WO2018077113A1

WO2018077113A1 - Method and apparatus for determining return direction, unmanned aerial vehicle, and computer readable storage medium

Info

Publication number: WO2018077113A1
Application number: PCT/CN2017/106926
Authority: WO
Inventors: 李圣源; 成转鹏
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2016-10-28
Filing date: 2017-10-19
Publication date: 2018-05-03
Also published as: CN106483953A; CN106483953B

Abstract

Disclosed are a method and apparatus for determining a return direction. The method for determining a return direction comprises: respectively converting electromagnetic wave signals coming from a return point (P) and respectively received by a first antenna and a second antenna into a first current signal and a second current signal (step 20); calculating a lag angle and a current phase difference between the first current signal and the second current signal (step 40); according to a distance (d) between the first antenna and the second antenna, the lag angle and the current phase difference, calculating an included angle (θ) formed by a connection line between the first antenna and the second antenna and a connection line between an unmanned aerial vehicle and a return point (step 60); and according to the included angle (θ), determining a return direction of the unmanned aerial vehicle (step 80), so that the unmanned aerial vehicle can be found, so as to solve the problem that the unmanned aerial vehicle cannot be found where a compass of the unmanned aerial vehicle is interfered with and does not return to normal for a long time.

Description

Method, device, drone and computer readable storage medium for determining return direction

[Technical Field]

The present application relates to an aircraft, and more particularly to a method and apparatus for determining a return direction, a drone, and a computer readable storage medium.

【Background technique】

After the UAV of the prior art flies away from the remote controller, the flight direction is mainly identified by the onboard compass. When the compass is disturbed or accidentally damaged, the drone cannot distinguish the direction through the compass, and the drone is only suspended. Waiting for the compass to return to normal, when the compass has not returned to normal for a long time, no one will automatically land, and finally the drone can not be recovered.

[Application Content]

Based on this, the present application provides a method, a device, a drone, and a computer readable storage medium for determining a return direction, so as to be able to solve the problem that the drone of the drone is disturbed and does not return to normal for a long time. Unable to retrieve technical issues.

In a first aspect, the embodiment of the present application provides a method for determining a return direction, which is applied to a drone, where the drone has a first antenna and a second antenna, and the method includes:

Converting an electromagnetic wave signal from the return point received by the first antenna into a first current signal;

Converting an electromagnetic wave signal from the return point received by the second antenna into a second current signal;

Calculating a retardation angle and a current phase difference between the first current signal and the second current signal;

Calculating a connection between the first antenna and the second antenna and the unmanned according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference The angle formed by the connection between the machine and the return point;

Based on the included angle, the return direction of the drone is determined.

In an embodiment of the present application, the included angle is calculated by the following formula:

Where ψ is the current phase difference, α is the lag angle, β is the phase constant of the electromagnetic wave propagating in the medium, and d is the distance between the first antenna and the second antenna.

In an embodiment of the present application, determining the return direction of the drone according to the included angle include:

Determining whether the angle is 90° or 270°;

When the angle is not 90° or 270°, the rotation angle is calculated according to the angle;

The return direction of the drone is determined according to the rotation angle.

In an embodiment of the present application, the drone further includes a third antenna, the first antenna and the second antenna are located at a nose of the drone, and the third antenna is located at the The tail of the human machine, the method further includes:

Receiving an electromagnetic wave signal from the return point through the third antenna when the angle is equal to 90° or 270°;

Determining whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If yes, it is determined that the current heading of the drone is the returning direction.

In an embodiment of the present application, the method further includes:

Determining, when the phase of the electromagnetic wave signal received by the third antenna is ahead of a phase of the electromagnetic wave signal received by the first antenna or the second antenna, determining a return direction of the drone The current flight direction of the machine is opposite.

In an embodiment of the present application, the method further includes:

Determining, by the preset time, whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If not, the message that the drone arrives nearby is sent to the return point.

In a second aspect, the embodiment of the present application provides a returning direction determining apparatus, which is applied to a drone, wherein the drone has a first antenna and a second antenna, and the apparatus includes:

a signal conversion module, configured to convert an electromagnetic wave signal from the returning point received by the first antenna into a first current signal, and convert the electromagnetic wave signal from the returning point received by the second antenna into a second Current signal

a first calculating module, configured to calculate a lag angle and a current phase difference between the first current signal and the second current signal;

a second calculating module, configured to calculate a connection between the first antenna and the second antenna according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference An angle formed by a line connecting the drone and the return point;

And a determining module, configured to determine a return direction of the drone according to the included angle.

In an embodiment of the present application, the second calculating module calculates the angle according to the following formula:

In an embodiment of the present application, the determining module includes:

a first determining module, configured to determine whether the angle is 90° or 270°;

a heading adjustment module, configured to: when the first judging module judges that the angle is not 90° or 270°, calculate a rotation angle according to the angle, and adjust the no according to the rotation angle The return direction of the man-machine.

In an embodiment of the present application, the drone further includes a third antenna, the first antenna and the second antenna are located at a nose of the drone, and the third antenna is located at the The tail of the man machine, the determining module further includes:

a receiving module, configured to receive, by the third antenna, an electromagnetic wave signal from the returning point when the first determining module determines that the angle is equal to 90° or 270°;

a second determining module, configured to determine whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

When the determination result of the second determining module is YES, the determining module determines that the current heading of the drone is the returning direction.

