor and the memory to control other devices.
  • this Embodiments provide another method of processing flight data, specifically,
  • S121 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data, and further includes:
  • the flight data is specifically limited to the flight speed; the total number of commutations of the unmanned aerial vehicle is determined by the overall analysis of the flight speed and the flight direction; specifically, the speed threshold in this embodiment may be preset.
  • the speed threshold is then obtained after the UAV is switched between the forward flight direction and the reverse flight direction.
  • the speed of the so-called UAV after switching between the forward flight direction and the reverse flight direction is: If the UAV is flying in the forward direction at the previous moment; and at the next moment, the UAV is flying in the reverse direction, then the UAV has occurred during the time between the previous moment and the next time.
  • the flight speed at this time is the unmanned aerial vehicle in the forward flight direction and The speed after switching between the reverse flight directions; similarly, the unmanned aerial vehicle is switched from the reverse flight direction to the forward flight direction. Similar to the above case, specific reference foregoing statement, are not repeated here.
  • the speed threshold is not limited in this embodiment, and those skilled in the art can set according to specific design requirements; and, at a speed greater than When the speed threshold is equal to or equal to the speed threshold, the number of times of switching to the number of commutations means that if the speed of the reverse flight direction is greater than or equal to the speed threshold after the unmanned aerial vehicle is switched from the forward flight direction to the reverse flight direction, then the time is Switch as the number of commutations.
  • the processor and memory consumption of the UAV are reduced, thereby improving the processing capability of the UAV processor and the memory; and the method is also avoided.
  • the human aircraft is prone to false detection at the moment of starting; this improves the practicality of the method and improves the accuracy and adjustment of the UAV. Sex and reliability.
  • S121 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data, and further includes:
  • the operation process and the implementation effect in the embodiment are similar to the operation process and the implementation effect of the step 1213 in the fifth embodiment.
  • the only difference is that the speed after the switching in this embodiment is smaller than the speed threshold in the direction, and the implementation is implemented.
  • the speed after the switching in the fifth example is greater than the speed threshold in the direction. Therefore, the specific operation process and implementation effect can refer to the above statement, and details are not described herein again.
  • the method further includes:
  • the speed after the switching is less than the speed threshold
  • the first case after the UAV is switched again, the speed after the re-switching is less than the speed threshold; the second case: no one After the switch is switched again, the speed after the switch is greater than or equal to the speed threshold.
  • the switch is not counted in the number of commutations.
  • the following embodiments are exemplified. Obtaining multiple flight speeds of the UAV in chronological order, where "+" and "-" represent forward and reverse, respectively, and obtain the following speed values:
  • Group 1 V10: -20 km / h, V11: +35 km / h, V12: -25 km / h, V13: +32 km / h, V14: -40 km / h;
  • the speed thresholds of the first group and the second group are both V+: +30 km/h and V-: -30 km/h.
  • the analysis of the first set of speed values is as follows: the flight direction switching occurs between V10 and V11, and since the speed V11 after the switching is greater than V+, the switching is counted as the number of commutation times; next, at V11 The flight direction switching occurs with V12, and since the speed V12 after switching is less than V-, the switching is not counted in the number of commutation times; next, the switching of the flight direction occurs again between V12 and V13, and switching After the speed V13 is greater than V+, the switching is not counted again in the number of commutations; if the flight direction is switched again between V13 and V14, and the speed V14 after switching is greater than V-, the switching meter
  • the number of commutations can be obtained by synthesizing the above analysis process.
  • the number of commutations in the first set of velocity data is 2 times.
  • the analysis of the second group of speed values is as follows: the flight direction switching occurs between V10 and V11, and since the speed V11 after the switching is greater than V+, the switching is counted as the number of commutation times; next, at V11 The switching of the flight direction occurs with V12, and since the speed V12 after switching is greater than V-, the switching is counted as the number of commutation times; next, the switching of the flight direction occurs again between V12 and V13, and after switching If the speed V13 is greater than V+, the switching is counted again in the number of commutation times; if the flight direction is switched again between V13 and V14, and the speed V14 after switching is greater than V-, the switching is counted and replaced.
  • the speed of the forward flight direction after switching is greater than or equal to the forward speed threshold and the reverse of the switching. If the speed of flight is greater than or equal to the reverse speed, the switch will be counted in the number of commutations. If the speed in the forward flight direction after switching is greater than or equal to the forward speed threshold and the reverse flight after the switch. If the speed is greater than or equal to the reverse speed and is not alternately implemented, then the switch is not counted in the number of commutations.
  • FIG. 4 is a schematic flowchart of a method for detecting an oscillation of an unmanned aerial vehicle according to a fourth embodiment of the present invention.
  • the present embodiment determines whether the unmanned aerial vehicle is determined according to the number of commutation times. If the oscillation occurs, the specific determination method is not limited, and those skilled in the art It can be set according to specific design requirements. Among them, it is more preferable to determine whether the unmanned aerial vehicle is oscillating according to the number of commutation times, and the setting includes:
  • the specific range of the standard number of times is not limited, and those skilled in the art can set the preset time according to different design requirements to set the standard number of times; in principle, if the preset time is longer, the standard number of times is The larger the value; for example, the preset time is 3s, the corresponding standard number is 5; when the preset time is extended to 5s, the corresponding standard number is 8. In order to ensure an accurate judgment on whether the UAV is oscillating.
  • the forward flight direction is set to the positive direction of any one of the X-axis, the Y-axis, and the Z-axis in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located.
  • the reverse flight direction is set to the negative direction of any one of the X-axis, the Y-axis, and the Z-axis.
  • the specific directions of the X-axis, the Y-axis, and the Z-axis are not limited, and those skilled in the art may perform different settings according to their own habits, such as setting the X-axis to a horizontal front-back direction or a horizontal left-right direction.
  • the vertical direction can be vertical; in general, the X axis refers to the front and rear direction, the Y axis refers to the left and right direction, and the Z axis refers to the up and down direction; and the forward direction of the coordinate axis can be arbitrarily specified If the front, left or upper can be set to positive, then the corresponding rear, right or bottom is negative; or the back, right or bottom can be set to positive, corresponding to the front, The left or upper direction is negative, etc., as long as the forward flight direction and the reverse flight direction of the UAV can be clearly determined, and details are not described herein.
  • the forward flight direction is set to the first direction of any two of the X-axis, the Y-axis, and the Z-axis in the three-dimensional space in which the coordinate system consisting of the X-axis, the Y-axis, and the Z-axis is located.
  • the reverse flight direction is set to the direction opposite to the first direction of any two of the X-axis, the Y-axis, and the Z-axis.
  • the specific directions of the X-axis, the Y-axis, and the Z-axis are not limited, and those skilled in the art may perform different settings according to their own habits, such as setting the X-axis to a horizontal front-back direction or a horizontal left-right direction.
  • the vertical direction can be vertical; in general, the X axis refers to the front and rear direction, the Y axis refers to the left and right direction, and the Z axis refers to the up and down direction; and the forward direction of the coordinate axis can be arbitrarily specified If the front, left or upper can be set to positive, then the corresponding rear, right or bottom is negative; or the back, right or bottom can be set to positive, and the corresponding front, left or top is Negative and so on.
  • the first direction in this embodiment those skilled in the art can set according to specific design requirements. If a two-dimensional plane of the X-axis and the Y-axis is assumed, the person skilled in the art can specify the X-axis or the Y-axis.
  • the area formed by the forward direction of one of the coordinate axes and the other coordinate axis is the forward flight direction, and correspondingly, the negative direction of the coordinate axis determined in the X-axis or the Y-axis is formed by the other coordinate axis.
  • the area is the reverse flight direction; or, the plane formed by the X-axis and the Y-axis is equally divided by a straight line passing through the origin where the X-axis intersects the Y-axis, and then the line is in the X-axis or the Y-axis
  • the positive direction of any one of the coordinate axes is taken as the first direction.
  • the negative direction of the coordinate axis determined by the straight line and the X-axis or the Y-axis is opposite to the first direction; of course, this Those skilled in the art can also adopt other setting methods as long as the forward flight direction and the reverse flight direction can be accurately and reliably distinguished, and details are not described herein again.
  • the forward flight direction is the third direction in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located, the X-axis, the Y-axis, and the Z-axis; correspondingly, the reverse flight direction It is the direction of the X-axis, the Y-axis, and the Z-axis opposite to the second direction.
  • the X-axis, the Y-axis, and the Z-axis in the present embodiment have the same meanings as the X-axis, the Y-axis, and the Z-axis in the above-mentioned Embodiment 9.
  • the second direction in this embodiment can be set by a person skilled in the art according to specific design requirements, for example, the second direction can be set to the positive direction and the other two of the X axis, the Y axis and the Z axis.
  • the area enclosed by the plane formed by the coordinate axes; correspondingly, the opposite direction of the second direction is formed by the negative direction of the coordinate axes determined in the X-axis, the Y-axis, and the Z-axis, and the other two coordinate axes.
  • the area enclosed by the plane ; of course, other arrangements may be adopted by those skilled in the art, as long as the forward flight direction and the reverse flight direction can be accurately and reliably distinguished, and details are not described herein again.
  • FIG. 5 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 1 of the present invention; and FIG. 5 shows a tracking control method for the unmanned aerial vehicle.
  • the type of the flight data for acquiring the unmanned aerial vehicle and the means for obtaining the same are not limited, and those skilled in the art can set according to specific design requirements, for example, the flight data can be set to include the flight direction, the flight path, the flight speed, and the flight. Acceleration, flight location, and any combination of any of the flight environments; and based on the different flight data described above, those skilled in the art may use different means of acquiring data, such as obtaining flight direction information through a direction sensor.
  • the specific range of the preset time is not limited, and those skilled in the art can set according to specific design requirements, for example, the preset time can be set to 3s, 5s, 10s, 1min, etc., in addition, for the above difference
  • the flight direction may include two different, angled directions of flight, such as the combination of East, West, South, North, and any two of the southeast, northeast, southwest, and northwest in the map; of course, different directions of flight
  • a plurality of different, angled directions of flight may also be included, such as combinations of any number (greater than two) of east, west, south, north, and southeast, northeast, southwest, and northwest in the map;
  • the range of angles is not limited.
  • those skilled in the art can set according to specific design requirements, such as setting an angle to an acute angle, an obtuse angle, or a right angle, etc., as long as the unmanned aerial vehicle can be in different flight directions.
  • the effect of switching can be performed, and will not be described here.
  • the specific manner of determining the number of commutations according to the flight data is not limited, and those skilled in the art can set according to specific design requirements, for example, a direction sensor can be disposed on the unmanned aerial vehicle, and a drone can be obtained through the direction sensor.
  • the number of commutations; wherein the commutation in this embodiment is relative to the flight direction of the unmanned aerial vehicle at the previous moment; specifically, in order to more clearly understand the number of commutations of the unmanned aerial vehicle, it can be set in the air.
  • Relative coordinate system the meaning of the relative coordinate system is: in the preset spatial range, the relative zero point is determined according to the flight path of the unmanned aerial vehicle; if the unmanned aerial vehicle is in the range of 50m-100m in front of the horizontal direction, Then the relative zero point of the relative coordinate system can be set to 75m, then the UAV can be regarded as a reversal once every time the UAV crosses 75m: Of course, those skilled in the art can also determine the UAV by other means. The number of commutations can be achieved as long as the above effects can be achieved, and will not be described herein.
  • the specific determination method for determining whether the unmanned aerial vehicle is oscillated according to the number of commutations is not limited, and those skilled in the art may set according to specific design requirements; wherein, according to certain requirements, those skilled in the art may determine Standard or experience to determine whether the UAV is oscillating; if it is determined that the unmanned aircraft oscillates within the preset 3s time range and the number of commutations reaches 5 or more, it is determined that the UAV has oscillated; Then, at this time, it is only necessary to determine whether the number of commutations acquired within the preset time is 5 or more.
  • the skilled person can also divide the oscillation into multiple levels according to the strength of the oscillation, such as high oscillation level, medium oscillation level, low oscillation level, no oscillation level, etc., for the above different levels of oscillation Corresponding to different oscillating judgment criteria; in order to more clearly understand the technical solution in this embodiment, the following specific embodiments are exemplified: Assumption: the standard of high oscillating level is: within the preset 3 s time range, the number of commutation times is reached.
  • the standard of the middle shock level is: within the preset 3s time range, the number of commutation times is 7 times or more, and the number of commutation times is less than 10 times;
  • the standard of low oscillation level is: preset In the 3s time range, the number of commutation times is 5 times or more, and the number of commutation times is less than 7 times;
  • the standard of low oscillation level is: within the preset 3s time range, the number of commutation times is less than 5 times;
  • the judgment criteria of each oscillation level only need to analyze the number of commutations obtained, determine which standard the number of commutations obtained falls into, and determine the unmanned aerial vehicle correspondingly.
  • S24 Determine whether to continue tracking the target according to the fluctuation of the unmanned aerial vehicle.
  • the control strategy for determining whether to continue tracking the target according to the oscillating condition of the unmanned aerial vehicle is not limited, and those skilled in the art may set according to specific design requirements, for example, if it is confirmed that the unmanned aerial vehicle is oscillated, in order to ensure For the normal flight situation of the UAV, you can set the stop tracking target to avoid the crash when the oscillating amplitude is large; when it is confirmed that the UAV has not oscillated, you can confirm to continue tracking the target; or follow the shock according to the oscillating
  • the strength and weakness are divided into multiple levels of oscillation, such as high-intensity oscillation, medium-intensity oscillation, low-intensity oscillation, and no oscillation.
  • the oscillation can be set to ensure that if the oscillation is high-intensity oscillation or medium-intensity oscillation, then to ensure The normal flight condition of the UAV can be set to stop tracking the target; if the oscillation is low-intensity oscillation or no oscillation, it can be set to continue tracking the target; of course, other control strategies can be adopted by those skilled in the art. As long as you can achieve the above functions, no longer here .
  • the tracking control method for the unmanned aerial vehicle determines the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data in a preset time, and determines whether the unmanned aerial vehicle is based on the number of commutation times.
  • Oscillation which can confirm whether the UAV is generated Concussion and determine whether to continue tracking the target according to the fluctuation of the unmanned aerial vehicle; it is possible to adjust the state of the unmanned aerial vehicle in time before confirming that the unmanned aerial vehicle has a large amplitude of oscillation, so as to avoid affecting the normal tracking of the unmanned aerial vehicle. Flight and even crashes have improved the safety and reliability of UAV flight.
