WO2018059295A1

WO2018059295A1 - Control method, device, and system for multirotor aerial vehicle

Info

Publication number: WO2018059295A1
Application number: PCT/CN2017/102598
Authority: WO
Inventors: 胡华智
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2016-09-27
Filing date: 2017-09-21
Publication date: 2018-04-05
Also published as: WO2018059398A1; CN107340780A

Abstract

A control method, device, and system (22) for a multirotor aerial vehicle (23). The method comprises: receiving first location information of the aerial vehicle (23) acquired by an onboard flight control system (21) and acquiring second location information of a smart terminal (24) (S21); calculating a target location of the aerial vehicle (23) on the basis of a preset horizontal relative distance, of a vertical relative distance, of a relative angle, and of the second location information, calculating the displacement of the aerial vehicle (23) on the basis of the first location information and of the target location (S22); generating control information on the basis of the displacement, transmitting the control information to the onboard flight control system (21), and controlling the aerial vehicle (23) to move by the displacement to the target location, thus allowing a lens of a camera device (25) on the aerial vehicle (23), while moving, to always aim at or face the location at where the smart terminal (24) is located (S23).

Description

Multi-rotor aircraft control method, device and system

Technical field

The present invention relates to the field of aircraft control technology, and in particular, to a control method, device and system for a multi-rotor aircraft.

Background technique

With the development of automatic control technology, micro-sensor technology and MEMS, multi-rotor UAVs are gradually replacing traditional manned or unmanned helicopters and fixed-wing aircraft due to their stable performance and low cost. Used in many industries.

With a camera or professional imaging equipment and sensors, the multi-rotor drone can easily perform a variety of shooting tasks. For example, in the civilian field, multi-rotor drones can be used for entertainment, film and television aerial photography, power line inspection, police patrol, etc.; in the military field, it can be used for monitoring and detection.

At present, when a multi-rotor drone performs a shooting task, in order to keep the object to be photographed in the field of view of the camera, at least two operators are required, one of which controls the flight of the drone and the other controls the gimbal. The rotation. This requires two operators to have a wealth of experience, but also requires the operator to pay attention to the movement of the subject in real time, resulting in higher shooting costs.

Summary of the invention

Based on this, it is necessary to provide a control method, device and system for a multi-rotor aircraft for the problem of high shooting cost.

A method for controlling a multi-rotor aircraft includes the following steps:

Calculating a horizontal relative distance, a vertical relative distance, and a relative angle of the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively horizontal directions of the aircraft and the intelligent terminal And a desired distance in a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

During the smart terminal move, perform the following steps:

Acquiring first location information of the aircraft in real time, and acquiring second location information of the smart terminal, and calculating a target location of the aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information, according to the first Position information and target position to calculate the displacement of the aircraft;

Generating control information based on the displacement, and transmitting the control information to an onboard flight control system of the aircraft, controlling the aircraft to move to the target position with the displacement to cause a lens of the camera on the aircraft Always facing or facing the location of the smart terminal during the movement.

A method for controlling a multi-rotor aircraft includes the following steps:

Receiving, by the receiver, the first position information of the aircraft acquired by the flight control system, and acquiring the second position information of the intelligent terminal;

Calculating a target position of the aircraft according to a preset horizontal relative distance, a vertical relative distance, a relative angle, and the second position information, and calculating a displacement of the aircraft according to the first position information and the target position; wherein the horizontal relative distance and The vertical relative distances are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, the relative angle being a relative position vector formed by the projection of the aircraft on a horizontal plane and the projection of the intelligent terminal on a horizontal plane. Angle on a horizontal plane;

Generating control information according to the displacement, transmitting the control information to the onboard flight control system, controlling the aircraft to move to the target position with the displacement, so that the lens of the camera on the aircraft is The mobile device always faces or faces the location of the smart terminal.

A multi-rotor aircraft control device comprising:

a first calculating device, configured to calculate a horizontal relative distance, a vertical relative distance, and a relative angle between the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

During the movement of the smart terminal, perform the functions of the following devices:

a second computing device, configured to acquire first location information of the aircraft in real time, and acquire second location information of the smart terminal, and calculate an object of the aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information Positioning, calculating a displacement of the aircraft according to the first position information and the target position;

a first control device, configured to generate control information according to the displacement, and send the control information to an onboard flight control system of the aircraft, and control the aircraft to move to the target position with the displacement, so that the The lens of the camera on the aircraft always faces or faces the position of the smart terminal during the movement.

A multi-rotor aircraft control device comprising:

a location acquiring device, configured to receive first location information of the aircraft acquired by the flight control system, and acquire second location information of the smart terminal;

a third calculating device, configured to calculate a target position of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle, and the second position information, and calculate the displacement of the aircraft according to the first position information and the target position; The horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, and the relative angle is a projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane. The angle of the formed relative position vector on the horizontal plane;

a second control device, configured to generate control information according to the displacement, send the control information to the onboard flight control system, and control the aircraft to move to the target position with the displacement, so that the aircraft The lens of the upper camera is always facing or facing the position of the smart terminal during the movement.

A multi-rotor aircraft control system comprising: an onboard flight control system and a control system;

The control system is coupled to the aircraft by the onboard flight control system;

The airborne flight control system is configured to acquire first position information of the aircraft, and send the first position information to the control system;

The control system is configured to acquire current second location information of the smart terminal, and calculate a target location of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle, and the second location information, according to the first location information. Calculating a displacement of the aircraft with the target position, generating control information according to the displacement, and transmitting the control information to the onboard flight control system; wherein the horizontal relative distance and the vertical relative distance are respectively the aircraft and the intelligent terminal a desired distance in a horizontal direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

The onboard flight control system is further configured to control the aircraft to move to the target position with the displacement such that a lens of the camera device on the aircraft always faces or faces the smart terminal during the moving process. Where it is.