In an embodiment of the present application, when the determination result of the second determining module is negative, the determining module determines that the returning direction of the drone is a direction opposite to a current flight direction of the drone.

In an embodiment of the present application, the apparatus further includes:

a third determining module, configured to determine, at a preset time, whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

And a sending module, configured to send, to the returning point, a message that the drone arrives nearby when the determination result of the third determining module is negative.

In a third aspect, an embodiment of the present application provides a drone, including:

body;

a first antenna is disposed on a nose side of the air body for receiving an electromagnetic wave signal from a return point;

a second antenna is disposed on the nose side of the airframe for receiving an electromagnetic wave signal from the return point;

a receiver, configured to convert an electromagnetic wave signal received by the first antenna into a first current signal, Converting an electromagnetic wave signal received by the second antenna into a second current signal and calculating a retardation angle and a current phase difference between the first current signal and the second current signal;

a controller, configured to calculate a connection between the first antenna and the second antenna according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference An angle formed by a line connecting the drone to the return point; and

Based on the included angle, the return direction of the drone is determined.

In an embodiment of the present application, the controller calculates the angle according to the following formula:

In an embodiment of the present application, the controller is further configured to:

Determining whether the angle is 90° or 270°;

The return direction of the drone is adjusted according to the rotation angle.

In an embodiment of the present application, the drone further includes a third antenna, and the third antenna is configured to receive an electromagnetic wave signal from the return point when the angle is equal to 90° or 270°. ;

The controller is also used to:

If it is determined that the phase of the electromagnetic wave signal received by the third antenna is ahead of the phase of the electromagnetic wave signal received by the first antenna or the second antenna, determining that the return direction of the drone is the same as the The direction in which the man-machine is currently flying in the opposite direction.

If not, the message that the drone arrives nearby is sent to the return point.

In a fourth aspect, an embodiment of the present application provides a drone, including a memory and a processor, where the computer stores a computer program, and when the computer program is executed by the processor, the processor performs the foregoing returning Direction determination method.

In a fifth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, when the computer program is executed by a processor, causing the processor to perform the return direction determining method described above. The beneficial effect of the embodiment of the present application is that the method for determining the returning direction provided by the embodiment of the present application converts the electromagnetic wave signal from the returning point received by the first antenna into the first current signal, and the second antenna receives the received signal from the second antenna. The electromagnetic wave signal of the return point is converted into the second current signal; the lag angle and the current phase difference between the first current signal and the second current signal are calculated; according to the distance between the first antenna and the second antenna, the lag angle and the current phase The difference is calculated by the angle between the connection between the first antenna and the second antenna and the connection between the drone and the return point, and determines the return direction of the drone so that the drone can be retrieved to solve The technical problem that the drone cannot be retrieved when the drone's compass is disturbed and does not return to normal for a long time.

[Description of the Drawings]

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limit unless specifically stated otherwise;

FIG. 1 is a flowchart of a method for determining a return direction according to an embodiment of the present application;

2 is a schematic diagram of a drone receiving a return point signal according to an embodiment of the present application;

FIG. 3 is a partial flowchart of a method for determining a return direction according to an embodiment of the present application;

4 is a flowchart of a method for determining a return direction according to another embodiment of the present application;

FIG. 5 is a partial flowchart of a method for determining a return direction according to another embodiment of the present application;

FIG. 6 is a structural block diagram of a returning direction determining apparatus according to an embodiment of the present application;

FIG. 7 is a structural block diagram of a determining module of a returning direction determining apparatus according to an embodiment of the present application;

FIG. 8 is a structural block diagram of a determining module in a returning direction determining apparatus according to another embodiment of the present disclosure;

FIG. 9 is a structural block diagram of a returning direction determining apparatus according to another embodiment of the present disclosure;

FIG. 10 is a structural block diagram of a receiver in a return direction determining apparatus according to another embodiment of the present disclosure;

FIG. 11 is a system block diagram of a receiver according to an embodiment of the present application;

12 is a schematic structural diagram of a drone provided by an embodiment of the present application;

FIG. 13 is a structural block diagram of a drone provided by an embodiment of the present application;

14 is a structural block diagram of a drone according to another embodiment of the present application;

FIG. 15 is a schematic structural diagram of hardware of a drone provided by an embodiment of the present application.

【detailed description】

In order to make the objects, technical solutions, and advantages of the present application more comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

As shown in FIG. 1 , a method for determining a return direction of a drone provided by an embodiment of the present application includes:

Step 20: Convert the electromagnetic wave signal received by the first antenna from the returning point into a first current signal, and convert the electromagnetic wave signal received by the second antenna from the returning point into a second current signal.

In this embodiment, when the compass of the unmanned aerial vehicle of the present application is disturbed, the antenna of the drone can still receive the electromagnetic wave signal of the remote controller. Of course, the flight direction of the drone and the nose direction of the drone can be defined according to the specific model or style of the drone. The purpose of the application is to determine the return direction of the drone, thus determining the return of the drone. The method of orientation is within the scope of protection of the application of the present application. In the embodiment of the present application, specifically, the drone is set as a quadrotor UAV, the head of the gimbal camera is set as the head of the drone, and the insertion end of the battery is the tail of the drone, and is also set. The direction of flight of the drone is the direction in which the nose of the drone is pointing. The first antenna and the second antenna are located in a tripod on the nose side of the quadrotor UAV, wherein the first antenna and the second antenna are both vertically polarized antennas.

Step 40: Calculate a retardation angle and a current phase difference between the first current signal and the second current signal.