  • the present embodiment sets different flight directions to include: a first flight direction and a second flight direction, and an angle is formed between the first flight direction and the second flight direction.
  • the specific direction features of the first flight direction and the second flight direction may be set by a person skilled in the art according to specific design requirements, such as East, West, South, North, and Southeast, Northeast, and Southwest in the map. And a combination of any two of the northwest; or the first flight direction or the second flight direction may be set to any one of any two of the eight directions; for example, setting the first flight direction For the east-south 35° angle, the second flight direction is set to a 70° north-south angle and so on.
  • the specific value of the angle formed between the first flight direction and the second flight direction is not limited, and those skilled in the art can set according to the model and design requirements of the unmanned aerial vehicle, for example, the angle can be set to 90°, 180° or 270°, etc., of course, the angle can also be set to other values such as 70°, 80°, 110°, 130° or 150°; in addition, for this angle, it can be
  • the human aircraft is set before the flight, and may also be set after the UAV is flying.
  • the angle is set to a pre-angle; thus, the UAV can be learned in real time during the flight of the UAV. Whether the state of the turbulence occurs, so as to carry out and adjust the unmanned aerial vehicle, to avoid affecting the flight effect of the unmanned aerial vehicle, and even the crash situation, thereby improving the safety and reliability of the flight of the unmanned aerial vehicle.
  • FIG. 6 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 2 of the present invention; on the basis of the foregoing embodiment, referring to FIG. 6, the angle formed by the first flight direction and the second flight direction is set to At 180°, the first flight direction and the second flight direction are mutually phased. In the opposite direction; at this time, in order to better understand the technical solution, the first flight direction at this time is defined as the forward flight direction, and the second flight direction is defined as the reverse flight direction, therefore,
  • S22 Determine, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data, specifically including:
  • S221 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data.
  • the number of commutations for determining that the UAV is switched between different flight directions according to the flight data is specifically limited to determining the number of commutations of the UAV between the forward flight direction and the reverse flight direction based on the flight data, due to the positive
  • the opposite directions of flight direction and reverse flight direction improve the accuracy and reliability of flight data analysis, which can improve the accuracy and reliability of the unmanned aerial vehicle oscillating detection, and thus can be used for unmanned aerial vehicles.
  • Accurate judgment is made as to whether or not the oscillation occurs in the forward flight direction and the reverse flight direction, so that the tracking target state of the UAV can be effectively adjusted and controlled, and the flight effect of the UAV is improved while the The degree of regulation of the tracking target of the human aircraft improves the practicability of the method.
  • the technical solution determines that the unmanned aerial vehicle switches between the forward flight direction and the reverse flight direction according to the flight data within a preset time.
  • the specific determination manner of the number of times is not limited, and those skilled in the art can set according to specific design requirements, wherein the determination of the number of commutation times can be obtained by:
  • S2211 Perform fast Fourier transform FFT on the flight data in the preset time to determine a frequency corresponding to the flight data;
  • the flight data of the preset time is collected, and after the fast Fourier transform FFT is performed on the flight data, the frequency spectrum is obtained, and the frequency information corresponding to the flight data can be obtained intuitively through the spectrum image;
  • the preset time and the flight data have the same meanings as the preset time and the flight data in the above embodiment. For details, refer to the specific description above. Let me repeat.
  • the flight data is processed by the fast Fourier transform FFT to obtain the frequency corresponding to the information of speed, acceleration, angular velocity, etc., and the number of commutation times is determined by the frequency, so that the unmanned aerial vehicle can be obtained intuitively, quickly and accurately.
  • the acquisition efficiency and accuracy of the oscillating detection are improved, and the oscillating state of the unmanned aerial vehicle can be quickly judged during the flight of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be adjusted in time, thereby further ensuring the unmanned Flight safety and reliability of the aircraft.
  • FIG. 7 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • the flight data is processed by using a fast Fourier transform FFT; Guarantee the efficiency and accuracy of flight data processing, but when using the fast Fourier transform FFT to process flight data, the processor and memory consumption in the UAV is high, which will occupy most of the resources of the processor and memory.
  • the control of the processor and the memory to other devices may not be processed in time; and when the UAV is just started, if the flight data is processed in the above manner, it is easy to generate false detection, thereby affecting the system for the unmanned aerial vehicle.
  • Judgment of the flight state based on the above existing situation, the present embodiment provides another method for processing flight data, specifically,
  • S221 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data, and further includes:
  • the processor and memory consumption of the UAV are reduced, thereby improving the processing capability of the UAV processor and the memory;
  • the method also avoids the situation that the UAV is prone to false detection at the moment of starting; further improves the practicability of the method, and also improves the accuracy and adjustment of the unmanned aerial vehicle to the tracking target. reliability.
  • S221 Determine, according to the flight data, the number of commutations of the UAV switching between the forward flight direction and the reverse flight direction according to the flight data, and further includes:
  • the operation process and the implementation effect in the embodiment are similar to the operation process and the implementation effect of the step 2213 in the fifteenth embodiment.
  • the only difference is that the speed after the switching in this embodiment is smaller than the speed threshold in the direction, and The speed after the switching in the fifteenth embodiment is greater than the speed threshold in the direction. Therefore, the specific operation process and implementation effect can refer to the above statement, and details are not described herein again.
  • the method further includes:
  • FIG. 8 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 4 of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 8, the present embodiment is based on the number of commutation times.
  • the specific determination method is not limited, and those skilled in the art can set according to specific design requirements. Among them, it is preferable to determine whether the unmanned aerial vehicle is oscillated according to the number of commutation times, and setting Specifically include:
  • the specific range of the standard number of times is not limited, and those skilled in the art can set the preset time according to different design requirements to set the standard number of times; in principle, if the preset time is longer, the standard number of times is The larger the value; for example, the preset time is 3s, the corresponding standard number is 5; when the preset time is extended to 5s, the corresponding standard number is 8. In order to ensure an accurate judgment on whether the UAV is oscillating.
  • FIG. 9 is a schematic flowchart of a tracking control method for an unmanned aerial vehicle according to Embodiment 5 of the present invention; on the basis of the foregoing embodiment, referring to FIG. 9, the technical solution determines whether to continue tracking according to the oscillation condition of the unmanned aerial vehicle.
  • the control strategy of the target is not limited, and those skilled in the art can set according to specific design requirements. Among them, it is preferable to determine whether to continue tracking the target according to the fluctuation condition of the unmanned aerial vehicle, and the specific settings include:
  • the UAV if the UAV is confirmed to be oscillating, it means that the UAV is oscillating due to external factors or its own factors when tracking targets.
  • external factors include temperature, humidity, wind speed, airflow, etc., including:
  • the UAV determines the tracking target with the locking frame, and then compares the size of the tracking target with the preset target size. Since the tracking target is away from the UAV, there is a tracking target. Size and If the target size is too large, the speed of the locking frame will change very much, and the control speed of the UAV will also change drastically with an expression. At this time, the UAV will be oscillated back and forth, etc.
  • the flight state of the unmanned aerial vehicle can be adjusted in time without controlling the tracking task of the unmanned aerial vehicle; when the unmanned aerial vehicle is oscillated due to the above reasons, it means that The state of the unmanned aerial vehicle is not suitable for continuing to track the target. Therefore, in order to ensure the normal flight effect of the unmanned aerial vehicle, it is necessary to stop the task of tracking the target in time; and the unmanned aerial vehicle can be adjusted in time and effectively until the unmanned aerial vehicle returns to normal. In the flight state, the task of tracking the target can also be started here.
  • the task of tracking the target is continued on the basis of ensuring the normal flight of the unmanned aerial vehicle, thereby improving the stability and reliability of the unmanned aerial vehicle tracking target.
  • the forward flight direction is set to the positive direction of any one of the X-axis, the Y-axis, and the Z-axis in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located.
  • the reverse flight direction is set to the negative direction of any one of the X-axis, the Y-axis, and the Z-axis.
  • the specific directions of the X-axis, the Y-axis, and the Z-axis are not limited, and those skilled in the art may perform different settings according to their own habits, such as setting the X-axis to a horizontal front-back direction or a horizontal left-right direction.
  • the vertical direction can be vertical; in general, the X axis refers to the front and rear direction, the Y axis refers to the left and right direction, and the Z axis refers to the up and down direction; and the forward direction of the coordinate axis can be arbitrarily specified If the front, left or upper can be set to positive, then the corresponding rear, right or bottom is negative; or the back, right or bottom can be set to positive, and the corresponding front, left or top is Negative direction, etc., as long as the forward flight direction and reverse flight direction of the UAV can be clearly determined, and will not be described here.
  • FIG. 10 is a schematic structural diagram of an oscillating detection system for an unmanned aerial vehicle according to Embodiment 1 of the present invention. Referring to FIG. 10, the oscillating detection system of the unmanned aerial vehicle is known. ,include:
  • a first acquiring module 1 configured to acquire flight data of the unmanned aerial vehicle
  • a first processing module 2 configured to determine, according to flight data, a number of commutations of the unmanned aircraft switching between different flight directions according to flight data;
  • the first determining module 3 is configured to determine whether the unmanned aerial vehicle is oscillated according to the number of commutation times.
  • the specific configuration of the first acquiring module 1, the first processing module 2, and the first confirming module 3 is not limited, and those skilled in the art may arbitrarily set according to the functions implemented by the above modules;
  • the implementation process and the implementation effect of the functions implemented by the acquisition module 1, the first processing module 2, and the first validation module 3 are the same as those of the steps S11-S13 in the first embodiment, and the specific implementation can be referred to the above statement. The content will not be described here.
  • the oscillating detection system of the unmanned aerial vehicle provided by the embodiment is obtained by the first acquisition module 1 and the first processing module 2 determines, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions. According to the number of commutations, the first determining module 3 determines whether the unmanned aerial vehicle is oscillating, and further confirms whether the unmanned aerial vehicle is oscillated, and adjusts the state of the unmanned aerial vehicle in time before confirming that the unmanned aerial vehicle has a large amplitude of oscillation. In order to avoid affecting the normal operation and flight of the UAV, and even the crash, the safety and reliability of the UAV flight is ensured, and the utility of the UAV's Oscillation Detection System is also improved.
  • different flight directions are set to include: a first flight direction and a second flight direction, and an angle is formed between the first flight direction and the second flight direction.
  • the specific direction features of the first flight direction and the second flight direction may be set by a person skilled in the art according to specific design requirements, such as East, West, South, North, and Southeast, Northeast, and Southwest in the map. And a combination of any two of the northwest; or the first flight direction or the second flight direction may be set between any two of the above eight directions In any direction; if the first flight direction is set to an east-south 35° angle, the second flight direction is set to a west-north 70° angle, and the like.
  • the specific value of the angle formed between the first flight direction and the second flight direction is not limited, and those skilled in the art can set according to the model and design requirements of the unmanned aerial vehicle, for example, the angle can be set to 90°, 180° or 270°, etc., of course, the angle can also be set to other values such as 70°, 80°, 110°, 130° or 150°; in addition, for this angle, it can be
  • the human aircraft is set before the flight, and may also be set after the UAV is flying.
  • the angle is set to a pre-angle; thus, the UAV can be learned in real time during the flight of the UAV. Whether the state of the turbulence occurs, so as to carry out and adjust the unmanned aerial vehicle, to avoid affecting the flight effect of the unmanned aerial vehicle, and even the crash situation, thereby improving the safety and reliability of the flight of the unmanned aerial vehicle.
  • the first processing module 2 is also used. to:
  • the number of commutations in which the UAV switches between the forward flight direction and the reverse flight direction is determined based on the flight data within a preset time.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation result of the step S121 in the foregoing embodiment 3.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation result of the step S121 in the foregoing embodiment 3.
  • the foregoing content, and details are not described herein again.
  • the number of commutations for determining that the UAV is switched between different flight directions according to the flight data is specifically limited to determining the number of commutations of the UAV between the forward flight direction and the reverse flight direction based on the flight data, due to the positive
  • the opposite directions of flight direction and reverse flight direction improve the accuracy and reliability of flight data analysis, which can improve the accuracy and reliability of the unmanned aerial vehicle oscillating detection, and thus can be used for unmanned aerial vehicles. Accurate judgment is made as to whether or not the oscillation occurs in the forward flight direction and the reverse flight direction, so that the unmanned aerial vehicle can be adjusted in time, which further improves the stability and reliability of the system.
  • the technical solution determines the number of commutations of the UAV between the forward flight direction and the reverse flight direction according to the flight data within a preset time.
  • the specific determination manner is not limited, and can be set by a person skilled in the art according to specific design requirements.
  • the determination of the number of commutation times can be set to be obtained by the first processing module 2 in the following manner:
  • the first processing module 2 is configured to:
  • the number of commutations is determined based on the frequency.
  • the implementation process and the implementation effect of the functions implemented by the first processing module 2 are the same as the implementation processes and the implementation effects of the steps S1211-S1212 in the foregoing fourth embodiment. For details, refer to the foregoing content, and details are not described herein again. .
  • the first processing module 2 processes the flight data by using a fast Fourier transform FFT, thereby obtaining a frequency corresponding to information such as speed, acceleration, angular velocity, etc., and determining the number of commutation times by frequency, so that the unmanned person can be obtained intuitively, quickly, and accurately.
  • FFT fast Fourier transform
  • the flight data can be processed by using a fast Fourier transform FFT.
  • the fast Fourier transform FFT is used for the flight data.
  • the processor and memory consumption in the unmanned aerial vehicle are high, which will occupy most of the resources of the processor and the memory, and it is easy for the processor and the memory to control the other devices to be unable to be processed in time;
  • the first processing module 2 is also used for :
  • the subsequent speed is greater than or equal to the speed threshold in the direction, and the switching is counted as the number of commutations.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation of the step S1213 in the foregoing embodiment 5.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation of the step S1213 in the foregoing embodiment 5.
  • the foregoing content, and details are not described herein again.
  • the speed is directly analyzed and processed by the first processing module 2, which reduces the processor and memory consumption of the UAV, thereby improving the processing capability of the UAV processor and the memory; and adopting the method, It also avoids the situation that the unmanned aerial vehicle is prone to false detection at the moment of starting; further improves the practicability of the method and improves the accuracy and reliability of the adjustment and control of the unmanned aerial vehicle.
  • the first processing module 2 is further configured to:
  • the handover is not counted in the number of commutations.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation result of the step S1214 in the foregoing embodiment 6.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation result of the step S1214 in the foregoing embodiment 6.