The method, device and system for controlling a multi-rotor aircraft, when the terminal moves, calculating a target position of the aircraft according to a horizontal relative distance between the aircraft and the intelligent terminal, a vertical relative distance, a relative angle, and the second position information, according to the Calculating displacement of the aircraft according to the first position information and the target position, generating control information according to the displacement, transmitting the control information to the onboard flight control system, and controlling the aircraft to move to the target position with the displacement, The automatic follow-up of the aircraft is achieved such that the lens of the camera on the aircraft is always facing or facing the position of the smart terminal during the movement. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

DRAWINGS

1 is a flow chart of a control method of a multi-rotor aircraft of a first embodiment;

Figure 2 is a schematic perspective view of a relative angle of an embodiment;

Figure 3 is a schematic illustration of the desired distance of one embodiment;

Figure 4 is a schematic diagram of a follow-up of an embodiment;

Figure 5 is a flow chart showing a control method of the multi-rotor aircraft of the second embodiment;

Figure 6 is a schematic structural view of a control device for a multi-rotor aircraft of the first embodiment;

Figure 7 is a schematic structural view of a control device for a multi-rotor aircraft of a second embodiment;

Fig. 8 is a schematic structural view of a control system of a multi-rotor aircraft of an embodiment.

detailed description

The present invention will be clearly and completely described by way of embodiments with reference to the accompanying drawings in the embodiments of the invention. Some embodiments, but not all of the embodiments. All other implementations obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts For example, all fall within the scope of protection of the present invention.

Referring to FIG. 1, the present invention provides a control method for a multi-rotor aircraft, which may include the following steps:

S11, calculating a horizontal relative distance, a vertical relative distance, and a relative angle between the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively the aircraft and the smart terminal a desired distance in a horizontal direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

The smart terminal may be a somatosensory control device such as a somatosensory controller, or may be a portable electronic device having communication, data processing, and positioning functions, such as a smart phone or a portable computer. The positioning function of the airborne flight control system and the intelligent terminal can be realized by installing software with positioning functions such as Global Positioning System (GPS) software. A time interval may be set in advance, and the first location information and the second location information are acquired once every said time interval. The time interval can be set according to actual needs. For example, it can be set according to the flight speed of the smart terminal. When the flight speed of the smart terminal is small, the time interval may be set to a small value, and when the flight speed of the smart terminal is large, the time interval may be set to a larger value. It can also be obtained in other ways.

Assuming that the coordinates of the initial position of the aircraft are (X _F0 , Y _F0 , Z _F0 ) and the coordinates of the initial position of the intelligent terminal are (X _T0 , Y _T0 , Z _T0 ), then:

The horizontal relative distance is:

The vertical relative distance is: H=|Z _T0 -Z _TF |;

The relative angle is:

among them,

For the relative angles, X _F0 , Y _F0 , Z _F0 are the coordinate values of the north axis, the east axis and the lower axis of the initial position of the aircraft in the NED coordinate system, respectively, X _T0 , Y _T0 , Z _T0 are smart terminals respectively. The initial position is the coordinate value of the north, east, and lower axes in the NED coordinate system.

The schematic diagrams of the relative angle and the desired distance are shown in Figures 2 and 3, respectively. In Fig. 2, if the x-axis represents the east axis in the NED coordinate system, the y-axis represents the north axis in the NED coordinate system, the z-axis represents the lower axis in the NED coordinate system, and O is the origin.

For the position vector of the aircraft and the intelligent terminal in the NED coordinate system,

for

Projection on the xOy plane in the NED coordinate system, then

The direction indicated in the xOy plane is the relative angle. In one embodiment, as shown in FIG. 2, the relative angle may be 80° east and south. Of course, the relative angle can also be other angles. The specific value can be set according to actual needs. This relative angle remains unchanged during the following process.

During the smart terminal move, perform the following steps:

S12: acquiring first location information of the aircraft in real time, and acquiring second location information of the smart terminal, and calculating a target location of the aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information, according to the Calculating the displacement of the aircraft by the first position information and the target position;

Since the horizontal relative distance between the aircraft and the intelligent terminal is D, and the position of the vertical relative distance H is innumerable (ie, the vertical relative distance from the intelligent terminal is H, any point on the circle with the radius D All of them are satisfied. By setting the relative angle, a target position that satisfies the condition can be uniquely determined, and the process of moving the aircraft to the target position completely copies the moving process of the smart terminal. By the target position, the displacement vector and the relative angle calculated in step S12, the aircraft of the present invention can be moved according to the movement trajectory of the intelligent terminal, that is, when the intelligent terminal moves 1 meter to the left, the aircraft also moves to the left by 1 meter; When the terminal moves up 1 meter, the aircraft also moves up 1 meter; when the position of the intelligent terminal is unchanged, the position of the aircraft remains unchanged, and the horizontal relative distance and vertical relative distance between the aircraft and the intelligent terminal remain unchanged. The schematic diagram of the following process is shown in Figure 4. The position before the smart terminal moves is recorded as P1, the position after the smart terminal moves is recorded as P1', the current position of the aircraft is recorded as P2, and the target position of the aircraft is recorded as P2', the target of the aircraft a displacement vector formed by a position corresponding to the first position information is recorded as

The displacement vector formed by the position of the smart terminal before the movement and the position corresponding to the current second position information is recorded as

then

versus

Is equal.

Exemplarily, the target location should satisfy:

|Z _T -Z _F |=H;

Where (X _F , Y _F , Z _F ) is the coordinate of the target position, X _T and Y _T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, D is the horizontal distance, and H is Vertical distance,

For the relative angles, Z _T and Z _F are the lower axis positions of the smart terminal and the target position in the NED coordinate system, respectively, and X _F and Y _F are the north axes of the aircraft in the northeast lower NED coordinate system. And the east axis position.

S13. Generate control information according to the displacement, and send the control information to an airborne flight control system of the aircraft, and control the aircraft to move to the target position with the displacement to enable the imaging device on the aircraft. The lens is always facing or facing the position of the smart terminal during the movement.

During the movement of the aircraft, the pitch angle of the camera mounted on the aircraft may also be adjusted to maintain the smart terminal in the photographing screen of the camera. The pitch angle is a pitch angle at which the lens of the camera on the aircraft is always facing or facing the smart terminal. During the flight to the target position, the aircraft can continuously adjust the pitch angle so that the smart terminal is always kept in the shooting picture of the camera. After the aircraft reaches the target position, the pitch angle can be adjusted back to the same pitch angle as the initial state. The pitch angle of the target position can be calculated according to the following formula:

Where H=|Z _T -Z _F |;

Where θ is the pitch angle, H is the relative distance between the aircraft and the smart terminal in the vertical direction, and Z _T and Z _F are the lower axis positions of the smart terminal and the target position in the NED coordinate system, respectively. D is the relative distance between the aircraft and the intelligent terminal in the horizontal direction, X _T and Y _T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, and X _F and Y _F are the aircraft in the northeast. The north and east axis positions in the lower NED coordinate system.

After acquiring the position information of the aircraft, the intelligent terminal can also calculate the flight speed of the aircraft according to the position information of the aircraft and its own position information, so as to ensure that the aircraft can always follow the intelligent terminal.