In this embodiment, specifically, the value of the signal lag phase between the first current signal and the second current signal is a lag angle. Wherein, the first antenna and the second antenna have the same current distribution form, and the current phase difference between the first current signal and the second current signal is caused due to the different positions of the first antenna and the second antenna. Optionally, calculating the lag angle and the current phase difference between the first current signal and the second current signal may respectively calculate a lag angle and a current phase difference between the two, or may calculate a lag angle and a current phase Poor sum value.

Step 60: Calculate a connection between the connection between the first antenna and the second antenna and the connection between the drone and the return point according to the distance between the first antenna and the second antenna, the lag angle and the current phase difference. Angle.

In an embodiment of the present application, the connection between the UAV and the return point P corresponds to a line from the first antenna to the return point P, as described below: in the binary antenna array shown in FIG. 2, The distance between the receiving point 0 of the first antenna and the receiving point 1 of the second antenna to the returning point P is r ₀ and r ₁ , respectively, and since the returning point P is far away, it can be approximated that r ₀ and r _{1 are} parallel. Wherein the angle is also between a receiving point 0 of the first antenna and a receiving point 1 of the second antenna rotating counterclockwise to a line between the electromagnetic wave signal received by the first antenna (ie, the line where the 0P line is located) Angle; since the receiving point 0 of the first antenna is far from the receiving point 1 of the second antenna to the returning point P, the straight line of the first antenna from the pointing back point P (ie, the line where the 0P line segment is located) can be approximated The straight line from the second antenna pointing to the return point P (ie, the line where the 1P line segment is located) is parallel, so the angle is also the counterclockwise rotation of the line between the receiving point 0 of the first antenna and the receiving point 1 of the second antenna. The angle between the line from the second antenna pointing to the return point P (the line where the 1P line is located). As shown in FIG. 2, the distance between the first antenna and the second antenna is d. It can be understood that since the size of the antenna on the drone is much smaller than the distance between the drone and the return point, each antenna can be approximated as a point, and the distance between the first antenna and the second antenna is approximated. Look at the distance between the two points. In addition, when considering the size of the antenna, the angle formed by the connection between the first antenna and the second antenna and the connection between the drone and the return point can be regarded as the first antenna and the second antenna. The angle between the plane formed and the connection between the drone and the return point.

Step 80: Determine a return direction of the drone according to the included angle.

The method for determining the return direction of the unmanned aerial vehicle provided by the embodiment of the present application converts the electromagnetic wave signal received by the first antenna into a first current signal, converts the electromagnetic wave signal received by the second antenna into a second current signal, and calculates the first current. a lag angle and a current phase difference between the signal and the second current signal; calculating a connection between the first antenna and the second antenna based on a distance between the first antenna and the second antenna, a lag angle, and a current phase difference The angle formed by the connection between the man-machine and the return point determines the return direction of the drone, so that the drone can be retrieved to solve the situation that the drone's compass is disturbed and does not return to normal for a long time. Under the technical problem that the drone cannot be retrieved.

In an embodiment of the present application, the calculating the connection between the first antenna and the second antenna and the drone and returning according to the distance between the first antenna and the second antenna, the lag angle, and the current phase difference The formula for the angle θ formed by the line between points is:

In this embodiment, in the binary antenna array shown in FIG. 2, the distance between the receiving point 0 of the first antenna and the receiving point 1 of the second antenna to the returning point P is r ₀ and r ₁ , respectively, due to the return point. Far away, it can be approximated that r ₀ and r _{1 are} parallel. When considering the magnitude of the electric field strength (the magnitude of the electric field strength), it can be considered that the magnitudes of the electric field strengths of the first antenna and the second antenna are equal, but the phase of the current I _{1 of the} second antenna and the current I ₀ of the first antenna are calculated. When the difference I ₁ /I ₀ is concerned, the path difference caused by the difference between the positions of the first antenna and the second antenna is considered, and r ₁ =r ₀ -dcosθ is used. That is, dcos θ is the path phase difference caused by the difference between the P point and the distance between the first antenna and the P point to the second antenna.

When the current distribution patterns of the first antenna and the second antenna are the same (both in a sine wave form), the current phase difference between the first antenna and the second antenna is obtained due to the path phase difference minus the lag angle, the first antenna and the second antenna When the ratio of the absolute value of the current of the antenna is I ₁ /I ₀ =m, and the current I ₁ is delayed by α from α ₀ , that is, I ₁ =mI ₀ e ^-jα , the electromagnetic wave reaches the receiving point 1 of the first antenna. The electromagnetic wave at the receiving point 0 of the second antenna is advanced by one phase, and the value is

ψ=βdcosθ-α

As shown in FIG. 3, in another embodiment, determining, according to the included angle, a return direction of the drone includes:

Step 82: Determine whether the angle is 90 or 270.

Step 83: When the angle is not 90° or 270°, the rotation angle is calculated according to the angle;

Step 84: Adjust the return direction of the drone according to the rotation angle.

In an embodiment of the present application, when the angle is not 90° or 270°, the body of the drone is rotated in the plane of the angle. Rotating the body of the drone in the plane of the angle is equivalent to rotating the head of the drone clockwise or counterclockwise in the plane of the angle.