  • the foregoing content, and details are not described herein again.
  • the first processing module 2 is further configured to:
  • the switch After the switch does not count the number of commutations, if the speed of the UAV after switching between the forward flight direction and the reverse flight direction is greater than or equal to the speed threshold in the direction, the handover is not counted again. The number of commutations.
  • the implementation process and the implementation effect of the function implemented by the first processing module 2 are the same as the implementation process and the implementation result of the step S1215 in the foregoing seventh embodiment.
  • the specific determination method is not limited by the method for determining whether the unmanned aerial vehicle is oscillated according to the number of commutation times, and those skilled in the art can according to specific design requirements.
  • the setting is performed, wherein, preferably, the first confirmation module 3 can be set to be specifically used for:
  • the unmanned aerial vehicle has not oscillated.
  • the implementation process and the implementation effect of the functions implemented by the first confirmation module 3 are the same as the implementation processes and the implementation effects of the steps S131-S132 in the foregoing embodiment 8. For details, refer to the foregoing content, and details are not described herein again. .
  • the forward flight direction is set to the positive direction of any one of the X-axis, the Y-axis, and the Z-axis in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located.
  • the reverse flight direction is set to the negative direction of any one of the X-axis, the Y-axis, and the Z-axis.
  • the setting manner and the setting effect on the forward flight direction and the reverse flight direction in the one-dimensional dimension are the same as those in the forward flight direction and the reverse flight direction in the embodiment 9, and the specific effects are the same. Reference may be made to the above description, and details are not described herein again.
  • the forward flight direction is set to the coordinate system composed of the X-axis, the Y-axis, and the Z-axis.
  • the first direction of any two of the X-axis, the Y-axis, and the Z-axis; correspondingly, the reverse flight direction is set to any two of the X-axis, the Y-axis, and the Z-axis And the direction opposite to the first direction.
  • the setting manners and setting effects of the forward flight direction and the reverse flight direction in the two-dimensional dimension are the same as those of the tenth embodiment in the forward flight direction and the reverse flight direction, and the setting effect is the same. Reference may be made to the above description, and details are not described herein again.
  • the forward flight direction is the third direction in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located, the X-axis, the Y-axis, and the Z-axis; correspondingly, the reverse flight direction It is the direction of the X-axis, the Y-axis, and the Z-axis opposite to the second direction.
  • the setting manner and the setting effect on the forward flight direction and the reverse flight direction in the three-dimensional dimension are the same as those in the forward flight direction and the reverse flight direction in the eleventh embodiment, and the specific effects are the same. Reference may be made to the above description, and details are not described herein again.
  • FIG. 11 is a schematic structural diagram of a tracking control system for an unmanned aerial vehicle according to Embodiment 1 of the present invention. As shown in FIG. ,include:
  • a second acquiring module 4 configured to acquire flight data of the unmanned aerial vehicle
  • a second processing module 5 configured to determine, according to the flight data, a number of commutations of the unmanned aircraft switching between different flight directions according to the flight data;
  • a second determining module 6 configured to determine, according to the number of commutation times, whether the unmanned aerial vehicle is oscillating
  • the second determining module 6 is further configured to determine whether to continue tracking the target according to the oscillating condition of the unmanned aerial vehicle.
  • the specific structures of the foregoing second obtaining module 4, the second processing module 5, and the second confirming module 6 are not limited, and those skilled in the art may perform the functions according to the foregoing modules. Arbitrarily setting; in addition, the implementation process and the implementation effect of the functions implemented by the second obtaining module 4, the second processing module 5, and the second confirming module 6 are the same as the steps S21-S23 in the above-mentioned Embodiment 12. The implementation effect is the same. For details, refer to the above statement, and details are not described herein again.
  • the tracking control system of the unmanned aerial vehicle provided by the embodiment is obtained by the second acquiring module 4, and the second processing module 5 determines, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data.
  • the second confirmation module 6 determines whether the unmanned aerial vehicle is oscillated according to the number of commutation times, and further confirms whether the unmanned aerial vehicle is oscillated, and determines whether to continue tracking the target according to the unmanned aerial vehicle oscillating condition; Before the oscillating amplitude is large, the state of the unmanned aerial vehicle is adjusted in time to avoid affecting the normal tracking and flight of the UAV, and even the crash, thereby improving the safety and reliability of the UAV flight.
  • different flight directions are set to include: a first flight direction and a second flight direction, and an angle is formed between the first flight direction and the second flight direction.
  • the specific direction features of the first flight direction and the second flight direction may be set by a person skilled in the art according to specific design requirements, such as East, West, South, North, and Southeast, Northeast, and Southwest in the map. And a combination of any two of the northwest; or the first flight direction or the second flight direction may be set to any one of any two of the eight directions; for example, setting the first flight direction For the east-south 35° angle, the second flight direction is set to a 70° north-south angle and so on.
  • the specific value of the angle formed between the first flight direction and the second flight direction is not limited, and those skilled in the art can set according to the model and design requirements of the unmanned aerial vehicle, for example, the angle can be set to 90°, 180° or 270°, etc., of course, the angle can also be set to other values such as 70°, 80°, 110°, 130° or 150°; in addition, for this angle, it can be
  • the human aircraft is set before the flight is performed, and may also be set after the UAV flight, wherein, preferably, the angle is set to a pre-angle; In the process of flying the UAV, it is possible to know in real time whether the UAV is oscillating or not, so as to carry out and adjust the UAV, to avoid affecting the flight effect of the UAV, and even the crash situation, thereby improving the situation.
  • the safety and reliability of the flight of the unmanned aerial vehicle is not limited, and those skilled in the art can set according to the model and design requirements of the unmanned aerial vehicle, for example, the angle
  • the first flight direction at this time is defined as the forward flight direction
  • the second flight direction is defined as the reverse flight direction. Therefore, the second processing module 5 is also used. to:
  • the number of commutations in which the UAV switches between the forward flight direction and the reverse flight direction is determined based on the flight data within a preset time.
  • the number of commutations for determining that the UAV is switched between different flight directions according to the flight data is specifically defined by the second processing module 5 as determining that the UAV switches between the forward flight direction and the reverse flight direction according to the flight data.
  • the technical solution is to determine the specific number of commutation times of the UAV between the forward flight direction and the reverse flight direction according to the flight data within a preset time.
  • the determination manner is not limited, and those skilled in the art can set according to specific design requirements, wherein the determination of the number of commutation times can be set to pass through the second processing module 5 Obtained in the following ways:
  • the second processing module 5 is configured to:
  • the number of commutations is determined based on the frequency.
  • the flight data is processed by the fast Fourier transform FFT to obtain the frequency corresponding to the information of speed, acceleration, angular velocity, etc., and the number of commutation times is determined by the frequency, so that the unmanned aerial vehicle can be obtained intuitively, quickly and accurately.
  • the acquisition efficiency and accuracy of the oscillating detection are improved, and the oscillating state of the unmanned aerial vehicle can be quickly judged during the flight of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be adjusted in time, thereby further ensuring the unmanned Flight safety and reliability of the aircraft.
  • the flight data is processed by the fast Fourier transform FFT; although the above method can ensure the efficiency and accuracy of the flight data processing, the fast Fourier transform FFT is used for the flight data.
  • the processor and memory consumption in the unmanned aerial vehicle are high, which will occupy most of the resources of the processor and the memory, and it is easy for the processor and the memory to control the other devices to be unable to be processed in time;
  • the second processing module 5 is also used for :
  • the handover is counted as the number of commutations.
  • the implementation process and the implementation effect of the function implemented by the foregoing second processing module 5 are the same as the implementation process and the implementation effect of the step S2213 in the foregoing embodiment 16.
  • the implementation process and the implementation effect of the step S2213 in the foregoing embodiment 16 are the same as the implementation process and the implementation effect of the step S2213 in the foregoing embodiment 16.
  • the speed is directly analyzed and processed by the second processing module 5, which reduces the processor and memory consumption of the UAV, thereby improving the UAV processor and the memory.
  • the processing capability; and adopting the method also avoids the situation that the unmanned aerial vehicle is prone to false detection at the moment of starting; thereby improving the practicability of the method and improving the unmanned aerial vehicle to adjust and control the tracking target. Accuracy and reliability.
  • the second processing module 5 is further configured to:
  • the handover is not counted in the number of commutations.
  • the second processing module 5 is further configured to:
  • the switch After the switch does not count the number of commutations, if the speed of the UAV after switching between the forward flight direction and the reverse flight direction is greater than or equal to the speed threshold in the direction, the handover is not counted again. The number of commutations.
  • the implementation process and the implementation effect of the function implemented by the foregoing second processing module 5 are the same as the implementation process and the implementation effect of the step S2215 in the above-mentioned eighteenth embodiment.
  • the implementation process and the implementation effect of the step S2215 in the above-mentioned eighteenth embodiment are the same as the implementation process and the implementation effect of the step S2215 in the above-mentioned eighteenth embodiment.
  • the specific determination method is not limited by the method for determining whether the unmanned aerial vehicle is oscillated according to the number of commutation times, and those skilled in the art can according to specific design requirements.
  • the setting is performed, wherein, preferably, the second determining module 6 is set to be specifically used for:
  • the unmanned aerial vehicle has not oscillated.
  • the technical solution of the present invention is not limited to the control strategy for determining whether to continue tracking the target according to the oscillating condition of the unmanned aerial vehicle, and those skilled in the art can set according to specific design requirements.
  • the second determining module 6 is configured to be specifically used for:
  • the forward flight direction is set to the positive direction of any one of the X-axis, the Y-axis, and the Z-axis in the three-dimensional space in which the coordinate system composed of the X-axis, the Y-axis, and the Z-axis is located.
  • the reverse flight direction is set to the negative direction of any one of the X-axis, the Y-axis, and the Z-axis.
  • the specific directions of the X-axis, the Y-axis, and the Z-axis are not limited, and those skilled in the art may perform different settings according to their own habits, such as setting the X-axis to a horizontal front-back direction or a horizontal left-right direction. Or vertical vertical direction; usually, the X axis refers to the front and rear direction, the Y axis refers to the left and right direction, and the Z axis refers to the up and down direction; and for the coordinate axis
  • the forward direction can be arbitrarily specified.
  • the front, left or upper can be set to positive, then the corresponding rear, right or lower is negative; or the rear, right or lower can be set to positive, corresponding to The front, left or upper is negative, etc., as long as the forward flight direction and the reverse flight direction of the UAV can be clearly determined, and will not be described herein.
  • FIG. 12 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • the unmanned aerial vehicle includes: a first flight data collecting device 7 and a first a processor 8;
  • a first flight data collection device 7 for acquiring flight data of the unmanned aerial vehicle
  • the first processor 8 is configured to execute:
  • the specific configuration of the first flight data collection device 7 and the first processor 8 is not limited, and those skilled in the art can perform arbitrary settings according to the functions implemented by the above devices, and details are not described herein again.
  • the implementation process and the implementation effect of the operation steps implemented by the first flight data collection device 7 and the first processor 8 are the same as the implementation process and the implementation effects of the S11-S13 in the first embodiment. For details, refer to the above statement. I will not repeat them here.
  • the first processor 8 in this embodiment can not only implement the foregoing functions, but also perform the operation steps in the foregoing Embodiment 2 - Embodiment 11, and can achieve corresponding technical effects.
  • the first processor 8 in this embodiment can not only implement the foregoing functions, but also perform the operation steps in the foregoing Embodiment 2 - Embodiment 11, and can achieve corresponding technical effects.
  • the foregoing specific description. will not repeat them here.
  • the unmanned aerial vehicle provided by the embodiment is obtained by the first flight data collecting device 7 and the first processor 8 determines, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data. Determine the number of times, determine whether the unmanned aerial vehicle has oscillated, and then confirm whether the unmanned aerial vehicle is oscillating, and adjust the state of the unmanned aerial vehicle in time before confirming that the unmanned aerial vehicle has a large amplitude of oscillation to avoid affecting the unmanned aerial vehicle.
  • the normal operation and flight, and even the crash improve the safety and reliability of the UAV flight.
  • the embodiment provides a storage medium, where the program code is stored in the storage medium, and when the program code is running, the method for detecting the oscillation of the unmanned aerial vehicle is performed, and the method specifically includes:
  • the specific form and specific structure of the storage medium are not limited, and those skilled in the art can set according to specific design requirements, as long as the above-mentioned functional effects can be achieved, and details are not described herein; in addition, the storage medium is stored.
  • the operation process and the implementation effect of the method implemented by the program code are the same as the implementation process and the implementation effect of the S11-S13 in the first embodiment. For details, refer to the above statement, and details are not described herein again.
  • the storage medium in this embodiment stores not only the program code that can implement the steps of the above method, but also the program code of the operation steps in the second embodiment to the eleventh embodiment, and after running the program code, The specific technical effects can be achieved. For details, refer to the detailed description above, and details are not described herein again.
  • the storage medium provided in this embodiment can obtain the reversal of the unmanned aerial vehicle switching between different flight directions according to the flight data by running the program code stored in the storage medium. According to the number of commutations, it is determined whether the unmanned aerial vehicle is oscillated, and then it can be confirmed whether the unmanned aerial vehicle is oscillated, and the state of the unmanned aerial vehicle is adjusted in time to confirm that the unmanned aerial vehicle has a large amplitude of oscillation. It affects the normal operation and flight of the UAV, and even the crash, which improves the safety and reliability of the UAV flight and improves the practicality of the storage medium.
  • FIG. 13 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • the unmanned aerial vehicle includes: a second flight data collecting device 9 and a Two processors 10;
  • a second flight data collection device 9 for acquiring flight data of the unmanned aerial vehicle
  • the second processor 10 is configured to execute:
  • the specific configuration and the specific structure of the second flight data collection device 9 and the second processor 10 are not limited, and those skilled in the art can perform arbitrary settings according to the functions implemented by the above devices, and details are not described herein again.
  • the implementation process and the implementation effect of the operation steps implemented by the second flight data collection device 9 and the second processor 10 in this embodiment are the same as the implementation process and implementation effects of the S21-S24 in the twelfth embodiment, and may be specifically referred to. The above statements are not described here.
  • the second processor 10 in this embodiment can not only implement the above functions, but also has the operation steps in the thirteenth embodiment to the thirteenth embodiment, and can achieve the corresponding technical effects. The description is not repeated here.