For example, when the object carrying the smart terminal moves in the horizontal direction, the smart terminal can calculate the horizontal flight speed that the aircraft should have according to the position information of the aircraft and the position information of the aircraft, and send the horizontal flight speed to the airborne. Flight control system. The airborne flight control system receives the horizontal flight After the line speed, the aircraft can be controlled to fly at the horizontal flight speed, so that the aircraft follows the subject.

For example, when the subject carrying the smart terminal moves in a vertical direction such as skydiving or swaying, the smart terminal can calculate the vertical flying speed that the aircraft should have according to the position information of the aircraft and its own position information, and This vertical flight speed is sent to the onboard flight control system. After receiving the vertical flight speed, the airborne flight control system can control the aircraft to fly at the vertical flight speed to cause the aircraft to follow the subject.

For example, when the object carrying the smart terminal moves in both the horizontal direction and the vertical direction, such as tilting up or tilting downward, the smart terminal can calculate the aircraft according to the position information of the aircraft and its position information. It has a horizontal flight speed and a vertical flight speed, and transmits the horizontal flight speed and the vertical flight speed to the airborne flight control system. After receiving the horizontal flight speed and the vertical flight speed, the airborne flight control system can control the aircraft to fly at the horizontal flight speed and the vertical flight speed, so that the aircraft follows the subject.

The case where the above-described aircraft follows the subject or the intelligent terminal may be referred to as a follow mode.

Illustratively, the horizontal flight speed of the aircraft can be controlled as follows:

Wherein, V _X is a smart terminal indicating a flight speed of the aircraft on a north axis in the NED coordinate system, and V _Y is a smart terminal indicating a flight speed of the aircraft on an east axis in the NED coordinate system, V is intelligent terminal obtained the aircraft ground speed, the maximum speed of the aircraft to follow as the intelligent terminal V _m obtained, k is a gain coefficient, d is the radius of the dead zone,

For the relative angle, D is the distance between the aircraft and the intelligent terminal in the horizontal direction, and X _T and Y _T are the north and east axis positions of the smart terminal in the NED coordinate system, respectively, X _F and Y _F The north and east axis positions of the aircraft in the northeast NED coordinate system.

Illustratively, the vertical flight speed of the aircraft can also be controlled as follows:

H=|Z _T -Z _F |;

Where V is the vertical flight speed, V _m is the maximum following speed of the aircraft obtained by the intelligent terminal, k is the gain coefficient, d is the dead zone radius, and H is the distance between the aircraft and the intelligent terminal in the vertical direction. Z _T and Z _F are the smart terminal and the lower axis position of the target position in the NED coordinate system, respectively.

In addition, the smart terminal can also send a command to take off, hover, land or return to the onboard flight control system, and correspondingly control the aircraft to take off, hover, land or return.

In an embodiment, the smart terminal may further send the second location information to the onboard flight control system, the airborne flight control system controlling the aircraft movement when the aircraft is disconnected from the intelligent terminal The position corresponding to the last received second position information.

In an embodiment, the difference between the second location information and the initial second location information may be calculated; wherein the initial second location information is location information of the smart terminal acquired by the smart terminal last time; The difference value is greater than a preset distance threshold, and the target position of the aircraft is calculated according to the first position information and the second position information.

It can be seen that the control method of the multi-rotor aircraft provided by the embodiment calculates the target position of the aircraft according to the horizontal relative distance between the aircraft and the intelligent terminal, the vertical relative distance, the relative angle, and the second position information, according to the Calculating a displacement vector of the aircraft by the first position information and the target position, generating control information according to the displacement vector, transmitting the control information to the onboard flight control system, and controlling the aircraft to move to the The target position is such that the lens of the camera on the aircraft is always facing or facing the position of the smart terminal during the movement, realizing automatic follow-up of the aircraft. And, during the movement of the aircraft, the fly can also be adjusted The pitch angle of the image pickup device mounted on the line device keeps the smart terminal in the photographing screen of the image pickup device. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

Referring to FIG. 5, the present invention also provides a control method for a multi-rotor aircraft, which may include the following steps:

S21. The receiver acquires first location information of the aircraft acquired by the flight control system, and acquires second location information of the smart terminal.

S22. Calculate a target position of the aircraft according to a preset horizontal relative distance, a vertical relative distance, a relative angle, and the second position information, and calculate a displacement of the aircraft according to the first position information and the target position; wherein the horizontal relative The distance and the vertical relative distance are respectively a desired distance between the aircraft and the intelligent terminal in a horizontal direction and a vertical direction, and the relative angle is a relative position formed by the projection of the aircraft on a horizontal plane and the projection of the intelligent terminal on a horizontal plane. Vector angle on a horizontal plane;

When following, the horizontal and vertical relative distances from the smart terminal when the aircraft follows the smart terminal can be set. For example, the aircraft can be set to follow the smart terminal at a horizontal distance and a vertical distance of 1 meter and 0.5 meters apart from each other. The above 1 meter and 0.5 meters are the desired distances in the subsequent follow-up process, and the goal is to keep the horizontal and vertical relative distance between the aircraft and the intelligent terminal constant at 1 meter and 0.5 meters. A schematic diagram of the desired distance is shown in FIG. Every time you turn it on, you can follow the The latitude and longitude of the smart terminal calculate the horizontal relative distance, the vertical relative distance, and the relative angle. In the subsequent follow-up process, the following process can be directly performed according to the horizontal relative distance, the vertical relative distance and the relative angle calculated at the time of power-on.

A schematic diagram of the relative angle is shown in Figure 2. In FIG. 2, if the x-axis represents the east axis in the NED coordinate system, the y-axis represents the north axis in the NED coordinate system, the z-axis represents the lower axis in the NED coordinate system, and O is the origin.

for

Projection on the xOy plane in the NED coordinate system, then

Since the horizontal relative distance between the aircraft and the intelligent terminal is D, and the position of the vertical relative distance H is innumerable (ie, the vertical relative distance from the intelligent terminal is H, any point on the circle with the radius D All of them are satisfied. By setting the relative angle, a target position that satisfies the condition can be uniquely determined, and the process of moving the aircraft to the target position completely copies the moving process of the smart terminal. The target position, the displacement and the relative angle calculated in step S22 can make the aircraft of the present invention move according to the movement trajectory of the intelligent terminal, that is, when the intelligent terminal moves 1 meter to the left, the aircraft also moves to the left by 1 meter; the intelligent terminal When moving up 1 meter, the aircraft also moves up 1 meter; when the position of the intelligent terminal is unchanged, the position of the aircraft remains unchanged, and the horizontal relative distance and vertical relative distance between the aircraft and the intelligent terminal remain unchanged. The schematic diagram of the following process is shown in Figure 5. The position before the smart terminal moves is recorded as P1, the position after the smart terminal moves is recorded as P1', the current position of the aircraft is recorded as P2, and the target position of the aircraft is recorded as P2', the target of the aircraft The displacement formed by the position corresponding to the first position information is recorded as

The displacement formed by the position of the smart terminal before the movement and the position corresponding to the current second position information is recorded as

then

versus

Is equal.