Assuming that the rotation angle is represented by γ, the rotation angle γ includes a clockwise rotation angle γX and a counterclockwise rotation angle γY. Specifically, the rotation angle γ of the nose of the drone is calculated according to the included angle θ: γ=90°-θ. When the value of γ is calculated as the positive value in the above formula, this value can be regarded as the clockwise rotation angle γX. If the value of γ is calculated as a negative value in the above formula, the absolute value of this value can be regarded as the counterclockwise rotation angle. γY. After calculating the rotation angle γ, the magnitudes of the clockwise rotation angle γX and the counterclockwise rotation angle γY are continuously compared, and a small angle between the clockwise rotation angle γX and the counterclockwise rotation angle γY is selected for rotation. Obviously, the sum of the clockwise rotation angle γX and the counterclockwise rotation angle γY is 360°. For example, if the angle θ is equal to 30°, the clockwise rotation angle γX is equal to 60°, and the counterclockwise rotation angle γY is equal to 300°. Since 60°<300°, the clockwise rotation angle is selected to make the nose of the drone smooth. The hour hand rotates 60° to improve the rotation efficiency. For another example, if the angle θ is equal to 210°, the clockwise rotation angle γX is equal to 240°, and the counterclockwise rotation angle γY is equal to 120°. Since 120°<240°, the counterclockwise rotation angle is selected to allow the nose of the drone. Rotate 120° counterclockwise to increase the rotation efficiency.

As shown in FIG. 3, in still another embodiment, the method further includes:

Step 85: When the angle is equal to 90° or 270°, the electromagnetic wave signal from the return point is received through the third antenna.

In this embodiment, when the angle is equal to 90° or 270°, there may be a direction in which the head of the drone is aligned with the electromagnetic wave of the remote controller, or it may be that the tail of the drone is aligned with the remote control. The electromagnetic wave of the device is in the wave direction. At this time, it is necessary to continue to receive the electromagnetic wave signal using the third antenna of the tail of the drone, and further, the electromagnetic wave signal received by the third antenna can be converted into the third current signal.

Step 86: Determine whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna.

In this embodiment, according to the third current signal, and the first current signal and the second current signal, determining whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the first current signal or the phase of the second current signal. . Since the angle is equal to 90° or 270° at this time, the phase of the first current signal is equal to the phase of the second current signal, which is equivalent to the direction of the electromagnetic wave of the head or the tail of the drone that is aligned with the remote controller. It is only necessary to determine whether the phase of the third current signal lags behind the phase of the first current signal, or simply determine whether the phase of the third current signal lags behind the phase of the second current signal.

Step 87: If yes, determine that the current heading of the drone is the returning direction.

In this embodiment, if the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna, it indicates that the head of the drone is aligned with the electromagnetic wave of the return point. Direction, keep the flight direction of the drone unchanged, the drone can fly to the rice Hani single.

Step 88: If no, determine that the return direction of the drone is opposite to the current flight direction of the drone.

In this embodiment, the phase of the electromagnetic wave signal received by the third antenna does not lag the phase of the electromagnetic wave signal received by the first antenna, or the phase of the electromagnetic wave signal received by the third antenna does not lag behind the second antenna. The phase of the electromagnetic wave signal indicates that the tail of the drone is aligned with the direction of the electromagnetic wave coming from the return point, and the flight direction of the drone is adjusted to the direction opposite to the current flight direction, and the drone can Fly to the return point.

As shown in FIG. 4, in another embodiment, the method further includes:

Step 120: Determine, at a preset time, whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna.

Wherein, in the process of the UAV flying to and from the waypoint, the first antenna, the second antenna and the third antenna are still receiving electromagnetic wave signals. Specifically, the third antenna can be judged once at intervals. Whether the phase of the electromagnetic wave signal lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna, and the preset time is the interval time, and can be set to any time between 5 seconds and 5 minutes, or Set according to actual needs.

If yes, proceed to step 120 to determine whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna.

In this embodiment, if the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna, it indicates that the drone has not yet flown to the vicinity of the return point. Then you need to continue flying and continue to judge.

Step 140: If no, send a message to the returning point that the drone arrives nearby.

In this embodiment, if the phase of the electromagnetic wave signal received by the third antenna does not lag the phase of the electromagnetic wave signal received by the first antenna, or the phase of the electromagnetic wave signal received by the third antenna does not lag behind the second antenna After receiving the phase of the electromagnetic wave signal, the drone has already flown through the return point. At this time, the step 120 is stopped, and the drone is sent to the nearby point to arrive at the nearby message. Of course, the flight can be stopped, waiting for the flight. The command to return to the point. Specifically, the message to the return point to the nearby arrival may be a short message, an advance message, a multimedia message or a link sent by the communication (the link chain arrives at the drone near the return point), or may be The warning sound of the machine or the light emitted by the drone allows the user to obtain the way the drone is near the return point.

Of course, it is also possible to estimate whether the drone is flying near the remote control according to the position of the GPS (Global Positioning System) module on the drone and the remote control, or other means, as long as the drone can be calculated. The method of the position of the remote controller can be any, and the present application does not limit this.

As shown in FIG. 5, in still another embodiment, the step of calculating a lag angle and a current phase difference between the first current signal and the second current signal includes:

Step 42: The sum of the retardation angle and the current phase difference is obtained by processing the electromagnetic wave signals of the first antenna and the second antenna by the receiver.