  • the unmanned aerial vehicle provided by the embodiment is obtained by the second flight data collecting device 9 and the second processor 10 determines, according to the flight data, the number of commutations of the unmanned aircraft switching between different flight directions according to the flight data. Determine the number of times, determine whether the unmanned aerial vehicle is oscillating, and then confirm whether the unmanned aerial vehicle is oscillating, and determine whether to continue tracking the target according to the turbulence of the unmanned aerial vehicle; it can be realized before confirming that the unmanned aerial vehicle has a large amplitude of oscillation.
  • the state of the unmanned aerial vehicle is adjusted to avoid affecting the normal tracking and flight of the UAV and even the crash, thereby improving the safety and reliability of the UAV flight.
  • the embodiment provides another storage medium, where the program code is stored in the storage medium, and when the program code is running, the tracking control method of the unmanned aerial vehicle is executed, and the method specifically includes:
  • the specific form and specific structure of the storage medium are not limited, and those skilled in the art
  • the member can be set according to the specific design requirements, as long as the above-mentioned functional effects can be achieved, and will not be described herein; in addition, the operation process and the implementation effect of the method implemented by the program code stored in the storage medium are the same as the above tenth embodiment.
  • the implementation process and the implementation effects of the S21-S24 in the second embodiment are the same. For details, refer to the above statement, and details are not described herein again.
  • the storage medium in this embodiment stores not only the program code that can implement the steps of the foregoing method, but also the program code of the operation steps in the above-mentioned thirteenth embodiment, and after running the above program code, The specific technical effects can be achieved. For details, refer to the detailed description above, and details are not described herein again.
  • the storage medium provided in this embodiment can obtain the number of commutations of the unmanned aerial vehicle switching between different flight directions according to the flight data by running the program code stored in the storage medium, according to the reversing direction.
  • the number of times determines whether the unmanned aerial vehicle is oscillating, and thus can confirm whether the unmanned aerial vehicle is oscillated, and determines whether to continue tracking the target according to the turbulence of the unmanned aerial vehicle; it can be realized in time before confirming that the unmanned aerial vehicle has a large amplitude of oscillation
  • the state of the unmanned aerial vehicle is adjusted to avoid affecting the normal tracking and flight of the UAV, and even the crash, thereby improving the safety and reliability of the UAV flight and improving the practicality of the storage medium.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or a software function list. The realization of the form of the yuan.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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Abstract

一种无人飞行器的震荡检测方法，包括：S11：获取无人飞行器的飞行数据；S12：在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；S13：根据所述换向次数，确定无人飞行器是否发生震荡，该无人飞行器的震荡检测方法，通过获取在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。

Description

存储介质、无人飞行器及震荡检测、追踪控制方法和系统 技术领域
本发明涉及无人飞行器领域，尤其涉及存储介质、无人飞行器及其震荡检测、追踪控制方法和系统。
背景技术
随着电子技术和通信技术的迅猛发展，越来越多的飞行器、机器人等被制造。在飞行器技术领域，无人飞行器的研发也越来越广泛，然而，对于无人飞行器而言，其飞行安全性能至关重要。
无人飞行器在飞行过程中，由于空气对流、温度或其他因素的影响，容易使得机身产生震荡，而当无人飞行器的震荡幅度较大时，会影响无人飞行器的正常操作与飞行，严重时会使得无人飞行器发生坠机的情况。
因此，现在亟需一种无人飞行器的震荡检测方法，以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况。
发明内容
针对现有技术中的上述缺陷，本发明提供一种无人飞行器的震荡检测方法，以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况。
本发明的第一个方面是提供一种无人飞行器的震荡检测方法，包括：
获取无人飞行器的飞行数据；
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡。
本发明的第二个方面是提供一种无人飞行器的追踪控制方法，包括：
获取无人飞行器的飞行数据；
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡；
根据所述无人飞行器的震荡情况确定是否继续追踪目标。
本发明的第三个方面是提供一种无人飞行器的震荡检测系统，包括：
第一获取模块，用于获取无人飞行器的飞行数据；
第一处理模块，用于在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
第一确定模块，用于根据所述换向次数，确定无人飞行器是否发生震荡。
本发明的第四个方面是提供一种无人飞行器的追踪控制系统，包括：
第二获取模块，用于获取无人飞行器的飞行数据；
第二处理模块，用于在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
第二确定模块，用于根据所述换向次数，确定无人飞行器是否发生震荡；
所述第二确定模块，还用于根据所述无人飞行器的震荡情况确定是否继续追踪目标。
本发明的第五个方面是提供一种无人飞行器，包括：第一飞行数据采集装置和第一处理器；
所述第一飞行数据采集装置，用于获取无人飞行器的飞行数据；
所述第一处理器，用于执行：
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡。
本发明的第五个方面是提供一种存储介质，所述存储介质内存储有程序代码，当所述程序代码运行时，会执行无人飞行器的震荡检测方法，该方法具体包括：
获取无人飞行器的飞行数据；
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡。
本发明的第七个方面是提供另一种无人飞行器，包括：第二飞行数据采集装置和第二处理器；
所述第二飞行数据采集装置，用于获取无人飞行器的飞行数据；
所述第二处理器，用于执行：
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡；
根据所述无人飞行器的震荡情况确定是否继续追踪目标。
本发明的第八个方面是提供另一种存储介质，所述存储介质内存储有程序代码，当所述程序代码运行时，会执行无人飞行器的追踪控制方法，该方法具体包括：
获取无人飞行器的飞行数据；
在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
根据所述换向次数，确定无人飞行器是否发生震荡；
根据所述无人飞行器的震荡情况确定是否继续追踪目标。
本发明提供的存储介质、无人飞行器及其震荡检测、追踪控制方法和系统，通过获取在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数，根据所述换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
附图说明
图1为本发明实施例一提供的无人飞行器的震荡检测方法的流程示意图；
图2为本发明实施例二提供的无人飞行器的震荡检测方法的流程示意图；
图3为本发明实施例三提供的无人飞行器的震荡检测方法的流程示意图；
图4为本发明实施例四提供的无人飞行器的震荡检测方法的流程示意图；
图5为本发明实施例一提供的无人飞行器的追踪控制方法的流程示意图；
图6为本发明实施例二提供的无人飞行器的追踪控制方法的流程示意图；
图7为本发明实施例三提供的无人飞行器的追踪控制方法的流程示意图；
图8为本发明实施例四提供的无人飞行器的追踪控制方法的流程示意图；
图9为本发明实施例五提供的无人飞行器的追踪控制方法的流程示意图；
图10为本发明实施例一提供的无人飞行器的震荡检测系统的结构示意图；
图11为本发明实施例一提供的无人飞行器的追踪控制系统的结构示意图；
图12为本发明实施例一提供的无人飞行器的结构示意图；
图13为本发明实施例二提供的无人飞行器的结构示意图。
附图标记：
1-第一获取模块；         2-第一处理模块；
3-第一确定模块；         4-第二获取模块；
5-第二处理模块；         6-第二确定模块；
7-第一飞行数据采集装置； 8-第一处理器；
9-第二飞行数据采集装置； 10-第二处理器。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
本实施例提供了一种无人飞行器的震荡检测方法，图1为本发明实施例一提供的无人飞行器的震荡检测方法的流程示意图，如图1所示，该无人飞行器的震荡检测方法，包括：
S11：获取无人飞行器的飞行数据；
其中，对于获取无人飞行器的飞行数据的类型以及获取手段不做限定， 本领域技术人员可以根据具体的设计需求进行设置，如可以将飞行数据设置为包括飞行方向、飞行轨迹、飞行速度、飞行加速度、飞行地理位置以及飞行环境中的任意一项或者任意几项的组合；而基于上述不同的飞行数据，本领域技术人员可以采用不同的获取数据的手段，如通过方向感应器获取飞行方向信息，通过速度传感器或加速度传感器获取飞行速度或飞行加速度信息，通过设置的GPS定位装置获取飞行地理位置信息；通过获取飞行的时间、位置、速度以及加速度信息获取飞行轨迹信息；通过温度传感器、风速传感器获取无人飞行器的温度、风速等飞行环境信息；当然的，本领域技术人员还可以采用其他的方式来获取无人飞行器的其他飞行数据，只要能够实现本实施例所能达到的技术效果即可，在此不再赘述。
S12：在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
其中，对于预设时间的具体范围不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以将预设时间设置为3s、5s、10s、1min等等，另外，对于上述的不同飞行方向可以包括两个不同的、且呈一定角度的飞行方向，如地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；当然的，不同的飞行方向还可以包括多个不同的、且呈一定角度的飞行方向，如地图中的东、西、南、北以及东南、东北、西南以及西北中任意多项(大于两项)的组合；并且对于上述的角度范围不做限定，具体的，本领域技术人员可以根据具体的设计需求进行设置，如可以将角度设置为锐角、钝角或直角等等，只要能够实现无人飞行器能够在不同飞行方向之间进行切换的效果即可，在此不再赘述。
另外，对于根据飞行数据确定换向次数的具体方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以在无人飞行器上设置有方向传感器，通过方向传感器可以获得无人机的换向次数；其中，本实施例中的换向是相对于上一时刻的无人飞行器的飞行方向而言；具体的，为了更加清楚的了解无人飞行器的换向次数，可以在空中设置相对坐标系，该相对坐标系的含义为：在预设的空间范围内，根据无人飞行器的飞行轨迹来确定相对零点；假设无人飞行器在水平方向的前方50m-100m的范围内进行徘徊，则相对坐标系的相对零点可以设置为75m处，那么在无人飞行器每次跨越75m 处时，均可视为换向一次：当然的，本领域技术人员还可以采用其他方式来确定无人飞行器的换向次数，只要能够实现上述效果即可，在此不再赘述。
S13：根据换向次数，确定无人飞行器是否发生震荡。
其中，对于根据换向次数确定无人飞行器是否发生震荡的具体确定方法不做限定，本领域技术人员可以根据具体的设计需求进行设置；其中，在本领域技术人员进行确定之前，会根据一定的标准或者经验来判断无人飞行器是否发生震荡；如当确定无人飞行器发生震荡的标准为在预设的3s时间范围内，换向次数达到5次及以上，则确定无人飞行器已经发生震荡；那么，此时，只需要判断在预设时间内，获取的换向次数是否达到5次及以上即可。
除此之外，本领域技术人员还可以根据震荡的强弱将震荡分为多个级别，如高震荡级别、中震荡级别、低震荡级别、无震荡级别等等，对于上述不同级别的震荡情况分别对应不同的震荡判断标准；为了能够更加清楚了解本实施例中的技术方案，例举以下具体实施例：假设：高震荡级别的标准为：在预设的3s时间范围内，换向次数达到10次及以上；中震荡级别的标准为：在预设的3s时间范围内，换向次数达到7次及以上，并且换向次数低于10次；低震荡级别的标准为：在预设的3s时间范围内，换向次数达到5次及以上，并且换向次数低于7次；低震荡级别的标准为：在预设的3s时间范围内，换向次数低于5次；根据上述确定的各个震荡级别的判断标准，只需要对获取的换向次数进行分析，确定该获取的换向次数落入到哪一个标准中，即可对应的确定无人飞行器的震荡情况；当然的，本领域技术人员可以对上述具体的震荡具体标准根据不同的设计需求进行设置，并不仅仅限定与上述具体数值范围；并且本领域技术人员还可以设置其他的震荡检测标准，只要能够达到根据换向次数能够确定无人飞行器是否发生震荡的效果即可，在此不再赘述。
本实施例提供的无人飞行器的震荡检测方法，通过获取在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
实施例二
在上述实施例一的基础上，继续参考附图1可知，为了更加清楚上述实施例的根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数中的不同飞行方向的含义，本实施例将不同飞行方向设置为包括：第一飞行方向和第二飞行方向，并且第一飞行方向与第二飞行方向之间形成一角度。
其中，对于第一飞行方向和第二飞行方向的具体方向特征，本领域技术人员可以根据具体的设计需求进行设置，如可以设置为地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；或者也可以将第一飞行方向或者第二飞行方向设置为上述八个方向中的任意相邻两个方向之间的任意一个方向；如将第一飞行方向设置为东偏南35°角，将第二飞行方向设置为西偏北70°角等等。