Exemplarily, the target location should satisfy:

|Z _T -Z _F |=H;

The relative angle may be calculated according to the initial position information (X _F0 , Y _F0 , Z _F0 ) of the aircraft acquired by the onboard flight control system and the initial position information (X _T0 , Y _T0 , Z _T0 ) of the intelligent terminal. It is obtained that the initial position information of the aircraft and the initial position information of the smart terminal may be position information acquired for the first time after the system starts running. After the relative angle is calculated, the relative angle can be stored in the system and the aircraft is controlled to maintain the relative angular movement during subsequent control. The way to calculate the relative angle based on the initial position information is:

S23. Generate control information according to the target location, and send the control information to the onboard flight control system, and accordingly control the relative position of the aircraft to maintain pre-stored to move to the target position; wherein the relative angle It is the relative angle between the aircraft and the intelligent terminal.

Where H=|Z _T -Z _F |;

For example, when the object carrying the smart terminal moves in the horizontal direction, the smart terminal can calculate the horizontal flight speed that the aircraft should have according to the position information of the aircraft and the position information of the aircraft, and send the horizontal flight speed to the airborne. Flight control system. After receiving the horizontal flight speed, the airborne flight control system can control the aircraft to fly at the horizontal flight speed, so that the aircraft follows the subject.

For the relative angle, D is the distance between the aircraft and the intelligent terminal in the horizontal direction, and X _T and Y _T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, X _F and Y _F The north and east axis positions of the aircraft in the northeast NED coordinate system.

H=|Z _T -Z _F |;

It can be seen that the control method of the multi-rotor aircraft provided by the embodiment calculates the target position of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle and the second position information, according to the first position information. Calculating a displacement of the aircraft with the target position, generating control information according to the displacement, transmitting the control information to the onboard flight control system, and controlling the aircraft to move to the target position with the displacement, so that the The lens of the camera on the aircraft always faces or faces the position of the smart terminal during the movement, realizing automatic follow-up of the aircraft. Moreover, during the movement of the aircraft, the pitch angle of the camera mounted on the aircraft may also be adjusted to keep the smart terminal in the photographing screen of the camera. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

Referring to FIG. 6, in accordance with the control method of the multi-rotor aircraft of the first embodiment, the present invention provides a control device for a multi-rotor aircraft, which may include:

a first computing device 110, configured to calculate a horizontal relative distance, a vertical relative distance, and a relative angle between the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively Determining a desired distance between the aircraft and the intelligent terminal in a horizontal direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

The horizontal relative distance is:

The vertical relative distance is: H=|Z _T0 -Z _TF |;

The relative angle is:

among them,

for

Projection on the xOy plane in the NED coordinate system, then

a second computing device 120, configured to acquire first location information of the aircraft in real time, and acquire second location information of the smart terminal, and calculate an aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information. a target position, calculating a displacement of the aircraft according to the first position information and the target position;

Since the horizontal relative distance between the aircraft and the intelligent terminal is D, and the position of the vertical relative distance H is innumerable (ie, the vertical relative distance from the intelligent terminal is H, any point on the circle with the radius D All of them are satisfied. By setting the relative angle, a target position that satisfies the condition can be uniquely determined, and the process of moving the aircraft to the target position completely copies the moving process of the smart terminal. By the target position, the displacement vector and the relative angle calculated by the second computing device 120, the aircraft of the present invention can be moved according to the movement trajectory of the intelligent terminal, that is, when the intelligent terminal moves 1 meter to the left, the aircraft also moves to the left. When the intelligent terminal moves up 1 meter, the aircraft also moves up 1 meter; when the position of the intelligent terminal is unchanged, the position of the aircraft remains unchanged, and the horizontal relative distance and vertical relative distance between the aircraft and the intelligent terminal remain unchanged. The schematic diagram of the following process is shown in Figure 5. The position before the smart terminal moves is recorded as P1, the position after the smart terminal moves is recorded as P1', the current position of the aircraft is recorded as P2, and the target position of the aircraft is recorded as P2', the target of the aircraft a displacement vector formed by a position corresponding to the first position information is recorded as

then

versus

Is equal.

Exemplarily, the target location should satisfy:

|Z _T -Z _F |=H;

a first control device 130, configured to generate control information according to the displacement, and send the control information to an airborne flight control system of the aircraft, and control the aircraft to move to the target position with the displacement, so as to The lens of the camera on the aircraft is always facing or facing the position of the smart terminal during the movement.

Where H=|Z _T -Z _F |;

H=|Z _T -Z _F |;

In an embodiment, the smart terminal may further send the second location information to the onboard flight control system, the airborne flight control system controlling the aircraft when the aircraft is disconnected from the intelligent terminal Move to the position corresponding to the last received second position information.

It can be seen that the control device of the multi-rotor aircraft provided by the embodiment calculates the target position of the aircraft according to the horizontal relative distance between the aircraft and the intelligent terminal, the vertical relative distance, the relative angle and the second position information, according to the Calculating a displacement vector of the aircraft by the first position information and the target position, generating control information according to the displacement vector, transmitting the control information to the onboard flight control system, and controlling the aircraft to move to the The target position is such that the lens of the camera on the aircraft is always facing or facing the position of the smart terminal during the movement, realizing automatic follow-up of the aircraft. Moreover, during the movement of the aircraft, the pitch angle of the camera mounted on the aircraft may also be adjusted to keep the smart terminal in the photographing screen of the camera. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

Corresponding to the control method of the multi-rotor aircraft of the second embodiment, the present invention further provides a control device for a multi-rotor aircraft. As shown in FIG. 7, the control device of the multi-rotor aircraft may include:

a location acquiring device 210, configured to receive first location information of the aircraft acquired by the flight control system, and acquire second location information of the smart terminal;

The smart terminal may be a somatosensory control device such as a somatosensory controller, or may be a portable electronic device having communication, data processing, and positioning functions, such as a smart phone or a portable computer. The positioning function of the airborne flight control system and the intelligent terminal can be realized by installing software with positioning functions such as Global Positioning System (GPS) software. The time interval may be preset, and the first location information and the second location information are acquired once every said time interval. The time interval can be set according to actual needs. For example, it can be set according to the flight speed of the smart terminal. When the flight speed of the smart terminal is small, the time interval may be set to a small value, and when the flight speed of the smart terminal is large, the time interval may be set to a larger value. It can also be obtained in other ways.