The receiver processes the electromagnetic wave signals of the first antenna and the second antenna to obtain a sum of the retardation angle and the current phase difference:

Step 421: Filtering electromagnetic wave signals of the first antenna and the second antenna by using a band pass filter, and filtering the interference signal to obtain a signal of an allowable frequency band;

Step 422: Amplifying the electromagnetic wave signal of the allowable frequency band by an low noise amplifier to be an amplified signal;

Step 423: Multiplying the amplified signal and the AC signal of the drone by a multiplier to obtain a composite signal. number;

Step 424: Amplify the composite signal by an intermediate frequency amplifier to obtain an intermediate frequency amplified signal.

Step 425: culling the high frequency signal of the intermediate frequency amplified signal by a low pass filter to obtain a desired analog signal;

Step 426: Convert the required analog signal corresponding to the first antenna and the required analog signal corresponding to the second antenna into a digital signal and output the synthesized digital signal, respectively.

Step 427: Acquire the synthesized digital signal by using a data acquisition module.

Step 428: The collected composite digital signal is processed by the signal vector data processing module to obtain a sum of the retardation angle and the current phase difference.

In this embodiment, the number of receivers on the drone is at least one, and the first antenna, the second antenna, and the third antenna may be respectively configured with one receiver.

A block diagram of receiver 580 is shown in FIG. The signal streams of the electromagnetic signals of the first antenna and the second antenna entering the receiver 580 are respectively from the band pass filter 581 to the low noise amplifier 582, the multiplier 583, the intermediate frequency amplifier 584, the low pass filter 585, the analog to digital conversion unit 586, The data acquisition unit 587 finally arrives at the signal vector data processing unit 588 to obtain the sum of the retardation angle and the current phase difference.

In other embodiments, the values of the retardation angle and the current phase difference may be obtained by processing the electromagnetic wave signals of the first antenna and the second antenna by the receiver, respectively.

As shown in FIG. 6 , the embodiment of the present application further provides a device 500 for a return direction. The device includes a signal conversion module 510 , a first calculation module 520 , a second calculation module 530 , and a determination module 540 .

The signal conversion module 510 is configured to convert the electromagnetic wave signal from the return point received by the first antenna into a first current signal, and convert the electromagnetic wave signal from the return point received by the second antenna into a second current signal;

a first calculating module 520, configured to calculate a lag angle and a current phase difference between the first current signal and the second current signal;

a second calculating module 530, configured to calculate a connection between the first antenna and the second antenna, and a drone and a return point according to a distance, a lag angle, and a current phase difference between the first antenna and the second antenna The angle formed by the connection between the two;

The determining module 540 is configured to determine a return direction of the drone according to the included angle.

In an embodiment of the present application, the signal conversion module 510 may be a receiver of the drone, and the first calculation module 520, the second calculation module 530, and the determination module 540 may be a flight control chip of the drone.

It should be noted that the method for adjusting the flight direction of the UAV proposed by the embodiment of the present application and the method for adjusting the flight direction of the UAV proposed by the method embodiment of the present application are based on the same inventive concept, the method embodiment and the device implementation. The corresponding technical content in the examples can be applied to each other and will not be described in detail herein.

The apparatus 500 for adjusting the flight direction of the drone provided by the embodiment of the present application, when the first antenna and the second antenna located in the nose of the drone receive the electromagnetic wave signal emitted by the remote controller, the signal conversion module 510 will be the first The electromagnetic wave signal received by the antenna is converted into a first current signal, and the electromagnetic wave signal received by the second antenna is converted into a second current signal; the first calculating module 520 calculates a lag angle and current between the first current signal and the second current signal. a phase difference; the second calculating module 530 calculates a connection between the first antenna and the second antenna and between the drone and the return point according to the distance between the first antenna and the second antenna, the lag angle, and the current phase difference The angle formed by the connection, the determining module 540 determines the return direction of the drone according to the angle, so that the drone can be retrieved to solve the problem that the drone of the drone is disturbed and does not return to normal for a long time. The technical problem that the drone cannot be retrieved.

In another embodiment, the second calculation module 530 calculates an angle formed by a connection between the first antenna and the second antenna and a connection between the drone and the return point according to the following formula:

Where θ is the angle formed by the connection between the first antenna and the second antenna and the connection between the drone and the remote controller, ψ is the current phase difference, α is the lag angle, and β is the electromagnetic wave in the medium. The phase constant of the medium propagation, d is the distance between the first antenna and the second antenna.

In an embodiment of the present application, the second computing module 530 may be a flight control chip inside the drone.

In still another embodiment, as shown in FIG. 7, the determining module 540 includes a first determining module 541 and a heading adjustment module 542.

The first determining module 541 is configured to determine whether the angle is 90° or 270°;

The heading adjustment module 542 is configured to: when the first determining module 541 determines that the angle is not 90° or 270°, calculate a rotation angle according to the angle, and adjust the drone according to the rotation angle Return direction.

In an embodiment of the present application, the first determining module 541 and the heading adjustment module 542 may be none. The flight control chip inside the man-machine.

In still another embodiment, as shown in FIG. 8 , the determining module 540 further includes: a receiving module 543 and a second determining module 544.

The receiving module 543 is configured to receive an electromagnetic wave signal from the return point through the third antenna when the first determining module 541 determines that the angle is equal to 90° or 270°;

The second determining module 544 is configured to determine whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna and the second antenna;

When the second determining module 544 determines that the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna, the determining module 540 determines the current heading of the drone. For the return direction;

When the second determining module 544 determines that the phase of the electromagnetic wave signal received by the third antenna leads the phase of the electromagnetic wave signal received by the first antenna or the second antenna, the determining module determines the drone The return direction is the opposite direction to the current flight direction of the drone.