此外，对于第一飞行方向与第二飞行方向之间所形成的角度的具体数值不做限定，本领域技术人员可以根据无人飞行器的机型以及设计需求进行设置，如可以将该角度设置为90°、180°或者270°等等，当然的，也可以将该角度设置为70°、80°、110°、130°或150°等其他数值；此外，对于该角度而言，可以在无人飞行器进行飞行之前进行设置，也可以在无人飞行器飞行之后进行设置，其中，较为优选的，将该角度设置为预先角度；这样可以在无人飞行器在飞行的过程中，实时了解无人飞行器是否发生震荡的状态，以便对无人飞行器进行以及调整，避免影响无人飞行器的飞行效果，甚至发生坠机的情况，进而提高了该无人飞行器飞行的安全可靠性。
实施例三
图2为本发明实施例二提供的无人飞行器的震荡检测方法的流程示意图，在上述实施例二的基础上，继续参考附图2可知，当第一飞行方向与第二飞行方向所形成角度设置为180°时，则说明第一飞行方向与第二飞行方向为相互相反的方向；此时，为了更好的理解该技术方案，将此时的第一飞行方向定义为正向飞行方向，将第二飞行方向定义为反向飞行方向，因此，
S12：在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，具体包括：
S121：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
其中，对于上述的正向飞行方向和反向飞行方向所具体的含义不做限定，本领域技术人员可以根据具体的设计需求进行设置，而由于在无人飞行器进行飞行的过程中，无人飞行器主要会发生左右飞行震荡、前后飞行震荡以及上下飞行震荡的情况；其中，左右飞行震荡是指无人飞行器在向左飞行以及向右飞行之间进行震荡；前后飞行震荡是指无人飞行器在向前飞行以及向后飞行之间进行震荡；上下飞行震荡是指无人飞行器在向上飞行以及向下飞行之间进行震荡；其中，为了更好的表述震荡情况的产生，将无人飞行器向左飞行、向前飞行以及向上飞行定义为无人飞行器在沿正向飞行方向进行飞行；相对应的，将无人飞行器向右飞行、向后飞行以及向下飞行定义为无人飞行器在沿反向飞行方向进行飞行；当然的，本领域技术人员还可以对正向飞行方向和反向飞行方向设置为其他形式，如可以将正向飞行方向设置为东偏北35°，反向飞行方向为西偏南35°等等；只要能够使得正向飞行方向和反向飞行方向为相反的方向即可，在此不再赘述。
通过将根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数具体限定为根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，由于正向飞行方向和反向飞行方向为相反的两个方向，提高了对飞行数据分析的准确可靠性，进而可以提高对无人飞行器进行震荡检测的精确性和可靠性，进而可以对无人飞行器在正向飞行方向和反向飞行方向上是否发生震荡进行准确的判断，以便对无人飞行器进行及时的调整。
实施例四
在上述实施例三的基础上，继续参考附图2可知，本技术方案对于在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数的具体确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，可以将换向次数的确定设置为通过以下方式获得：
S1211：对预设时间内的飞行数据进行快速傅立叶变换FFT，确定与飞行数据相对应的频率；
具体的，采集预设时间内的飞行数据，对飞行数据进行快速傅里叶变换FFT之后，获得频谱图，通过频谱图可以直观的获取到与飞行数据相对应的频率信息；其中，本实施例中的预设时间以及飞行数据与上述实施例中的预设时间以及飞行数据具有相同含义，具体可参考上述具体描述内容，在此不再赘述。
S1212：根据频率确定换向次数。
其中，对于具体的根据频率确定换向次数的具体确定方式不做限定，本领域技术人员可以根据具体的设计需求对判断震荡的频率和幅值进行设置，如可以设置为存在一标准幅值和频率范围；根据速度信息可以获得速度的频谱图，将频谱图中的幅值和频率与标准幅值和频率进行分析比较；将当前速度的频谱信息存在幅值大于或等于标准幅值且频率在标准频率范围内时，则视为无人飞行器发生震荡；若将当前速度的频谱信息不存在幅值大于或等于标准幅值，或频率在标准频率范围之外时，则视为无人飞行器未发生换向；或者，也可以根据速度信息获得时域图，在时域图中设置方向原点，在当前速度的时域图中速度存在跨越方向原点的情况时，则确认无人飞行器发生了1次换向，因此，换向次数只要计算出时域图中存在跨越方向原点的个数；当然的，本领域技术人员还可以采用其他的方式对速度、加速度、角速度等信息进行处理，只要能够实现根据速度、角速度、角速度等信息确定换向次数即可，在此不再赘述。
通过快速傅立叶变换FFT对飞行数据进行处理，进而获得与速度，加速度，角速度等信息相对应的频率，并通过频率确定换向次数，可以直观、快速并准确地获得无人飞行器是否发生了震荡，提高了震荡检测的获取效率以及准确性，进而可以实现在无人飞行器飞行过程中，快速地对无人飞行器的震荡状态做出判断，以便能够及时对无人飞行器进行调整，进一步保证了无人飞行器的飞行安全可靠性。
实施例五
图3为本发明实施例三提供的无人飞行器的震荡检测方法的流程示意图；参考附图3可知，在上述实施例四中，采用快速傅立叶变换FFT对飞行数据进行处理；虽然上述方式能够保证对飞行数据处理的效率以及准确性，但是 采用快速傅立叶变换FFT对飞行数据进行处理时，对无人飞行器中的处理器以及内存消耗较高，会占用处理器以及内存的大部分资源，容易使得处理器和内存对其他装置的控制产生不能及时处理的情况；并且在无人飞行器刚刚启动的瞬间，若采用上述方式对飞行数据进行处理，容易产生误检测，进而影响系统对无人飞行器的飞行状态的判断；基于上述存在的情况，本实施例提供另外一种对飞行数据处理的方法，具体的，
S121：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
S1213：在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入换向次数。
其中，本实施例中将飞行数据具体限定为飞行速度；通过对飞行速度以及飞行方向的整体分析，确定无人飞行器的换向次数；具体的，该实施例中的速度阈值可以为预先设置的速度阈值，然后获取无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度，其中，所谓无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度是指：若前一时刻，无人飞行器在正向飞行方向飞行；而在下一时刻，无人飞行器在反向飞行方向飞行，那么在前一时刻与下一时间之间的时间段，无人飞行器发生了从正向飞行方向切换为反向飞行方向，在切换为反向飞行方向之后，获取无人飞行器在反向飞行方法的飞行速度，此时的飞行速度即为无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度；同理的，无人飞行器由反向飞行方向切换为正向飞行方向的情况与上述情况相类似，具体可参考上述陈述内容，在此不再赘述。
其次，获得切换后的速度之后，需要将该速度与速度阈值进行比较，本实施例对速度阈值的具体范围不做限定，本领域技术人员可以根据具体的设计需求进行设置；并且，在速度大于或等于速度阈值时，将该次切换计入换向次数是指：若无人飞行器由正向飞行方向切换为反向飞行方向之后，反向飞行方向的速度大于或等于速度阈值，则该次切换作为1次换向次数。
本实施例通过对速度直接进行分析处理，降低了对无人飞行器的处理器以及内存的消耗，进而提高了对无人飞行器处理器和内存的处理能力；并且采用该方法，还避免了在无人飞行器在启动的瞬间容易存在有误检测的情况；进而提高了该方法的实用性，同时也提高了对无人飞行器调整与控制的准确 性和可靠性。
实施例六
在上述实施例五的基础上，继续参考附图3可知，在对无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度与该方向上的速度阈值进行处理的过程中，不仅仅包括速度大于或等于该方向上的速度阈值的情况，还包括其他情况，具体的，
S121：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
S1214：在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入换向次数。
其中，本实施例中操作过程以及实现效果与上述实施例五中步骤1213的操作过程和实现效果相类似，唯一不同的是本实施例中的切换后的速度小于该方向的速度阈值，而实施例五中的切换后的速度大于该方向的速度阈值，因此，具体的操作过程和实现效果可参考上述陈述内容，在此不再赘述。
实施例七
在上述实施例六的基础上，继续参考附图3可知，在该次切换不计入换向次数之后，还包括：
S1215：若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入换向次数。
其中，在切换后的速度小于速度阈值之后，会存在两种不同的情况，即第一种情况：无人飞行器再次发生切换后，再次切换后的速度小于速度阈值；第二种情况：无人飞行器再次发生切换后，再次切换后的速度大于或等于速度阈值；针对上述两种情况，均为该次再次切换不计入换向次数；为了更加清楚的了解本技术方案，例举以下实施例，按照时间顺序获取无人飞行器的多个飞行速度，其中，“+”和“-”分别代表正向和反向，获取以下速度值：
第一组：V10：-20公里/小时，V11：+35公里/小时，V12：-25公里/小时，V13：+32公里/小时，V14：-40公里/小时；
第二组：V20：-20公里/小时，V21：+35公里/小时，V22：-31公里/小 时，V23：+32公里/小时，V24：-40公里/小时；
其中，假定上述第一组和第二组的速度阈值均为：V+：+30公里/小时，V-：-30公里/小时。
那么对于上述第一组速度值的分析情况如下：在V10与V11之间发生飞行方向的切换，并由于切换后的速度V11大于V+，则该次切换计入换向次数；接下来，在V11与V12之间发生飞行方向的切换，而由于切换后的速度V12小于V-，则该次切换不计入换向次数；接下来，在V12与V13之间再次发生飞行方向的切换，并且切换后的速度V13大于V+，则该次切换再次不计入换向次数；继续的，在V13与V14之间再次发生飞行方向的切换，并且切换后的速度V14大于V-，则该次切换计入换向次数；综合上述分析过程可以获得，第一组速度数据中的换向次数为2次。
那么对于上述第二组速度值的分析情况如下：在V10与V11之间发生飞行方向的切换，并由于切换后的速度V11大于V+，则该次切换计入换向次数；接下来，在V11与V12之间发生飞行方向的切换，而由于切换后的速度V12大于V-，则该次切换计入换向次数；接下来，在V12与V13之间再次发生飞行方向的切换，并且切换后的速度V13大于V+，则该次切换再次计入换向次数；继续的，在V13与V14之间再次发生飞行方向的切换，并且切换后的速度V14大于V-，则该次切换计入换向次数；综合上述分析过程可以获得，第一组速度数据中的换向次数为4次。
也就是说，本实施例中的换向次数存在特殊的定义，在无人飞行器发生切换的前提下，切换后的正向飞行方向的速度大于或等于正向的速度阈值与切换后的反向飞行的速度大于或等于反向的速度交替实现，才会将该次切换计入换向次数，若切换后的正向飞行方向的速度大于或等于正向的速度阈值与切换后的反向飞行的速度大于或等于反向的速度并没有交替实现，那么则将该次切换不计入换向次数。
实施例八
图4为本发明实施例四提供的无人飞行器的震荡检测方法的流程示意图；在上述实施例的基础上，继续参考附图4可知，本实施例对根据换向次数，确定无人飞行器是否发生震荡的，具体确定方法不做限定，本领域技术人员 可以根据具体的设计需求进行设置，其中，较为优选的，可以根据换向次数，确定无人飞行器是否发生震荡，设置为具体包括：
S131：若在预设时间内，换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
其中，对于标准次数的具体范围不做限定，本领域技术人员可以根据不同的设计需求进行预设时间的长短对标准次数进行设置；原则上，若预设时间越长，则标准次数的数值就越大；例如：假设预设时间为3s，相对应的标准次数为5个；当将预设时间延长为5s时，则相对应的标准次数为8个。以保证对无人飞行器是否震荡进行准确的判断。
S132：若在预设时间内，换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
当然的，本领域技术人员还可以采用其他的方式来判断无人飞行器是否发生震荡；如按照震荡的强弱将发生震荡分为多个级别；每个级别均对应不同的标准，因此，将采集的数据与不同的标准进行比较，确定无人飞行器是否发生震荡或者发生了多大的震荡等等；只要能够准确无误的判断出无人飞行器是否发生震荡即可，在此不再赘述。
实施例九
在上述实施例三的基础上，继续参考图2可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
如在一维维度上，将正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
其中，对于X轴、Y轴和Z轴的具体方向不做限定，本领域技术人员可以根据自身习惯进行不同的设置，如可以将X轴设置为水平的前后方向，或者为水平的左右方向，或者为竖直的上下方向均可；通常情况下，X轴指的是前后方向，Y轴指的是左右方向，而Z轴指的是上下方向；而对于坐标轴的正向可以进行任意规定，如可以将前、左或者上设置为正向，那么相对应的后、右或下为负向；或者也可以将后、右或者下设置为正向，相对应的前、 左或者上为负向等等，只要能够清楚的确定无人飞行器的正向飞行方向和反向飞行方向即可，在此不再赘述。
实施例十
在上述实施例三的基础上，继续参考图2可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
在二维维度上，正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意两个坐标轴的第一方向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中任意两个坐标轴的、且与第一方向相反的方向。
其中，对于X轴、Y轴和Z轴的具体方向不做限定，本领域技术人员可以根据自身习惯进行不同的设置，如可以将X轴设置为水平的前后方向，或者为水平的左右方向，或者为竖直的上下方向均可；通常情况下，X轴指的是前后方向，Y轴指的是左右方向，而Z轴指的是上下方向；而对于坐标轴的正向可以进行任意规定，如可以将前、左或者上设置为正向，那么相对应的后、右或下为负向；或者也可以将后、右或者下设置为正向，相对应的前、左或者上为负向等等。
其次，对于该实施例中的第一方向，本领域技术人员可以根据具体的设计需求进行设置，如假设取X轴与Y轴的二维平面，那么本领域技术人员可以规定X轴或Y轴中的任意一个坐标轴的正向与另一坐标轴所构成的区域为正向飞行方向，相对应的，X轴或Y轴中所确定的坐标轴的负向与另一坐标轴所构成的区域为反向飞行方向；或者，将X轴与Y轴所形成的平面，通过一条直线进行平分，该直线过X轴与Y轴相交的原点，然后将该直线与X轴或者Y轴中的任意一个坐标轴的正向所在区域作为第一方向，相对应的，该直线与X轴或Y轴中所确定的坐标轴的负向所在区域作为与第一方向相反的方向；当然的，本领域技术人员还可以采用其他的设置方式，只要能够准确、可靠的区分正向飞行方向和反向飞行方向即可，在此不再赘述。
实施例十一
在上述实施例三的基础上，继续参考图2可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
在三维维度上，正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴的第二方向；相对应的，反向飞行方向为X轴、Y轴和Z轴的、且与第二方向相反的方向。
其中，本实施例中的X轴、Y轴和Z轴与上述实施例九中的X轴、Y轴和Z轴的含义相同，具体可参考上述陈述内容，在此不再赘述；此外，对于该实施例中的第二方向，本领域技术人员可以根据具体的设计需求进行设置，如可以将第二方向设置为X轴、Y轴和Z轴中的任意一个坐标轴的正向与另外两个坐标轴所形成的平面所围成的区域；相对应的，第二方向相反的反向为X轴、Y轴和Z轴中所确定的坐标轴的负向与另外两个坐标轴所形成的平面所围成的区域；当然的，本领域技术人员还可以采用其他的设置方式，只要能够准确、可靠的区分正向飞行方向和反向飞行方向即可，在此不再赘述。
实施例十二
本实施例提供了一种无人飞行器的追踪控制方法，图5为本发明实施例一提供的无人飞行器的追踪控制方法的流程示意图；如图5所示，该无人飞行器的追踪控制方法，包括：
S21：获取无人飞行器的飞行数据；
其中，对于获取无人飞行器的飞行数据的类型以及获取手段不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以将飞行数据设置为包括飞行方向、飞行轨迹、飞行速度、飞行加速度、飞行地理位置以及飞行环境中的任意一项或者任意几项的组合；而基于上述不同的飞行数据，本领域技术人员可以采用不同的获取数据的手段，如通过方向感应器获取飞行方向信息，通过速度传感器或加速度传感器获取飞行速度或飞行加速度信息，通过设置的GPS定位装置获取飞行地理位置信息；通过获取飞行的时间、位置、速度以及加速度信息获取飞行轨迹信息；通过温度传感器、风速传感器获取无人飞行器的温度、风速等飞行环境信息；当然的，本领域技术人员还可以采用其他的方式来获取无人飞行器的其他飞行数据，只要能够实现本实 施例所能达到的技术效果即可，在此不再赘述。
S22：在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
其中，对于预设时间的具体范围不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以将预设时间设置为3s、5s、10s、1min等等，另外，对于上述的不同飞行方向可以包括两个不同的、且呈一定角度的飞行方向，如地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；当然的，不同的飞行方向还可以包括多个不同的、且呈一定角度的飞行方向，如地图中的东、西、南、北以及东南、东北、西南以及西北中任意多项(大于两项)的组合；并且对于上述的角度范围不做限定，具体的，本领域技术人员可以根据具体的设计需求进行设置，如可以将角度设置为锐角、钝角或直角等等，只要能够实现无人飞行器能够在不同飞行方向之间进行切换的效果即可，在此不再赘述。