The third calculating device 220 is configured to calculate a target position of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle, and the second position information, and calculate the displacement of the aircraft according to the first position information and the target position; Wherein the horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, wherein the relative angle is a projection of the aircraft on a horizontal plane and a horizontal position of the intelligent terminal. The angle of the relative position vector formed by the projection on the horizontal plane;

When following, the horizontal and vertical relative distances from the smart terminal when the aircraft follows the smart terminal can be set. For example, the aircraft can be set to follow the smart terminal at a horizontal distance and a vertical distance of 1 meter and 0.5 meters apart from each other. The above 1 meter and 0.5 meters are the desired distances in the subsequent follow-up process, and the goal is to keep the horizontal and vertical relative distance between the aircraft and the intelligent terminal constant at 1 meter and 0.5 meters. A schematic diagram of the desired distance is shown in FIG. Each time the power is turned on, the horizontal relative distance, the vertical relative distance, and the relative angle may be calculated according to the latitude and longitude of the aircraft and the latitude and longitude of the smart terminal. In the subsequent follow-up process, the following process can be directly performed according to the horizontal relative distance, the vertical relative distance and the relative angle calculated at the time of power-on.

for

Projection on the xOy plane in the NED coordinate system, then

Since the horizontal relative distance between the aircraft and the intelligent terminal is D, and the position of the vertical relative distance H is innumerable (ie, the vertical relative distance from the intelligent terminal is H, any point on the circle with the radius D All of them are satisfied. By setting the relative angle, a target position that satisfies the condition can be uniquely determined, and the process of moving the aircraft to the target position completely copies the moving process of the smart terminal. The target position, displacement and relative angle calculated by the third computing device 220 can cause the aircraft of the present invention to move according to the movement trajectory of the intelligent terminal, that is, when the intelligent terminal moves 1 meter to the left, the aircraft also moves to the left by 1 meter. When the intelligent terminal moves up 1 meter, the aircraft also moves up 1 meter; when the position of the intelligent terminal is unchanged, the position of the aircraft remains unchanged, and the horizontal relative distance and vertical relative distance between the aircraft and the intelligent terminal remain unchanged. The schematic diagram of the following process is shown in Figure 5. The position before the smart terminal moves is recorded as P1, the position after the smart terminal moves is recorded as P1', the current position of the aircraft is recorded as P2, and the target position of the aircraft is recorded as P2', the target of the aircraft The displacement formed by the position corresponding to the first position information is recorded as

then

versus

Is equal.

Exemplarily, the target location should satisfy:

|Z _T -Z _F |=H;

Where (X _F , Y _F , Z _F ) is the coordinate of the target position, X _T and Y _T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, and D is the level of the aircraft and the intelligent terminal. The relative distance in the direction, H is the relative distance between the aircraft and the intelligent terminal in the vertical direction.

a second control device 230, configured to send the control information to the onboard flight control system according to the displacement generation control information, and control the aircraft to move to the target position with the displacement, so that the The lens of the camera on the aircraft always faces or faces the position of the smart terminal during the movement.

Where H=|Z _T -Z _F |;

For another example, when a subject carrying a smart terminal moves in both the horizontal direction and the vertical direction, When moving obliquely upward or obliquely downward, the intelligent terminal can calculate the horizontal flight speed and the vertical flight speed that the aircraft should have according to the position information of the aircraft and the position information of the aircraft, and send the horizontal flight speed and the vertical flight speed to the aircraft. Flight control system. After receiving the horizontal flight speed and the vertical flight speed, the airborne flight control system can control the aircraft to fly at the horizontal flight speed and the vertical flight speed, so that the aircraft follows the subject.

H=|Z _T -Z _F |;

It can be seen that the control device of the multi-rotor aircraft provided by the embodiment calculates the target position of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle and the second position information when the terminal moves, according to The first position information and the target position calculate a displacement of the aircraft, generate control information according to the displacement, send the control information to the onboard flight control system, and control the aircraft to move to the target with the displacement The position is such that the lens of the camera on the aircraft is always facing or facing the position of the smart terminal during the movement, realizing automatic follow-up of the aircraft. Moreover, during the movement of the aircraft, the pitch angle of the camera mounted on the aircraft may also be adjusted to keep the smart terminal in the photographing screen of the camera. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

As shown in Figure 8, the present invention also provides a control system for a multi-rotor aircraft, the control system may include: an onboard flight control system 21 and a control system 22;

The control system 22 is coupled to the onboard flight control system 21, and the onboard flight control system 21 is coupled to the aircraft;

The airborne flight control system 21 is configured to acquire first position information of the aircraft 23, and send the first position information to the control system 22;

The control system 22 is configured to acquire current second location information of the smart terminal 24, and calculate a target location of the aircraft 23 according to the preset horizontal relative distance, the vertical relative distance, the relative angle, and the second location information, according to the first Calculating the displacement of the aircraft 23 with a position information and a target position, and generating control information according to the displacement, and transmitting the control information to the onboard flight control system 21; wherein the horizontal relative distance and the vertical relative distance are respectively The desired distance between the aircraft 23 and the intelligent terminal 24 in the horizontal direction and the vertical direction, the relative angle is a relative position vector formed by the projection of the aircraft 23 on the horizontal plane and the projection of the intelligent terminal 24 on the horizontal plane on a horizontal plane. Angle;

The onboard flight control system 21 is further configured to control the aircraft 23 to move to the target position with the displacement such that the lens 25 of the camera on the aircraft 23 is always facing or facing each other during the movement. The location where the smart terminal is located.

The control system 22 may be a somatosensory control device such as a somatosensory manipulator, or may be a portable electronic device having communication, data processing, and positioning functions, such as a smart phone or a portable computer. The positioning functions of the onboard flight control system 21 and the control system 22 can be implemented by installing software having positioning functions such as Global Positioning System (GPS) software. The time interval may be preset, and the first location information and the second location information are acquired once every said time interval. The time interval can be set according to actual needs. For example, it can be set according to the flight speed of the control system 22. When the flight speed of the control system 22 is small, the time interval can be set to a small value, and when the flight speed of the control system 22 is large, the time interval can be set to a larger value. . It can also be obtained in other ways.