In an embodiment of the present application, the receiving module 543 may be a receiver, and the second determining module 544 may be a flight control chip inside the drone.

In another embodiment, as shown in FIG. 9, the apparatus further includes: a third determining module 560 and a sending module 570.

The third determining module 560 is configured to determine, at a preset time, whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna and the second antenna;

The sending module 570 is configured to: when the third determining module 560 determines that the phase of the electromagnetic wave signal received by the third antenna is ahead of the phase of the electromagnetic wave signal received by the first antenna or the second antenna, A message is sent to the return point that the drone arrives nearby.

In an embodiment of the present application, the third determining module 560 may be a flight control chip inside the drone. The transmitting module 570 can be a transmitter of the drone.

As shown in FIG. 10, in still another embodiment, the first calculating module 520 includes: a receiver unit 522, configured to process electromagnetic wave signals of the first antenna and the second antenna to obtain the lag angle and The sum of the current phase differences may be at least one of the number of receiver units 522. Specifically, one receiver unit 522 may be respectively configured for the first antenna, the second antenna, and the third antenna, or only one receiver unit may be used. 522 processing. The receiver unit 522 includes a first band pass filter 5221, a first low noise amplifier 5222, a first multiplier 5223, a first intermediate frequency amplifier 5224, a first low pass filter 5225, and a second band pass filter 5221. ', a second low noise amplifier 5222', a second multiplier 5223', a second intermediate frequency amplifier 5224', a second low pass filter 5225', an analog to digital conversion unit 5226, a data acquisition unit 5227, and a signal vector data processing unit 5228 .

In this embodiment, the first band pass filter 5221, the first low noise amplifier 5222, the first multiplier 5223, the first intermediate frequency amplifier 5224, and the first low pass filter 5225 process the electromagnetic wave signals transmitted by the first antenna. The second band pass filter 5221', the second low noise amplifier 5222', the second multiplier 5223', the second intermediate frequency amplifier 5224', and the second low pass filter 5225' process the electromagnetic wave signals transmitted by the second antenna. .

In this embodiment, the first band pass filter 5221 is configured to filter the electromagnetic wave signal sent by the first antenna, filter the interference signal to obtain a signal of the allowed frequency band corresponding to the first antenna, and use the first low noise amplifier 5222. The first multiplier 5223 is configured to receive the amplified signal and the alternating current signal to output a composite signal; the first intermediate frequency amplifier 5224 amplifies the composite signal to obtain an intermediate frequency amplified signal; The first low pass filter 5225 rejects the high frequency signal of the intermediate frequency amplified signal to obtain a desired analog signal.

In this embodiment, the second band pass filter 5221' is configured to filter the electromagnetic wave signal sent by the second antenna, filter the interference signal to obtain a signal of the allowable frequency band corresponding to the second antenna; and the second low noise amplifier 5222' a signal for amplifying the allowed frequency band is an amplified signal; a second multiplier 5223' for receiving the amplified signal and an alternating current signal, and outputting a composite signal; and a second intermediate frequency amplifier 5224', amplifying the composite signal to obtain The intermediate frequency amplifying signal; the second low pass filter 5225', rejecting the high frequency signal of the intermediate frequency amplified signal to obtain a desired analog signal.

In this embodiment, the analog-to-digital conversion unit 5226 is configured to respectively convert the required analog signal corresponding to the first antenna and the required analog signal corresponding to the second antenna into a digital signal and output the synthesized digital signal; the data collecting unit 5227, For collecting the synthesized digital signal; the signal vector data processing unit 5228 is configured to process the acquired synthesized digital signal to obtain a sum of the retardation angle and the current phase difference.

The embodiment of the present application further provides a drone 600. As shown in FIGS. 12 and 13, the drone 600 includes a body 610, a first antenna 630, a second antenna 640, a receiver 580, and a controller 660.

The body 610 has a handpiece 620. The first antenna 630 and the second antenna 640 are located on the side of the handpiece 620. The receiver 580 is located inside the body 610. The receiver 580 is configured to convert the electromagnetic wave signal received by the first antenna 630 into the first current signal when the first antenna 630 and the second antenna 640 receive the electromagnetic wave signal emitted by the remote controller. The electromagnetic wave signal received by the second antenna 640 is converted into a second current signal. Receiver 580 is also operative to calculate a lag angle and a current phase difference between the first current signal and the second current signal.

The controller 660 is located inside the body 610, and the controller 660 is configured to calculate a connection between the first antenna and the second antenna according to the distance between the first antenna 630 and the second antenna 640, the lag angle, and the current phase difference. The angle formed by the connection between the drone and the return point. The controller 660 is further configured to determine a return direction of the drone 600 according to the included angle.

It should be noted that the method for adjusting the flight direction of the drone proposed by the embodiment of the present application and the method of the present application is based on the same inventive concept, and the method embodiment corresponds to the embodiment of the drone. The technical content can be applied to each other and will not be described in detail here.

The drone 600 provided by the embodiment of the present application, when the first antenna 630 and the second antenna 640 of the nose 620 of the drone 600 receive the electromagnetic wave signal from the return point, the receiver 580 sets the first antenna 630. The received electromagnetic wave signal is converted into a first current signal, and the second antenna 640 receives the electromagnetic wave signal into a second current signal; the receiver 580 calculates a lag angle and a current phase between the first current signal and the second current signal. The controller 660 calculates a connection between the first antenna and the second antenna and a drone and a return point according to the distance between the first antenna 630 and the second antenna 640, the lag angle, and the current phase difference. The angle formed by the connection and adjust the flight direction of the drone so that the drone can be retrieved to solve the problem that the drone's compass is disturbed and does not return to normal for a long time. The technical problem that the man-machine cannot retrieve.