另外，对于根据飞行数据确定换向次数的具体方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以在无人飞行器上设置有方向传感器，通过方向传感器可以获得无人机的换向次数；其中，本实施例中的换向是相对于上一时刻的无人飞行器的飞行方向而言；具体的，为了更加清楚的了解无人飞行器的换向次数，可以在空中设置相对坐标系，该相对坐标系的含义为：在预设的空间范围内，根据无人飞行器的飞行轨迹来确定相对零点；假设无人飞行器在水平方向的前方50m-100m的范围内进行徘徊，则相对坐标系的相对零点可以设置为75m处，那么在无人飞行器每次跨越75m处时，均可视为换向一次：当然的，本领域技术人员还可以采用其他方式来确定无人飞行器的换向次数，只要能够实现上述效果即可，在此不再赘述。
S23：根据换向次数，确定无人飞行器是否发生震荡；
其中，对于根据换向次数确定无人飞行器是否发生震荡的具体确定方法不做限定，本领域技术人员可以根据具体的设计需求进行设置；其中，在本领域技术人员进行确定之前，会根据一定的标准或者经验来判断无人飞行器是否发生震荡；如当确定无人飞行器发生震荡的标准为在预设的3s时间范围内，换向次数达到5次及以上，则确定无人飞行器已经发生震荡；那么，此时，只需要判断在预设时间内，获取的换向次数是否达到5次及以上即可。
除此之外，本领域技术人员还可以根据震荡的强弱将震荡分为多个级别，如高震荡级别、中震荡级别、低震荡级别、无震荡级别等等，对于上述不同级别的震荡情况分别对应不同的震荡判断标准；为了能够更加清楚了解本实施例中的技术方案，例举以下具体实施例：假设：高震荡级别的标准为：在预设的3s时间范围内，换向次数达到10次及以上；中震荡级别的标准为：在预设的3s时间范围内，换向次数达到7次及以上，并且换向次数低于10次；低震荡级别的标准为：在预设的3s时间范围内，换向次数达到5次及以上，并且换向次数低于7次；低震荡级别的标准为：在预设的3s时间范围内，换向次数低于5次；根据上述确定的各个震荡级别的判断标准，只需要对获取的换向次数进行分析，确定该获取的换向次数落入到哪一个标准中，即可对应的确定无人飞行器的震荡情况；当然的，本领域技术人员可以对上述具体的震荡具体标准根据不同的设计需求进行设置，并不仅仅限定与上述具体数值范围；并且本领域技术人员还可以设置其他的震荡检测标准，只要能够达到根据换向次数能够确定无人飞行器是否发生震荡的效果即可，在此不再赘述。
S24：根据无人飞行器的震荡情况确定是否继续追踪目标。
其中，对于根据无人飞行器的震荡情况确定是否继续追踪目标的控制策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，如可以设置为：若确认无人飞行器发生震荡，为了保证无人飞行器的正常飞行情况，可以设置停止追踪目标，以免震荡幅度较大时，发生坠机的情况；当确认无人飞行器未发生震荡，则可以确定继续追踪目标；或者将震荡情况按照震荡的强弱分为多个级别的震荡，如包括高强度震荡、中强度震荡、低强度震荡以及无震荡等；此时，则可以设置为若震荡情况为高强度震荡或者中强度震荡，则为了保证无人飞行器的正常飞行情况，则可以设置为停止追踪目标；若震荡情况为低强度震荡或无震荡，则可以设置为继续追踪目标；当然的，本领域技术人员还可以采用其他的控制策略，只要能够实现上述功能即可，在此不再赘述。
本实施例提供的无人飞行器的追踪控制方法，通过获取在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生 震荡，并根据无人飞行器的震荡情况确定是否继续追踪目标；可以实现在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常追踪与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
实施例十三
在上述实施例十二的基础上，继续参考附图5可知，为了更加清楚上述实施例的根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数中的不同飞行方向的含义，本实施例将不同飞行方向设置为包括：第一飞行方向和第二飞行方向，并且第一飞行方向与第二飞行方向之间形成一角度。
其中，对于第一飞行方向和第二飞行方向的具体方向特征，本领域技术人员可以根据具体的设计需求进行设置，如可以设置为地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；或者也可以将第一飞行方向或者第二飞行方向设置为上述八个方向中的任意相邻两个方向之间的任意一个方向；如将第一飞行方向设置为东偏南35°角，将第二飞行方向设置为西偏北70°角等等。
此外，对于第一飞行方向与第二飞行方向之间所形成的角度的具体数值不做限定，本领域技术人员可以根据无人飞行器的机型以及设计需求进行设置，如可以将该角度设置为90°、180°或者270°等等，当然的，也可以将该角度设置为70°、80°、110°、130°或150°等其他数值；此外，对于该角度而言，可以在无人飞行器进行飞行之前进行设置，也可以在无人飞行器飞行之后进行设置，其中，较为优选的，将该角度设置为预先角度；这样可以在无人飞行器在飞行的过程中，实时了解无人飞行器是否发生震荡的状态，以便对无人飞行器进行以及调整，避免影响无人飞行器的飞行效果，甚至发生坠机的情况，进而提高了该无人飞行器飞行的安全可靠性。
实施例十四
图6为本发明实施例二提供的无人飞行器的追踪控制方法的流程示意图；在上述实施例的基础上，参考附图6可知，当第一飞行方向与第二飞行方向所形成角度设置为180°时，则说明第一飞行方向与第二飞行方向为相互相 反的方向；此时，为了更好的理解该技术方案，将此时的第一飞行方向定义为正向飞行方向，将第二飞行方向定义为反向飞行方向，因此，
S22：在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，具体包括：
S221：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
其中，本实施例中步骤S221的具体实现过程以及实现效果与上述实施例三中的步骤S121的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过将根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数具体限定为根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，由于正向飞行方向和反向飞行方向为相反的两个方向，提高了对飞行数据分析的准确可靠性，进而可以提高对无人飞行器进行震荡检测的精确性和可靠性，进而可以对无人飞行器在正向飞行方向和反向飞行方向上是否发生震荡进行准确的判断，进而可以对无人飞行器的追踪目标状态进行有效调整与控制，在保证了无人飞行器的飞行效果的同时，提高了对无人飞行器的追踪目标的调控程度，进而提高了该方法的实用性。
实施例十五
在上述实施例十四的基础上，继续参考附图6可知，本技术方案对于在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数的具体确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，可以将换向次数的确定设置为通过以下方式获得：
S2211：对预设时间内的飞行数据进行快速傅立叶变换FFT，确定与飞行数据相对应的频率；
具体的，采集预设时间内的飞行数据，对飞行数据进行快速傅里叶变换FFT之后，获得频谱图，通过频谱图可以直观的获取到与飞行数据相对应的频率信息；其中，本实施例中的预设时间以及飞行数据与上述实施例中的预设时间以及飞行数据具有相同含义，具体可参考上述具体描述内容，在此不 再赘述。
S2212：根据频率确定换向次数。
其中，本实施例中步骤S2212的具体实现过程以及实现效果与上述实施例四中的步骤S1212的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过快速傅立叶变换FFT对飞行数据进行处理，进而获得与速度，加速度，角速度等信息相对应的频率，并通过频率确定换向次数，可以直观、快速并准确地获得无人飞行器是否发生了震荡，提高了震荡检测的获取效率以及准确性，进而可以实现在无人飞行器飞行过程中，快速地对无人飞行器的震荡状态做出判断，以便能够及时对无人飞行器进行调整，进一步保证了无人飞行器的飞行安全可靠性。
实施例十六
图7为本发明实施例三提供的无人飞行器的追踪控制方法的流程示意图；参考附图7可知，在上述实施例十五中，采用快速傅立叶变换FFT对飞行数据进行处理；虽然上述方式能够保证对飞行数据处理的效率以及准确性，但是采用快速傅立叶变换FFT对飞行数据进行处理时，对无人飞行器中的处理器以及内存消耗较高，会占用处理器以及内存的大部分资源，容易使得处理器和内存对其他装置的控制产生不能及时处理的情况；并且在无人飞行器刚刚启动的瞬间，若采用上述方式对飞行数据进行处理，容易产生误检测，进而影响系统对无人飞行器的飞行状态的判断；基于上述存在的情况，本实施例提供另外一种对飞行数据处理的方法，具体的，
S221：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
S2213：在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入换向次数。
其中，本实施例中步骤S2213的具体实现过程以及实现效果与上述实施例五中的步骤S1213的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例通过对速度直接进行分析处理，降低了对无人飞行器的处理器以及内存的消耗，进而提高了对无人飞行器处理器和内存的处理能力；并且 采用该方法，还避免了在无人飞行器在启动的瞬间容易存在有误检测的情况；进而提高了该方法的实用性，同时也提高了无人飞行器对追踪目标进行调整与控制的准确性和可靠性。
实施例十七
在上述实施例十六的基础上，继续参考附图7可知，在对无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度与该方向上的速度阈值进行处理的过程中，不仅仅包括速度大于或等于该方向上的速度阈值的情况，还包括其他情况，具体的，
S221：在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
S2214：在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入换向次数。
其中，本实施例中操作过程以及实现效果与上述实施例十五中步骤2213的操作过程和实现效果相类似，唯一不同的是本实施例中的切换后的速度小于该方向的速度阈值，而实施例十五中的切换后的速度大于该方向的速度阈值，因此，具体的操作过程和实现效果可参考上述陈述内容，在此不再赘述。
实施例十八
在上述实施例十七的基础上，继续参考附图7可知，在该次切换不计入换向次数之后，还包括：
S2215：若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入换向次数。
其中，本实施例中步骤S2215的具体实现过程以及实现效果与上述实施例七中的步骤S1215的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例十九
图8为本发明实施例四提供的无人飞行器的追踪控制方法的流程示意图；在上述实施例的基础上，继续参考附图8可知，本实施例对根据换向次数， 确定无人飞行器是否发生震荡的，具体确定方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以根据换向次数，确定无人飞行器是否发生震荡，设置为具体包括：
S231：若在预设时间内，换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
其中，对于标准次数的具体范围不做限定，本领域技术人员可以根据不同的设计需求进行预设时间的长短对标准次数进行设置；原则上，若预设时间越长，则标准次数的数值就越大；例如：假设预设时间为3s，相对应的标准次数为5个；当将预设时间延长为5s时，则相对应的标准次数为8个。以保证对无人飞行器是否震荡进行准确的判断。
S232：若在预设时间内，换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
当然的，本领域技术人员还可以采用其他的方式来判断无人飞行器是否发生震荡；如按照震荡的强弱将发生震荡分为多个级别；每个级别均对应不同的标准，因此，将采集的数据与不同的标准进行比较，确定无人飞行器是否发生震荡或者发生了多大的震荡等等；只要能够准确无误的判断出无人飞行器是否发生震荡即可，在此不再赘述。
实施例二十
图9为本发明实施例五提供的无人飞行器的追踪控制方法的流程示意图；在上述实施例的基础上，参考附图9可知，本技术方案对根据无人飞行器的震荡情况确定是否继续追踪目标的控制策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将根据无人飞行器的震荡情况确定是否继续追踪目标，设置为具体包括：
S233：若确认无人飞行器发生震荡，则确认停止追踪目标；或者，
其中，若确认无人飞行器发生震荡，则说明无人飞行器在进行追踪目标时，由于外界因素或自身因素而发生震荡，其中，外界因素包括温度、湿度、风速、气流等等，自身因素包括：在无人飞行器进行追踪目标时，无人飞行器用锁定框确定了追踪目标，然后对追踪目标的尺寸与预设的目标尺寸进行比较，由于追踪目标距离无人飞行器的距离，因此会存在追踪目标的尺寸与 目标尺寸相差过大，则锁定框的速度变化会非常大，进而使得无人飞行器的控制速度也是以一个表达的幅度剧烈变化，这个时候的无人飞行器就表现为前后来回震荡等等；对于上述无人飞行器由于外界因素产生震荡时，则可以及时对无人飞行器的飞行状态进行调整，而无需对无人飞行器的追踪任务进行控制；当无人飞行器由于上述自身原因产生震荡，则说明此时无人飞行器的状态不适宜继续进行追踪目标，因此为了保证无人飞行器的正常飞行效果，需要及时停止追踪目标的任务；并可以对无人飞行器进行及时、有效地调整，直至无人飞行器恢复正常飞行状态，此时也可以在此启动追踪目标的任务。
S234：若确认无人飞行器未发生震荡，则确认继续追踪目标。
若确认无人飞行器的飞行状态为未发生震荡，则在保证无人飞行器正常飞行的基础上，继续进行追踪目标的任务，进而提高了无人飞行器追踪目标的稳定可靠性。
实施例二十一
在上述实施例十四的基础上，继续参考图6可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
如在一维维度上，将正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
其中，对于X轴、Y轴和Z轴的具体方向不做限定，本领域技术人员可以根据自身习惯进行不同的设置，如可以将X轴设置为水平的前后方向，或者为水平的左右方向，或者为竖直的上下方向均可；通常情况下，X轴指的是前后方向，Y轴指的是左右方向，而Z轴指的是上下方向；而对于坐标轴的正向可以进行任意规定，如可以将前、左或者上设置为正向，那么相对应的后、右或下为负向；或者也可以将后、右或者下设置为正向，相对应的前、左或者上为负向等等，只要能够清楚的确定无人飞行器的正向飞行方向和反向飞行方向即可，在此不再赘述。
实施例二十二
本实施例提供了一种无人飞行器的震荡检测系统，图10为本发明实施例一提供的无人飞行器的震荡检测系统的结构示意图，参考附图10可知，该无人飞行器的震荡检测系统，包括：
第一获取模块1，用于获取无人飞行器的飞行数据；
第一处理模块2，用于在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
第一确定模块3，用于根据换向次数，确定无人飞行器是否发生震荡。
其中，对于上述第一获取模块1、第一处理模块2以及第一确认模块3的具体结构不做限定，本领域技术人员可以根据上述各个模块所实现的功能进行任意设置；此外，对于上述第一获取模块1、第一处理模块2以及第一确认模块3所实现的功能的实现过程以及实现效果与上述实施例一中的步骤S11-S13的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例提供的无人飞行器的震荡检测系统，通过第一获取模块1获取在预设时间内，第一处理模块2根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，第一确定模块3确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而保证了无人飞行器飞行的安全可靠性，同时也提高了该无人飞行器的震荡检测系统的实用性。
实施例二十三
在上述实施例的基础上，继续参考附图10可知，为了更加清楚上述实施例的根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数中的不同飞行方向的含义，本实施例将不同飞行方向设置为包括：第一飞行方向和第二飞行方向，并且第一飞行方向与第二飞行方向之间形成一角度。
其中，对于第一飞行方向和第二飞行方向的具体方向特征，本领域技术人员可以根据具体的设计需求进行设置，如可以设置为地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；或者也可以将第一飞行方向或者第二飞行方向设置为上述八个方向中的任意相邻两个方向之间的 任意一个方向；如将第一飞行方向设置为东偏南35°角，将第二飞行方向设置为西偏北70°角等等。
此外，对于第一飞行方向与第二飞行方向之间所形成的角度的具体数值不做限定，本领域技术人员可以根据无人飞行器的机型以及设计需求进行设置，如可以将该角度设置为90°、180°或者270°等等，当然的，也可以将该角度设置为70°、80°、110°、130°或150°等其他数值；此外，对于该角度而言，可以在无人飞行器进行飞行之前进行设置，也可以在无人飞行器飞行之后进行设置，其中，较为优选的，将该角度设置为预先角度；这样可以在无人飞行器在飞行的过程中，实时了解无人飞行器是否发生震荡的状态，以便对无人飞行器进行以及调整，避免影响无人飞行器的飞行效果，甚至发生坠机的情况，进而提高了该无人飞行器飞行的安全可靠性。
实施例二十四
在上述实施例的基础上，继续参考附图10可知，当第一飞行方向与第二飞行方向所形成角度设置为180°时，则说明第一飞行方向与第二飞行方向为相互相反的方向；此时，为了更好的理解该技术方案，将此时的第一飞行方向定义为正向飞行方向，将第二飞行方向定义为反向飞行方向，因此，第一处理模块2，还用于：
在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
其中，对于上述第一处理模块2所实现的功能的实现过程以及实现效果与上述实施例三中的步骤S121的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过将根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数具体限定为根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，由于正向飞行方向和反向飞行方向为相反的两个方向，提高了对飞行数据分析的准确可靠性，进而可以提高对无人飞行器进行震荡检测的精确性和可靠性，进而可以对无人飞行器在正向飞行方向和反向飞行方向上是否发生震荡进行准确的判断，以便对无人飞行器进行及时的调整，进一步提高了该系统使用的稳定可靠性。