When following, the horizontal and vertical relative distances from the smart terminal when the aircraft follows the smart terminal can be set. For example, the aircraft can be set to follow the smart terminal at a horizontal distance and a vertical distance of 1 meter and 0.5 meters apart from each other. The above 1 meter and 0.5 meters are the desired distances in the subsequent follow-up process, and the goal is to keep the horizontal and vertical relative distance between the aircraft and the intelligent terminal constant at 1 meter and 0.5 meters. A schematic diagram of the desired distance is shown in FIG. Each time the power is turned on, the horizontal relative distance, the vertical relative distance, and the relative angle may be calculated according to the latitude and longitude of the aircraft and the latitude and longitude of the smart terminal. In the subsequent follow-up process, the horizontal relative distance and vertical phase calculated directly at the time of power-on can be directly The following process is performed on the distance and the relative angle.

for

Projection on the xOy plane in the NED coordinate system, then

Exemplarily, the target location should satisfy:

Z _F =Z _T -H;

Where (X _F , Y _F , Z _F ) is the coordinate of the target position, X _T and Y _T are the north and east axis positions of the control system 22 in the NED coordinate system, respectively, and D is the aircraft 23 and the control system 22 is the relative distance in the horizontal direction, and H is the relative distance between the aircraft 23 and the control system 22 in the vertical direction.

For the relative angles, Z _T and Z _F are the lower axis positions of the control system 22 and the target position in the NED coordinate system, respectively, and X _F and Y _F are the northerly lower NED coordinate system of the aircraft 23 North and East axis positions.

Wherein, the relative angle may be based on initial position information (X _F0 , Y _F0 , Z _F0 ) of the aircraft acquired by the onboard flight control system 21 and initial position information of the intelligent terminal (X _T0 , Y _T0 , Z _T0 ) It is calculated that the initial position information of the aircraft 23 and the initial position information of the control system 22 may be the position information acquired for the first time after the system starts running. After the relative angle is calculated, the relative angle can be stored in the system and the aircraft is controlled to maintain the relative angular movement during subsequent control. The way to calculate the relative angle based on the initial position information is:

During the movement of the aircraft, the pitch angle of the camera unit 25 mounted on the aircraft 23 can also be adjusted to maintain the control system 22 in the photographing screen of the camera unit. The pitch angle is such that The lens of the camera 25 on the aircraft 23 is always facing or facing the pitch angle of the control system 22. The aircraft 23 can continuously adjust the pitch angle during flight to the target position, so that the control system 22 is always held in the photographing screen of the imaging device 25. After the aircraft reaches the target position, the pitch angle can be adjusted back to the same pitch angle as the initial state. The pitch angle of the target position can be calculated according to the following formula:

Where H=|Z _T -Z _F |;

Where θ is the pitch angle, H is the relative distance between the aircraft 23 and the control system 22 in the vertical direction, and Z _T and Z _F are respectively under the control system 22 and the target position in the NED coordinate system. The axial position, D is the relative distance between the aircraft 23 and the control system 22 in the horizontal direction, X _T and Y _T are the north and east axis positions of the control system 22 in the NED coordinate system, respectively, X _F and Y _F are The aircraft 23 is in the north and south axis positions in the northeast NED coordinate system.

After acquiring the position information of the aircraft 23, the control system 22 can also calculate the flight speed that the aircraft should have according to the position information of the aircraft 23 and its own position information to ensure that the aircraft 23 can always follow the control system 22.

For example, when the subject carrying the control system 22 moves in the horizontal direction, the control system 22 can calculate the horizontal flight speed that the aircraft should have according to the position information of the aircraft 23 and its own position information, and send the horizontal flight speed. The airborne flight control system 21 is provided. After receiving the horizontal flight speed, the onboard flight control system 21 can control the aircraft 23 to fly at the horizontal flight speed to cause the aircraft 23 to follow the subject.

For another example, when the subject carrying the control system 22 moves in a vertical direction such as a skydiving or a suspension, the control system 22 can calculate the vertical flight that the aircraft 23 should have based on the position information of the aircraft 23 and its own position information. Speed and send the vertical flight speed to the onboard flight control system 21. After receiving the vertical flight speed, the onboard flight control system 21 can control the aircraft 23 to fly at the vertical flight speed to cause the aircraft 23 to follow the subject.

For another example, when the subject carrying the control system 22 moves in both the horizontal direction and the vertical direction, such as tilting up or tilting downward, the control system 22 can be based on the position information of the aircraft 23. The position information of the information and its own calculates the horizontal flight speed and the vertical flight speed that the aircraft 23 should have, and transmits the horizontal flight speed and the vertical flight speed to the onboard flight control system 21. After receiving the horizontal flight speed and the vertical flight speed, the airborne flight control system 21 can control the aircraft 23 to fly at the horizontal flight speed and the vertical flight speed to cause the aircraft 23 to follow the subject.

Illustratively, the horizontal flight speed of the aircraft 23 can be controlled as follows:

Wherein V _X is the flight speed of the control system 22 indicating the aircraft 23 on the north axis in the NED coordinate system, and V _Y is the control system 22 indicating that the aircraft 23 is in the NED coordinate system. east axis flight speed, V is the aircraft control system 22 to obtain the ground speed of 23, V _m is the control system 22 of the aircraft obtained following the maximum velocity is 23, k is a gain coefficient, d For the dead zone radius,

For the relative angle, D is the distance between the aircraft 23 and the control system 22 in the horizontal direction, and X _T and Y _T are the north and east axes of the control system 22 in the NED coordinate system, respectively. X _F and Y _F are the north and east axis positions of the aircraft 23 in the northeast down NED coordinate system.

Illustratively, the vertical flight speed of the aircraft 23 can also be controlled as follows:

H=|Z _T -Z _F |;

Wherein, V is the vertical flight velocity, V _m is the maximum of the following speed control system 22 of the aircraft 23 is obtained, k is a gain coefficient, d is the radius of the dead zone, H of the aircraft 23 with the smart The distances of the terminals in the vertical direction, Z _T and Z _F are the lower axis positions of the smart terminal and the target position in the NED coordinate system, respectively.

In addition, the control system 22 can also send a command to take off, hover, land, or return to the onboard flight control system 21 to control the aircraft 21 to take off, hover, land, or return.