In another embodiment, as shown in Figures 12 and 14, the drone 600 also has a tail 680 opposite the nose 620 and a third antenna 670 disposed on the side of the tail 680. In the embodiment of the present application, specifically, the drone 600 is set as a quadrotor drone, and the head of the gimbal camera is set as the head 610 of the drone 600, and the battery insertion end is the tail of the drone 600. 680. The flight direction of the drone is also set to the orientation direction of the nose unit 620 of the drone 600. The first antenna 630, the second antenna 640, and the third antenna 670 are all vertically polarized antennas.

The receiver 580 is further configured to receive an electromagnetic wave signal from the return point through the third antenna 670 located at the tail 680 of the drone 600 when the included angle is equal to 90° or 270°; the controller 660 is further configured to determine Whether the phase of the electromagnetic wave signal received by the third antenna 670 lags behind the phase of the electromagnetic wave signal received by the first antenna 630 or the second antenna 640; if so, the controller 660 determines that the current heading of the drone is the returning direction; The controller 660 determines that the return direction of the drone is the opposite direction to the current flight direction of the drone.

In this embodiment, the phase of the electromagnetic wave signal received by the third antenna 670 does not lag the phase of the electromagnetic wave signal received by the first antenna 630, or the phase of the electromagnetic wave signal received by the third antenna 670 does not lag behind the second. The phase of the electromagnetic wave signal received by the antenna 640 indicates that the tail 680 of the drone 600 is aligned with the direction of the incoming wave of the electromagnetic wave, and the flight direction of the drone 600 is adjusted to the direction opposite to the current flight direction. Machine 600 can fly to the return point.

In still another embodiment, as shown in FIG. 11, the receiver 580 in the drone 600 may include a band pass filter 581, a low noise amplifier 582, a multiplier 583, an intermediate frequency amplifier 584, and a low pass filter that are sequentially connected. 585. An analog to digital conversion unit 586, a data acquisition unit 587, and a signal vector data processing unit 588.

The signal streams of the electromagnetic signals of the first antenna and the second antenna entering the receiver 580 are respectively from the band pass filter 581 to the low noise amplifier 582, the multiplier 583, the intermediate frequency amplifier 584, the low pass filter 585, the analog to digital conversion unit 586, The data acquisition unit 587 finally arrives at the signal vector data processing unit 588 to obtain the sum of the retardation angle and the current phase difference.

Similarly, the electromagnetic wave signals of the first antenna and the third antenna can also be processed by the receiver 580; the electromagnetic wave signals of the second antenna and the third antenna can also be processed by the receiver 580.

In some embodiments, as shown in FIG. 15, the drone 600 may include one or more processors 660 and a memory 690, and the processor 660 and the memory 690 may be connected by a bus or other means. In 15, the bus connection is taken as an example. One processor 660 is taken as an example in FIG.

The memory 690, as a non-volatile non-transitory computer readable storage medium, can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, as in the embodiments of the present application for execution. Program instructions/modules corresponding to the method of adjusting the flight direction of the drone (for example, the signal conversion module 510, the first calculation module 520, the second calculation module 530, the determination module 540, and the first embodiment shown in FIG. a judging module 541, a heading adjustment module 542, and the first judging module 541, the heading adjustment module 542, the receiving module 543, and the signal converting module 510, the first calculating module 520, and the second calculating module shown in FIG. 530. The third determining module 560 and the sending module 570). The controller 660 and the receiver 580 control various functional implementations and data processing of the drone 600 by running non-volatile software programs, instructions, and modules stored in the memory 690, that is, implementing the above-described method embodiments to adjust the unmanned The method of flight direction of the machine.

The memory 690 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required by at least one function; and the storage data area may store an electromagnetic wave signal of the drone 600, a first current signal, and a first The angle between the two current signals, the third circuit signal, the connection between the first antenna and the second antenna and the connection between the drone and the remote controller, the current phase difference ψ, the lag angle α, the electromagnetic wave The phase constant β propagating in the medium, the distance d between the first antenna 630 and the second antenna 640, and the like. Moreover, memory 690 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 690 can optionally include memory remotely located relative to controller 660, which can be connected to drone 600 via a network. Examples of such networks include, but are not limited to, mobile communication networks.

The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application. The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection of the present application. Within the scope.

Claims

A method for determining a return direction is applied to a drone, the drone having a first antenna and a second antenna, wherein the method comprises:

Converting an electromagnetic wave signal from the return point received by the first antenna into a first current signal;

Converting an electromagnetic wave signal from the return point received by the second antenna into a second current signal;

Calculating a retardation angle and a current phase difference between the first current signal and the second current signal;

Calculating a connection between the first antenna and the second antenna and the unmanned according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference The angle formed by the connection between the machine and the return point;

Based on the included angle, the return direction of the drone is determined.
The method of claim 1 wherein said included angle is calculated using the following formula:

Where ψ is the current phase difference, α is the lag angle, β is the phase constant of the electromagnetic wave propagating in the medium, and d is the distance between the first antenna and the second antenna.
The method according to claim 1 or 2, wherein determining the return direction of the drone according to the included angle comprises:

Determining whether the angle is 90° or 270°;