实施例二十五
在上述实施例的基础上，继续参考附图10可知，本技术方案对于在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数的具体确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，可以将换向次数的确定设置为通过第一处理模块2采用以下方式获得：
第一处理模块2，用于：
对预设时间内的飞行数据进行快速傅立叶变换FFT，确定与飞行数据相对应的频率；
根据频率确定换向次数。
其中，对于上述第一处理模块2所实现的功能的实现过程以及实现效果与上述实施例四中的步骤S1211-S1212的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过第一处理模块2采用快速傅立叶变换FFT对飞行数据进行处理，进而获得与速度，加速度，角速度等信息相对应的频率，并通过频率确定换向次数，可以直观、快速并准确地获得无人飞行器是否发生了震荡，提高了震荡检测的获取效率以及准确性，进而可以实现在无人飞行器飞行过程中，快速地对无人飞行器的震荡状态做出判断，以便能够及时对无人飞行器进行调整，进一步保证了无人飞行器的飞行安全可靠性。
实施例二十六
在上述实施例的基础上，继续参考附图10可知，采用快速傅立叶变换FFT对飞行数据进行处理；虽然上述方式能够保证对飞行数据处理的效率以及准确性，但是采用快速傅立叶变换FFT对飞行数据进行处理时，对无人飞行器中的处理器以及内存消耗较高，会占用处理器以及内存的大部分资源，容易使得处理器和内存对其他装置的控制产生不能及时处理的情况；并且在无人飞行器刚刚启动的瞬间，若采用上述方式对飞行数据进行处理，容易产生误检测，进而影响系统对无人飞行器的飞行状态的判断；基于上述存在的情况，第一处理模块2，还用于：
在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换 后的速度大于或等于该方向上的速度阈值，则该次切换计入换向次数。
其中，对于上述第一处理模块2所实现的功能的实现过程以及实现效果与上述实施例五中的步骤S1213的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例通过第一处理模块2对速度直接进行分析处理，降低了对无人飞行器的处理器以及内存的消耗，进而提高了对无人飞行器处理器和内存的处理能力；并且采用该方法，还避免了在无人飞行器在启动的瞬间容易存在有误检测的情况；进而提高了该方法的实用性，同时也提高了对无人飞行器调整与控制的准确性和可靠性。
实施例二十七
在上述实施例的基础上，继续参考附图10可知，在对无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度与该方向上的速度阈值进行处理的过程中，不仅仅包括速度大于或等于该方向上的速度阈值的情况，因此，第一处理模块2，还用于：
在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入换向次数。
其中，对于上述第一处理模块2所实现的功能的实现过程以及实现效果与上述实施例六中的步骤S1214的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例二十八
在上述实施例二十七的基础上，继续参考附图10可知，第一处理模块2，还用于：
在该次切换不计入换向次数之后，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入换向次数。
其中，对于上述第一处理模块2所实现的功能的实现过程以及实现效果与上述实施例七中的步骤S1215的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例二十九
在上述实施例的基础上，继续参考附图10可知，本实施例对根据换向次数，确定无人飞行器是否发生震荡的，具体确定方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以将第一确认模块3，设置为具体用于：
若在预设时间内，换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
若在预设时间内，换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
其中，对于上述第一确认模块3所实现的功能的实现过程以及实现效果与上述实施例八中的步骤S131-S132的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例三十
在上述实施例的基础上，继续参考附图10可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
如在一维维度上，将正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
以上实施例中对在一维维度上对正向飞行方向和反向飞行方向的设置方式以及设置效果与实施例九中对正向飞行方向和反向飞行方向的设置方式以及设置效果相同，具体可参考上述描述内容，在此不再赘述。
实施例三十一
在上述实施例的基础上，继续参考附图10可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
在二维维度上，正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系 所在的三维空间中，X轴、Y轴和Z轴中的任意两个坐标轴的第一方向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中任意两个坐标轴的、且与第一方向相反的方向。
以上实施例中对在二维维度上对正向飞行方向和反向飞行方向的设置方式以及设置效果与实施例十中对正向飞行方向和反向飞行方向的设置方式以及设置效果相同，具体可参考上述描述内容，在此不再赘述。
实施例三十二
在上述实施例的基础上，继续参考附图10可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
在三维维度上，正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴的第二方向；相对应的，反向飞行方向为X轴、Y轴和Z轴的、且与第二方向相反的方向。
以上实施例中对在三维维度上对正向飞行方向和反向飞行方向的设置方式以及设置效果与实施例十一中对正向飞行方向和反向飞行方向的设置方式以及设置效果相同，具体可参考上述描述内容，在此不再赘述。
实施例三十三
本实施例提供了一种无人飞行器的追踪控制系统，图11为本发明实施例一提供的无人飞行器的追踪控制系统的结构示意图，如图11所示，该无人飞行器的追踪控制系统，包括：
第二获取模块4，用于获取无人飞行器的飞行数据；
第二处理模块5，用于在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
第二确定模块6，用于根据换向次数，确定无人飞行器是否发生震荡；
第二确定模块6，还用于根据无人飞行器的震荡情况确定是否继续追踪目标。
其中，对于上述第二获取模块4、第二处理模块5以及第二确认模块6的具体结构不做限定，本领域技术人员可以根据上述各个模块所实现的功能 进行任意设置；此外，对于上述第二获取模块4、第二处理模块5以及第二确认模块6所实现的功能的实现过程以及实现效果与上述实施例十二中的步骤S21-S23的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例提供的无人飞行器的追踪控制系统，通过第二获取模块4获取在预设时间内，第二处理模块5根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，第二确认模块6根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并根据无人飞行器的震荡情况确定是否继续追踪目标；可以实现在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常追踪与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
实施例三十四
在上述实施例的基础上，继续参考附图11可知，为了更加清楚上述实施例的根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数中的不同飞行方向的含义，本实施例将不同飞行方向设置为包括：第一飞行方向和第二飞行方向，并且第一飞行方向与第二飞行方向之间形成一角度。
其中，对于第一飞行方向和第二飞行方向的具体方向特征，本领域技术人员可以根据具体的设计需求进行设置，如可以设置为地图中的东、西、南、北以及东南、东北、西南以及西北中任意两项的组合；或者也可以将第一飞行方向或者第二飞行方向设置为上述八个方向中的任意相邻两个方向之间的任意一个方向；如将第一飞行方向设置为东偏南35°角，将第二飞行方向设置为西偏北70°角等等。
此外，对于第一飞行方向与第二飞行方向之间所形成的角度的具体数值不做限定，本领域技术人员可以根据无人飞行器的机型以及设计需求进行设置，如可以将该角度设置为90°、180°或者270°等等，当然的，也可以将该角度设置为70°、80°、110°、130°或150°等其他数值；此外，对于该角度而言，可以在无人飞行器进行飞行之前进行设置，也可以在无人飞行器飞行之后进行设置，其中，较为优选的，将该角度设置为预先角度；这样 可以在无人飞行器在飞行的过程中，实时了解无人飞行器是否发生震荡的状态，以便对无人飞行器进行以及调整，避免影响无人飞行器的飞行效果，甚至发生坠机的情况，进而提高了该无人飞行器飞行的安全可靠性。
实施例三十五
在上述实施例的基础上，继续参考附图11可知，当第一飞行方向与第二飞行方向所形成角度设置为180°时，则说明第一飞行方向与第二飞行方向为相互相反的方向；此时，为了更好的理解该技术方案，将此时的第一飞行方向定义为正向飞行方向，将第二飞行方向定义为反向飞行方向，因此，第二处理模块5，还用于：
在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
其中，对于上述第二处理模块5所实现的功能的实现过程以及实现效果与上述实施例十四中的步骤S221的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过第二处理模块5将根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数具体限定为根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，由于正向飞行方向和反向飞行方向为相反的两个方向，提高了对飞行数据分析的准确可靠性，进而可以提高对无人飞行器进行震荡检测的精确性和可靠性，进而可以对无人飞行器在正向飞行方向和反向飞行方向上是否发生震荡进行准确的判断，进而可以对无人飞行器的追踪目标状态进行有效调整与控制，在保证了无人飞行器的飞行效果的同时，提高了对无人飞行器的追踪目标的调控程度，进而提高了该系统的实用性。
实施例三十六
在上述实施例的基础上，继续参考附图11可知，技术方案对于在预设时间内，根据飞行数据确定无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数的具体确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，可以将换向次数的确定设置为通过第二处理模块5 采用以下方式获得：
第二处理模块5，用于：
对预设时间内的飞行数据进行快速傅立叶变换FFT，确定与飞行数据相对应的频率；
根据频率确定换向次数。
其中，对于上述第二处理模块5所实现的功能的实现过程以及实现效果与上述实施例十五中的步骤S2211-S2212的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过快速傅立叶变换FFT对飞行数据进行处理，进而获得与速度，加速度，角速度等信息相对应的频率，并通过频率确定换向次数，可以直观、快速并准确地获得无人飞行器是否发生了震荡，提高了震荡检测的获取效率以及准确性，进而可以实现在无人飞行器飞行过程中，快速地对无人飞行器的震荡状态做出判断，以便能够及时对无人飞行器进行调整，进一步保证了无人飞行器的飞行安全可靠性。
实施例三十七
在上述实施例的基础上，继续参考附图11可知，采用快速傅立叶变换FFT对飞行数据进行处理；虽然上述方式能够保证对飞行数据处理的效率以及准确性，但是采用快速傅立叶变换FFT对飞行数据进行处理时，对无人飞行器中的处理器以及内存消耗较高，会占用处理器以及内存的大部分资源，容易使得处理器和内存对其他装置的控制产生不能及时处理的情况；并且在无人飞行器刚刚启动的瞬间，若采用上述方式对飞行数据进行处理，容易产生误检测，进而影响系统对无人飞行器的飞行状态的判断；基于上述存在的情况，第二处理模块5，还用于：
在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入换向次数。
其中，对于上述第二处理模块5所实现的功能的实现过程以及实现效果与上述实施例十六中的步骤S2213的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例通过第二处理模块5对速度直接进行分析处理，降低了对无人飞行器的处理器以及内存的消耗，进而提高了对无人飞行器处理器和内存的 处理能力；并且采用该方法，还避免了在无人飞行器在启动的瞬间容易存在有误检测的情况；进而提高了该方法的实用性，同时也提高了无人飞行器对追踪目标进行调整与控制的准确性和可靠性。
实施例三十八
在上述实施例的基础上，继续参考附图11可知，在对无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度与该方向上的速度阈值进行处理的过程中，不仅仅包括速度大于或等于该方向上的速度阈值的情况，还包括其他情况，具体的，第二处理模块5，还用于：
在预设时间内，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入换向次数。
其中，对于上述第二处理模块5所实现的功能的实现过程以及实现效果与上述实施例十七中的步骤S2214的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例三十九
在上述实施例的基础上，继续参考附图11可知，第二处理模块5，还用于：
在该次切换不计入换向次数之后，若无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入换向次数。
其中，对于上述第二处理模块5所实现的功能的实现过程以及实现效果与上述实施例十八中的步骤S2215的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例四十
在上述实施例的基础上，继续参考附图11可知，本实施例对根据换向次数，确定无人飞行器是否发生震荡的，具体确定方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以将第二确定模块6，设置为具体用于：
若在预设时间内，换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
若在预设时间内，换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
其中，对于上述第二确定模块6所实现的功能的实现过程以及实现效果与上述实施例十九中的步骤S231-S232的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例四十一
在上述实施例的基础上，继续参考附图11可知，本技术方案对根据无人飞行器的震荡情况确定是否继续追踪目标的控制策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以将第二确定模块6，设置为具体用于：
若确认无人飞行器发生震荡，则确认停止追踪目标；或者，
若确认无人飞行器未发生震荡，则确认继续追踪目标。
其中，对于上述第二确定模块6所实现的功能的实现过程以及实现效果与上述实施例二十中的步骤S233-S234的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
实施例四十二
在上述实施例的基础上，继续参考附图11可知，本技术方案中对正向飞行方向和反向飞行方向的具体方向不做限定，本领域技术人员可以根据具体的设计需求进行设置：
如在一维维度上，将正向飞行方向设置为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，反向飞行方向设置为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
其中，对于X轴、Y轴和Z轴的具体方向不做限定，本领域技术人员可以根据自身习惯进行不同的设置，如可以将X轴设置为水平的前后方向，或者为水平的左右方向，或者为竖直的上下方向均可；通常情况下，X轴指的是前后方向，Y轴指的是左右方向，而Z轴指的是上下方向；而对于坐标轴 的正向可以进行任意规定，如可以将前、左或者上设置为正向，那么相对应的后、右或下为负向；或者也可以将后、右或者下设置为正向，相对应的前、左或者上为负向等等，只要能够清楚的确定无人飞行器的正向飞行方向和反向飞行方向即可，在此不再赘述。
实施例四十三
本实施例提供了一种无人飞行器，图12为本发明实施例一提供的无人飞行器的结构示意图；参考附图12可知，该无人飞行器，包括：第一飞行数据采集装置7和第一处理器8；
第一飞行数据采集装置7，用于获取无人飞行器的飞行数据；
第一处理器8，用于执行：
在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
根据换向次数，确定无人飞行器是否发生震荡。
其中，对于第一飞行数据采集装置7和第一处理器8的具体结构不做限定，本领域技术人员可以根据上述装置各自实现的功能进行任意设置，在此不再赘述；另外，该实施例中第一飞行数据采集装置7与第一处理器8所实现的操作步骤的实现过程以及实现效果与上述实施例一中的S11-S13的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
此外，该实施例中的第一处理器8不仅仅可以实现上述功能，具备执行上述实施例二-实施例十一中的操作步骤，并能够达到相应的技术效果，具体可参见上述具体描述内容，在此不再赘述。
本实施例提供的无人飞行器，通过第一飞行数据采集装置7获取在预设时间内，第一处理器8根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
实施例四十四
本实施例提供了一种存储介质，存储介质内存储有程序代码，当程序代码运行时，会执行无人飞行器的震荡检测方法，该方法具体包括：