In one embodiment, the control system 22 can also transmit the second location information to the onboard flight control system 21, which can be lost when the aircraft is disconnected from the control system 22 The aircraft 23 is controlled to move to a position corresponding to the last received second position information.

In an embodiment, the control system 22 may further calculate a difference between the second location information and the initial second location information, where the initial second location information is location information of the smart terminal acquired by the smart terminal last time. If the difference is greater than a preset distance threshold, the control system 22 may calculate a target position of the aircraft based on the first position information and the second position information.

It can be seen that the control system of the multi-rotor aircraft provided by the embodiment generates, according to the first position information of the aircraft and the current second position information of the terminal, the target position adjusted by the aircraft following the shooting, and generates and sends the terminal. The corresponding control system to the airborne flight control system correspondingly controls the aircraft to move to the target position at a pre-stored relative angle, thereby realizing automatic follow-up of the aircraft. Moreover, during the movement of the aircraft, the pitch angle of the camera mounted on the aircraft may also be adjusted to keep the smart terminal in the photographing screen of the camera. Therefore, when the object to be photographed carries the smart terminal, the camera mounted on the aircraft can automatically follow the subject to shoot, avoiding manual manipulation of the aircraft, not only saving the shooting cost, but also improving the shooting efficiency.

Illustratively, the control device of the multi-rotor aircraft described above may further include a communication relay device 26 for increasing the communication distance between the onboard flight control system 21 and the control system 22. For example, the control system of the multi-rotor aircraft 23 can relay signals via a Bluetooth communication box. The drone and the Bluetooth communication box can communicate wirelessly through the wireless data transmission module, and the Bluetooth communication box and the control system 22 can wirelessly communicate via Bluetooth, so that the drone and the smart phone can ensure reliable communication quality and speed within 1 km. . The present invention is not limited to relaying using the communication relay method, and is merely illustrative, not limiting.

In one embodiment, the onboard flight control system 21 may include: a first GPS module 211, a microprocessor 212, a wireless data transmission module 213, and an Altitude Heading Reference System (Altitude Heading Reference System, Referred to as AHRS) 214 and barometer 215.

The microprocessor 211 can run a related algorithm for the single chip microcomputer, and acquires its posture and position through the GPS module 211, the azimuth reference system 214, and the barometer 215, so as to realize flight control of the aircraft where the airborne flight control system 21 is located, such as The attitude and position control of the multi-rotor drone completes the autonomous hover or cruise flight.

The microprocessor 211 can also perform bidirectional data communication with the control system 22 via the wireless data transmission module 213 to obtain control commands transmitted by the control system 22. The control commands that the onboard flight control system 21 can receive include, but are not limited to, target positions in the horizontal and vertical directions, target speeds in the horizontal and vertical directions, target relative angles of the aircraft, and the like. The onboard flight control system 21 can also control the attitude and position of the drone according to the received control commands.

The onboard flight control system 21 can also control the pitch and/or roll angle rotation of the camera device 25 by outputting a PWM (Pulse Width Modulation) signal according to the received control command, that is, controlling the pitch angle of the camera device 25 and At least one of the roll angles controls the shooting field of the image pickup device 25.

The communication relay device 26 may include a wireless data transmission module 261 and a Bluetooth module 262. The communication relay device 26 can communicate with the onboard flight control system 21 via the wireless data transmission module 261, communicate with the control system 22 via the Bluetooth module 262, and forward the data transmitted between the two as a relay. A stable and long distance communication link is established between the drone and the control system 22.

The control system 22 can include a GPS module 221, a control module 222, and a Bluetooth module 223.

The control module 222 can be an APP (application) installed on the control system 22. The APP can obtain the GPS positioning information of the control system 22 through the GPS module, and perform data communication with the UAV through the Bluetooth module 223, according to the position information of the UAV transmitted by the onboard flight control system 21 and the control system 22 The position information is obtained by running the following flight algorithm to obtain the relative angle and the flight speed, and is sent to the onboard flight control system 21 to control the flight and shooting of the drone.

The invention realizes that the drone fully follows the flight of the user carrying the intelligent terminal by the cooperation of the multi-rotor UAV flight control system and the intelligent terminal running the corresponding App, and aligns the camera with the user's area. When the user carries the smart terminal, the real-time following aerial photography can be automatically realized; when the smart terminal is placed on a car, a ship, etc., the following cruise and shooting of the drone can be automatically realized. The The invention can be widely applied to fields such as entertainment, aerial photography, extreme sports, monitoring, and detection.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A method for controlling a multi-rotor aircraft, comprising the steps of:

Calculating a horizontal relative distance, a vertical relative distance, and a relative angle of the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively horizontal directions of the aircraft and the intelligent terminal And a desired distance in a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

During the smart terminal move, perform the following steps:

Acquiring first location information of the aircraft in real time, and acquiring second location information of the smart terminal, and calculating a target location of the aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information, according to the first Position information and target position to calculate the displacement of the aircraft;

Generating control information based on the displacement, and transmitting the control information to an onboard flight control system of the aircraft, controlling the aircraft to move to the target position with the displacement to cause a lens of the camera on the aircraft Always facing or facing the location of the smart terminal during the movement.
The control method of a multi-rotor aircraft according to claim 1, wherein the calculating the relative angle between the aircraft and the intelligent terminal according to the initial position of the aircraft and the initial position of the intelligent terminal comprises:

Calculate the relative angle between the aircraft and the intelligent terminal according to the following formula:

among them,
For the relative angles, X F0 and Y F0 are the coordinate values of the north and east axes of the initial position of the aircraft in the NED coordinate system, respectively, and X T0 and Y T0 are the initial positions of the smart terminals in the NED coordinate system, respectively. Coordinate values for the north and east axes.
A method for controlling a multi-rotor aircraft, comprising the steps of:

Receiving, by the receiver, the first position information of the aircraft acquired by the flight control system, and acquiring the second position information of the intelligent terminal;

Calculating a target position of the aircraft according to a preset horizontal relative distance, a vertical relative distance, a relative angle, and the second position information, and calculating a displacement of the aircraft according to the first position information and the target position; wherein the horizontal relative distance and The vertical relative distance is the level of the aircraft and the intelligent terminal, respectively. a desired distance in a direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

Generating control information according to the displacement, transmitting the control information to the onboard flight control system, controlling the aircraft to move to the target position with the displacement, so that the lens of the camera on the aircraft is The mobile device always faces or faces the location of the smart terminal.
The method of controlling a multi-rotor aircraft according to claim 3, further comprising the steps of:

Calculate the target position of the aircraft according to the following formula:

|Z T -Z F |=H;

Where (X F , Y F , Z F ) is the coordinate of the target position, X T and Y T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, and D is the horizontal relative distance, H is The vertical relative distance,
For the relative angles, Z T and Z F are the lower axis positions of the smart terminal and the target position in the NED coordinate system, respectively, and X F and Y F are the north axes of the aircraft in the northeast lower NED coordinate system. And the east axis position.
The control method of a multi-rotor aircraft according to claim 1, wherein when the aircraft is controlled to move to the target position with the displacement, the method further comprises the following steps:

During the movement of the aircraft, the pitch angle of the camera mounted on the aircraft is adjusted to maintain the terminal in the photographing screen of the camera.
The control method of a multi-rotor aircraft according to claim 5, further comprising the following steps after the aircraft reaches the target position:

Adjust the pitch angle of the camera according to the following formula:

Where H=|Z T -Z F |;

Where θ is the pitch angle, H is the vertical relative distance, Z T and Z F are the lower axis positions of the smart terminal and the target position in the NED coordinate system, respectively, and D is the horizontal relative distance, X T and Y T are the north and east axis positions of the intelligent terminal in the NED coordinate system, respectively, and X F and Y F are the north and east axis positions of the aircraft in the northeast lower NED coordinate system.
The method of controlling a multi-rotor aircraft according to claim 1, further comprising the steps of:

Sending, hovering, landing or returning commands to the onboard flight control system, correspondingly controlling the aircraft to take off, hover, land or return.
The method of controlling a multi-rotor aircraft according to claim 1, further comprising the steps of:

Transmitting the second location information to the onboard flight control system, the airborne flight control system controlling the aircraft to move to the last received second location information when the aircraft is disconnected from the intelligent terminal Corresponding location.
The method of controlling a multi-rotor aircraft according to claim 1, further comprising the steps of:

The horizontal flight speed of the aircraft is controlled according to the following formula:

Wherein, V X is a smart terminal indicating a flight speed of the aircraft on a north axis in the NED coordinate system, and V Y is a smart terminal indicating a flight speed of the aircraft on an east axis in the NED coordinate system, V is intelligent terminal obtained the aircraft ground speed, the maximum speed of the aircraft to follow as the intelligent terminal V m obtained, k is a gain coefficient, d is the radius of the dead zone,
For the relative angle, D is the horizontal relative distance, X T and Y T are the north and east axis positions of the smart terminal in the NED coordinate system, respectively, and X F and Y F are the aircraft in the northeast. The north and east axis positions in the lower NED coordinate system.
The method of controlling a multi-rotor aircraft according to claim 1, further comprising the steps of:

The vertical flight speed of the aircraft is controlled according to the following formula:

H=|Z T -Z F |;

Where V is the vertical flight speed, V m is the maximum following speed of the aircraft obtained by the intelligent terminal, k is the gain coefficient, d is the dead zone radius, H is the vertical relative distance, Z T and Z F respectively The lower axis position of the smart terminal and the target position in the NED coordinate system.
The control method of a multi-rotor aircraft according to claim 5, wherein the pitch angle is a pitch angle at which the lens of the image pickup device on the aircraft is always oriented or facing the smart terminal.
The method of controlling a multi-rotor aircraft according to claim 3, further comprising the steps of:

Calculating a difference between the second location information and the initial second location information; where the initial second location information is location information of the smart terminal that is acquired by the smart terminal last time;

And if the difference is greater than a preset distance threshold, calculating a target position of the aircraft according to the first position information and the second position information.
A control device for a multi-rotor aircraft, comprising:

a first calculating device, configured to calculate a horizontal relative distance, a vertical relative distance, and a relative angle between the aircraft and the smart terminal according to an initial position of the aircraft and an initial position of the smart terminal; wherein the horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, the relative angle being an angle of a relative position vector formed by the projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane on a horizontal plane;

During the movement of the smart terminal, perform the functions of the following devices:

a second computing device, configured to acquire first location information of the aircraft in real time, and acquire second location information of the smart terminal, and calculate an object of the aircraft according to the horizontal relative distance, the vertical relative distance, the relative angle, and the second location information Positioning, calculating a displacement of the aircraft according to the first position information and the target position;

a first control device, configured to generate control information according to the displacement, and send the control information to an onboard flight control system of the aircraft, and control the aircraft to move to the target position with the displacement, so that the The lens of the camera on the aircraft always faces or faces the position of the smart terminal during the movement.
A control device for a multi-rotor aircraft, comprising:

a location acquiring device, configured to receive first location information of the aircraft acquired by the flight control system, and acquire second location information of the smart terminal;

a third calculating device, configured to calculate a target position of the aircraft according to the preset horizontal relative distance, the vertical relative distance, the relative angle, and the second position information, and calculate the displacement of the aircraft according to the first position information and the target position; The horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the smart terminal in a horizontal direction and a vertical direction, and the relative angle is a projection of the aircraft on a horizontal plane and a projection of the intelligent terminal on a horizontal plane. The angle of the formed relative position vector on the horizontal plane;

a second control device, configured to generate control information according to the displacement, send the control information to the onboard flight control system, and control the aircraft to move to the target position with the displacement, so that the aircraft The lens of the upper camera is always facing or facing the position of the smart terminal during the movement.
A control system for a multi-rotor aircraft, comprising: an onboard flight control system and a control system;

The control system is coupled to the aircraft by the onboard flight control system;

The airborne flight control system is configured to acquire first position information of the aircraft, and send the first position information to the control system;

The control system is configured to acquire current second location information of the smart terminal according to a preset horizontal phase Calculating a target position of the aircraft for the distance, the vertical relative distance, the relative angle, and the second position information, calculating a displacement of the aircraft according to the first position information and the target position, generating control information according to the displacement, and using the control information Transmitting to the onboard flight control system; wherein the horizontal relative distance and the vertical relative distance are respectively a desired distance between the aircraft and the intelligent terminal in a horizontal direction and a vertical direction, wherein the relative angle is that the aircraft is at a horizontal plane The angle between the projection on the upper surface and the projection of the intelligent terminal on the horizontal plane on the horizontal plane;

The onboard flight control system is further configured to control the aircraft to move to the target position with the displacement such that a lens of the camera device on the aircraft always faces or faces the smart terminal during the moving process. Where it is.
A control system for a multi-rotor aircraft according to claim 15 further comprising communication relay means for establishing a communication connection between said onboard flight control system and said control system.