When the angle is not 90° or 270°, the rotation angle is calculated according to the angle;

The return direction of the drone is determined according to the rotation angle.
The method according to any one of claims 1 to 3, wherein the drone further includes a third antenna, and the first antenna and the second antenna are located at a nose of the drone. The third antenna is located at the tail of the drone, and the method further includes:

Receiving an electromagnetic wave signal from the return point through the third antenna when the angle is equal to 90° or 270°;

Determining whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If yes, it is determined that the current heading of the drone is the returning direction.
The method of claim 4, wherein the method further comprises:

Determining, when the phase of the electromagnetic wave signal received by the third antenna is ahead of a phase of the electromagnetic wave signal received by the first antenna or the second antenna, determining a return direction of the drone The current flight direction of the machine is opposite.
The method of claim 4 or 5, wherein the method further comprises:

Determining, by the preset time, whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If not, the message that the drone arrives nearby is sent to the return point.
A return direction determining device is applied to a drone, the drone having a first antenna and a second antenna, wherein the device comprises:

a signal conversion module, configured to convert an electromagnetic wave signal from the returning point received by the first antenna into a first current signal, and convert the electromagnetic wave signal from the returning point received by the second antenna into a second Current signal

a first calculating module, configured to calculate a lag angle and a current phase difference between the first current signal and the second current signal;

a second calculating module, configured to calculate a connection between the first antenna and the second antenna according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference An angle formed by a line connecting the drone and the return point;

And a determining module, configured to determine a return direction of the drone according to the included angle.
The apparatus of claim 7 wherein said second computing module calculates said angle according to the following formula:

Where ψ is the current phase difference, α is the lag angle, and β is the electromagnetic wave propagating in the medium. A phase constant, d is the distance between the first antenna and the second antenna.
The apparatus according to claim 7 or 8, wherein the determining module comprises:

a first determining module, configured to determine whether the angle is 90° or 270°;

a heading adjustment module, configured to: when the first judging module judges that the angle is not 90° or 270°, calculate a rotation angle according to the angle, and adjust the no according to the rotation angle The return direction of the man-machine.
The apparatus according to any one of claims 7 to 9, wherein the drone further includes a third antenna, and the first antenna and the second antenna are located at a nose of the drone. The third antenna is located at the tail of the drone, and the determining module further includes:

a receiving module, configured to receive, by the third antenna, an electromagnetic wave signal from the returning point when the first determining module determines that the angle is equal to 90° or 270°;

a second determining module, configured to determine whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

When the determination result of the second determining module is YES, the determining module determines that the current heading of the drone is the returning direction.
The device of claim 10 wherein:

When the determination result of the second judging module is no, the determining module determines that the returning direction of the drone is a direction opposite to a current flight direction of the drone.
The device according to claim 10 or 11, wherein the device further comprises:

a third determining module, configured to determine, at a preset time, whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

And a sending module, configured to send, to the returning point, a message that the drone arrives nearby when the determination result of the third determining module is negative.
A drone, characterized in that it comprises:

body;

a first antenna is disposed on a nose side of the air body for receiving an electromagnetic wave signal from a return point;

a second antenna is disposed on the nose side of the fuselage for receiving electromagnetic waves from the return point signal;

a receiver, configured to convert an electromagnetic wave signal received by the first antenna into a first current signal, convert an electromagnetic wave signal received by the second antenna into a second current signal, and calculate the first current signal and a retardation angle and a current phase difference between the second current signals;

a controller, configured to calculate a connection between the first antenna and the second antenna according to a distance between the first antenna and the second antenna, the lag angle, and the current phase difference An angle formed by a line connecting the drone to the return point; and

Based on the included angle, the return direction of the drone is determined.
The drone according to claim 13, wherein said controller calculates said angle according to the following formula:

Where ψ is the current phase difference, α is the lag angle, β is the phase constant of the electromagnetic wave propagating in the medium, and d is the distance between the first antenna and the second antenna.
The drone according to claim 13 or 14, wherein the controller is further configured to:

Determining whether the angle is 90° or 270°;

When the angle is not 90° or 270°, the rotation angle is calculated according to the angle;

The return direction of the drone is adjusted according to the rotation angle.
The drone according to any one of claims 13 to 15, wherein the drone further includes a third antenna for when the angle is equal to 90° or 270° Receiving an electromagnetic wave signal from the return point;

The controller is also used to:

Determining whether a phase of the electromagnetic wave signal received by the third antenna lags behind a phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If yes, it is determined that the current heading of the drone is the returning direction.
The drone of claim 16 wherein said controller is further configured to:

If it is determined that the phase of the electromagnetic wave signal received by the third antenna is ahead of the first antenna or Determining the phase of the electromagnetic wave signal received by the second antenna determines that the return direction of the drone is opposite to the current flight direction of the drone.
The drone according to claim 16 or 17, wherein the controller is further configured to:

Determining, by the preset time, whether the phase of the electromagnetic wave signal received by the third antenna lags behind the phase of the electromagnetic wave signal received by the first antenna or the second antenna;

If not, the message that the drone arrives nearby is sent to the return point.
An unmanned aerial vehicle, comprising: a memory and a processor, wherein the computer stores a computer program, wherein when the computer program is executed by the processor, the processor executes the method of any one of claims 1 to Methods.
A computer readable storage medium, characterized in that a computer program is stored, the computer program being executed by a processor, causing the processor to perform the method of any one of claims 1 to 6.