获取无人飞行器的飞行数据；
在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
根据换向次数，确定无人飞行器是否发生震荡。
其中，对于存储介质的具体形式以及具体结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，只要能够实现上述功能效果即可，在此不再赘述；另外，该存储介质中存储的程序代码所实现的方法的操作过程以及实现效果与上述实施例一中的S11-S13的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
此外，该实施例中的存储介质不仅仅存储有可以实现上述方法步骤的程序代码，还可以存储上述实施例二-实施例十一中的操作步骤的程序代码，并在运行上述程序代码后，能够达到相应的技术效果，具体可参见上述具体描述内容，在此不再赘述。
本实施例提供的存储介质，通过运行存储在存储介质中的程序代码，可以实现获取在预设时间内，第一处理器8根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常操作与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性，同时也提高了该存储介质的实用性。
实施例四十五
本实施例提供了一种无人飞行器，图13为本发明实施例二提供的无人飞行器的结构示意图；参考附图13可知，该无人飞行器，包括：第二飞行数据采集装置9和第二处理器10；
第二飞行数据采集装置9，用于获取无人飞行器的飞行数据；
第二处理器10，用于执行：
在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
根据换向次数，确定无人飞行器是否发生震荡；
根据无人飞行器的震荡情况确定是否继续追踪目标。
其中，对于第二飞行数据采集装置9和第二处理器10的具体形式以及具体结构不做限定，本领域技术人员可以根据上述装置各自实现的功能进行任意设置，在此不再赘述；另外，该实施例中第二飞行数据采集装置9与第二处理器10所实现的操作步骤的实现过程以及实现效果与上述实施例十二中的S21-S24的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
此外，该实施例中的第二处理器10不仅仅可以实现上述功能，具备执行上述实施例十三-实施例二十一中的操作步骤，并能够达到相应的技术效果，具体可参见上述具体描述内容，在此不再赘述。
本实施例提供的无人飞行器，通过第二飞行数据采集装置9获取在预设时间内，第二处理器10根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并根据无人飞行器的震荡情况确定是否继续追踪目标；可以实现在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常追踪与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性。
实施例四十六
本实施例提供了另一种存储介质，存储介质内存储有程序代码，当程序代码运行时，会执行无人飞行器的追踪控制方法，该方法具体包括：
获取无人飞行器的飞行数据；
在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数；
根据换向次数，确定无人飞行器是否发生震荡；
根据无人飞行器的震荡情况确定是否继续追踪目标。
其中，对于存储介质的具体形式以及具体结构不做限定，本领域技术人 员可以根据具体的设计需求进行设置，只要能够实现上述功能效果即可，在此不再赘述；另外，该存储介质中存储的程序代码所实现的方法的操作过程以及实现效果与上述实施例十二中的S21-S24的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
此外，该实施例中的存储介质不仅仅存储有可以实现上述方法步骤的程序代码，还可以存储上述十三-实施例二十一中的操作步骤的程序代码，并在运行上述程序代码后，能够达到相应的技术效果，具体可参见上述具体描述内容，在此不再赘述。
本实施例提供的存储介质，通过运行存储在存储介质中的程序代码，可以实现获取在预设时间内，根据飞行数据确定无人飞行器在不同飞行方向之间切换的换向次数，根据换向次数，确定无人飞行器是否发生震荡，进而可以确认无人飞行器是否产生震荡，并根据无人飞行器的震荡情况确定是否继续追踪目标；可以实现在确认无人飞行器发生震荡幅度较大之前，及时对无人飞行器的状态进行调整，以避免影响无人飞行器的正常追踪与飞行、甚至发生坠机的情况，进而提高了无人飞行器飞行的安全可靠性，同时也提高了该存储介质的实用性。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单 元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (50)

  1. 一种无人飞行器的震荡检测方法，其特征在于，包括：
    获取无人飞行器的飞行数据；
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡。
  2. 根据权利要求1所述的方法，其特征在于，所述不同飞行方向包括：第一飞行方向和第二飞行方向，并且所述第一飞行方向与所述第二飞行方向之间形成一角度。
  3. 根据权利要求1所述的方法，其特征在于，所述角度为预设角度。
  4. 根据权利要求2所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数，具体包括：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
  5. 根据权利要求4所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，包括：
    对所述预设时间内的所述飞行数据进行快速傅立叶变换FFT，确定与所述飞行数据相对应的频率；
    根据所述频率确定所述换向次数。
  6. 根据权利要求4所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入所述换向次数。
  7. 根据权利要求4所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换 的换向次数，还包括：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入所述换向次数。
  8. 根据权利要求7所述的方法，其特征在于，在所述该次切换不计入所述换向次数之后，还包括：
    若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入所述换向次数。
  9. 根据权利要求1所述的方法，其特征在于，所述根据所述换向次数，确定无人飞行器是否发生震荡，具体包括：
    若在预设时间内，所述换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
    若在预设时间内，所述换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
  10. 根据权利要求4所述的方法，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
  11. 根据权利要求4所述的方法，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意两个坐标轴的第一方向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴中任意两个坐标轴的、且与所述第一方向相反的方向。
  12. 根据权利要求3所述的方法，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴的第二方向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴的、且与所述第二方向相反的方向。
  13. 一种无人飞行器的追踪控制方法，其特征在于，包括：
    获取无人飞行器的飞行数据；
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡；
    根据所述无人飞行器的震荡情况确定是否继续追踪目标。
  14. 根据权利要求13所述的方法，其特征在于，所述不同飞行方向包括：第一飞行方向和第二飞行方向，并且所述第一飞行方向与所述第二飞行方向之间形成一角度。
  15. 根据权利要求13所述的方法，其特征在于，所述角度为预设角度。
  16. 根据权利要求14所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数，具体包括：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
  17. 根据权利要求16所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，包括：
    对所述预设时间内的所述飞行数据进行快速傅立叶变换FFT，确定与所述飞行数据相对应的频率；
    根据所述频率确定所述换向次数。
  18. 根据权利要求16所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入所述换向次数。
  19. 根据权利要求16所述的方法，其特征在于，所述在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数，还包括：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入所述换向次数。
  20. 根据权利要求19所述的方法，其特征在于，在所述该次切换不计入所述换向次数之后，还包括：
    若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入所述换向次数。
  21. 根据权利要求13所述的方法，其特征在于，所述根据所述换向次数，确定无人飞行器是否发生震荡，具体包括：
    若在预设时间内，所述换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
    若在预设时间内，所述换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
  22. 根据权利要求21所述的方法，其特征在于，所述根据所述无人飞行器的震荡情况确定是否继续追踪目标，具体包括：
    若确认无人飞行器发生震荡，则确认停止追踪目标；或者，
    若确认无人飞行器未发生震荡，则确认继续追踪目标。
  23. 根据权利要求16所述的方法，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X坐标轴的正向；相对应的，所述反向飞行方向为X坐标轴的负向。
  24. 一种无人飞行器的震荡检测系统，其特征在于，包括：
    第一获取模块，用于获取无人飞行器的飞行数据；
    第一处理模块，用于在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    第一确定模块，用于根据所述换向次数，确定无人飞行器是否发生震荡。
  25. 根据权利要求24所述的系统，其特征在于，所述不同飞行方向包括：第一飞行方向和第二飞行方向，并且所述第一飞行方向与所述第二飞行方向之间形成一角度。
  26. 根据权利要求25所述的系统，其特征在于，所述角度为预设角度。
  27. 根据权利要求25所述的系统，其特征在于，所述第一处理模块，还用于：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
  28. 根据权利要求27所述的系统，其特征在于，所述第一处理模块，用 于：
    对所述预设时间内的所述飞行数据进行快速傅立叶变换FFT，确定与所述飞行数据相对应的频率；
    根据所述频率确定所述换向次数。
  29. 根据权利要求27所述的系统，其特征在于，所述第一处理模块，还用于：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度大于或等于该方向上的速度阈值，则该次切换计入所述换向次数。
  30. 根据权利要求27所述的系统，其特征在于，所述第一处理模块，还用于：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入所述换向次数。
  31. 根据权利要求30所述的系统，其特征在于，所述第一处理模块，还用于：
    在所述该次切换不计入所述换向次数之后，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入所述换向次数。
  32. 根据权利要求24所述的系统，其特征在于，所述第一确定模块，具体用于：
    若在预设时间内，所述换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
    若在预设时间内，所述换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
  33. 根据权利要求24所述的系统，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任意一个坐标轴的正向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴中的任意一个坐标轴的负向。
  34. 根据权利要求24所述的系统，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴中的任 意两个坐标轴的第一方向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴中任意两个坐标轴的、且与所述第一方向相反的方向。
  35. 根据权利要求25所述的系统，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X轴、Y轴和Z轴的第二方向；相对应的，所述反向飞行方向为X轴、Y轴和Z轴的、且与所述第二方向相反的方向。
  36. 一种无人飞行器的追踪控制系统，其特征在于，包括：
    第二获取模块，用于获取无人飞行器的飞行数据；
    第二处理模块，用于在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    第二确定模块，用于根据所述换向次数，确定无人飞行器是否发生震荡；
    所述第二确定模块，还用于根据所述无人飞行器的震荡情况确定是否继续追踪目标。
  37. 根据权利要求36所述的系统，其特征在于，所述不同飞行方向包括：第一飞行方向和第二飞行方向，并且所述第一飞行方向与所述第二飞行方向之间形成一角度。
  38. 根据权利要求37所述的系统，其特征在于，所述角度为预设角度。
  39. 根据权利要求37所述的系统，其特征在于，所述第二处理模块，还用于：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在正向飞行方向和反向飞行方向之间切换的换向次数。
  40. 根据权利要求39所述的系统，其特征在于，所述第二处理模块，用于：
    对所述预设时间内的所述飞行数据进行快速傅立叶变换FFT，确定与所述飞行数据相对应的频率；
    根据所述频率确定所述换向次数。
  41. 根据权利要求39所述的系统，其特征在于，所述第二处理模块，还用于：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间 切换后的速度大于或等于该方向上的速度阈值，则该次切换计入所述换向次数。
  42. 根据权利要求39所述的系统，其特征在于，所述第二处理模块，还用于：
    在预设时间内，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度小于该方向上的速度阈值，则该次切换不计入所述换向次数。
  43. 根据权利要求42所述的系统，其特征在于，所述第二处理模块，还用于：
    在所述该次切换不计入所述换向次数之后，若所述无人飞行器在正向飞行方向和反向飞行方向之间切换后的速度再次大于或等于该方向上的速度阈值，则该次切换再次不计入所述换向次数。
  44. 根据权利要求36所述的系统，其特征在于，所述第二确定模块，具体用于：
    若在预设时间内，所述换向次数大于或等于预设的标准次数，则确认无人飞行器发生震荡；或者，
    若在预设时间内，所述换向次数小于预设的标准次数，则确认无人飞行器未发生震荡。
  45. 根据权利要求44所述的系统，其特征在于，所述第二确定模块，具体用于：
    若确认无人飞行器发生震荡，则确认停止追踪目标；或者，
    若确认无人飞行器未发生震荡，则确认继续追踪目标。
  46. 根据权利要求39所述的系统，其特征在于，所述正向飞行方向为在X轴、Y轴和Z轴组成的坐标系所在的三维空间中，X坐标轴的正向；相对应的，所述反向飞行方向为X坐标轴的负向。
  47. 一种无人飞行器，其特征在于，包括：第一飞行数据采集装置和第一处理器；
    所述第一飞行数据采集装置，用于获取无人飞行器的飞行数据；
    所述第一处理器，用于执行：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向 之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡。
  48. 一种存储介质，其特征在于，所述存储介质内存储有程序代码，当所述程序代码运行时，会执行无人飞行器的震荡检测方法，该方法具体包括：
    获取无人飞行器的飞行数据；
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡。
  49. 一种无人飞行器，其特征在于，包括：第二飞行数据采集装置和第二处理器；
    所述第二飞行数据采集装置，用于获取无人飞行器的飞行数据；
    所述第二处理器，用于执行：
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡；
    根据所述无人飞行器的震荡情况确定是否继续追踪目标。
  50. 一种存储介质，其特征在于，所述存储介质内存储有程序代码，当所述程序代码运行时，会执行无人飞行器的追踪控制方法，该方法具体包括：
    获取无人飞行器的飞行数据；
    在预设时间内，根据所述飞行数据确定所述无人飞行器在不同飞行方向之间切换的换向次数；
    根据所述换向次数，确定无人飞行器是否发生震荡；
    根据所述无人飞行器的震荡情况确定是否继续追踪目标。
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