WO2018196641A1 - Véhicule aérien - Google Patents

Véhicule aérien Download PDF

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Publication number
WO2018196641A1
WO2018196641A1 PCT/CN2018/083146 CN2018083146W WO2018196641A1 WO 2018196641 A1 WO2018196641 A1 WO 2018196641A1 CN 2018083146 W CN2018083146 W CN 2018083146W WO 2018196641 A1 WO2018196641 A1 WO 2018196641A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
height
output
data
sensor
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PCT/CN2018/083146
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English (en)
Chinese (zh)
Inventor
陈少华
高扬
彭安斋
王勇
李文哲
伍科宇
Original Assignee
菜鸟智能物流控股有限公司
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Application filed by 菜鸟智能物流控股有限公司 filed Critical 菜鸟智能物流控股有限公司
Publication of WO2018196641A1 publication Critical patent/WO2018196641A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present application relates to the field of aviation technology, and in particular to an aircraft.
  • Aircraft can be used in many fields, such as: aerial photography, agriculture, plant protection, self-timer, express delivery, disaster relief, observation of wildlife, surveillance of infectious diseases, mapping, news reports, power inspection, disaster relief, film and television shooting and so on.
  • some small aircraft used for aerial photography users can use the controller to control the aircraft to fly in the air, as well as shooting.
  • the user can also control the aircraft to fly to each location to land.
  • the use of the aircraft is basically within the user's line of sight, and the user can control the entire flight process of the aircraft through the controller.
  • the satellite signal receiver may malfunction, at which time the aircraft is flight controlled based on the wrong satellite signal. The risk of impinging obstacles, falling or losing the aircraft.
  • the aircraft may determine for itself whether an abnormality has occurred in the satellite signal receiver.
  • an embodiment of the present application provides an aircraft, including: a satellite signal receiver, a height sensor, and a controller; the satellite signal receiver is configured to receive a satellite signal, and generate positioning data of the aircraft, The positioning data includes first height data; the height sensor is configured to generate second height data of the aircraft; the controller controls the aircraft to operate according to the positioning data, and at the first height data and In the case where the second height data conforms to the specified relationship, the aircraft is no longer controlled in accordance with the positioning data.
  • An embodiment of the present application further provides an aircraft, including: a satellite signal receiver, an ultrasonic sensor, a light influenza detector, and a controller; the satellite signal receiver is configured to receive a satellite signal; and the ultrasonic sensor is configured to output an indication a sensing signal of a distance between the aircraft and the surface; the light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the controller for controlling flight of the aircraft; at the satellite signal In case the receiver is abnormal, the aircraft is controlled to reduce the height, and in the case that the sensing signal output by the ultrasonic sensor reaches a threshold, the aircraft is controlled according to the horizontal speed output by the light flu detector.
  • An embodiment of the present application further provides an aircraft, including: a height sensor, a light flu detector, a depth sensor, and a controller; the height sensor is configured to output height data of the aircraft relative to a surface; a light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the depth sensor for outputting a depth information map below the aircraft; the controller for outputting according to the height sensor Height data and a horizontal velocity of the light flu detector output controlling the aircraft flight; determining a target landing zone of the aircraft based on a depth map of the depth sensor output; controlling the aircraft to land at the target landing region.
  • determining whether the satellite signal receiver has failed by determining whether the first height data and the second height data meet the specified relationship.
  • the fault detection of the satellite signal receiver by the aircraft itself can be realized. In this way, it can be found that the satellite signal receiver has failed, and corresponding countermeasures can be taken. To a certain extent, the aircraft may be prevented from being lost due to navigation of the satellite signal receiver according to the malfunctioning satellite.
  • FIG. 1 is a schematic diagram of an aircraft provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an aircraft provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of internal control of an aircraft provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an aircraft provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an aircraft provided by an embodiment of the present application.
  • the aircraft may include: a satellite signal receiver, a height sensor, and a controller.
  • the above-described aircraft refers to a device that can fly in the atmosphere or outside the atmosphere.
  • the aircraft described above may include a flightable device.
  • a helicopter that uses a propeller, a jet that flies by a jet, and the like.
  • Unmanned flight equipment may also be included.
  • drones, unmanned airships, etc. the above-mentioned drones can be divided into: fixed-wing unmanned aerial vehicles, rotary-wing unmanned aerial vehicles, wing-wing unmanned aerial vehicles, flapping wing unmanned aerial vehicles, etc. according to the configuration of the flight platform.
  • civil drones and military drones according to the purpose.
  • the civil drone can be a model aircraft, a drone for delivering express, or a drone for aerial photography.
  • the satellite signal receiver is configured to receive a satellite signal to generate positioning data of the aircraft, the positioning data including first height data.
  • the satellite signal receiver is used to receive satellite signals transmitted by the satellite system.
  • the corresponding satellite navigation systems include, but are not limited to: the Global Positioning System in the United States, the Global Navigation Satellite System in Russia, the Galileo Satellite Navigation System in Europe, and the Beidou satellite navigation system in China.
  • the specific circuit arrangement or signal processing algorithm of the satellite signal receiver may be different for different satellite systems, and will not be described in detail herein.
  • the satellite signal receiver can output a three-dimensional coordinate, which can be used as the positioning data.
  • the three-dimensional coordinates may include longitude, dimension, and height. On the earth, specify a three-digit coordinate that can locate a position in space.
  • the first height data may be a height in the three-dimensional coordinates. Specifically, the height may be the height of the position of the aircraft relative to the ground surface below, or may be the altitude of the position of the aircraft.
  • the height sensor is configured to generate second height data of the aircraft.
  • the height sensor may generate second altitude data of the aircraft based on the environment in which the aircraft is located.
  • the environment in which the aircraft is located may specifically include: an air pressure at a position where the aircraft is located, other reference objects within a preset range of the position, and an environmental acceleration such as a gravitational acceleration at the location.
  • the height sensor can calculate the height of the aircraft according to the environment in which the aircraft is located.
  • the height sensor may include a barometric altimeter, an ultrasonic sensor, an inertial navigation system, and the like.
  • the barometric altimeter can obtain the height of the aircraft according to the correspondence between the air pressure and the altitude.
  • the ultrasonic sensor can measure the height of the aircraft by using the principle that the ultrasonic wave encounters the reflection of the object.
  • the inertial navigation system may output the position coordinates of the aircraft by internally calculating the speed, acceleration, flight attitude, and the like of the aircraft, and the height in the position coordinates may be used as the second height data.
  • the strapdown inertial navigation system may be the height of the position of the aircraft relative to the ground surface below, the altitude of the position of the aircraft, or the relative height of the current position of the aircraft compared to the takeoff position.
  • the controller controls the operation of the aircraft according to the positioning data, and in the case that the first height data and the second height data conform to a specified relationship, the aircraft is no longer controlled according to the positioning data.
  • the controller itself may be a large-scale integrated circuit having a logic operation function.
  • the controller can receive the data output by the satellite signal receiver and the height sensor as described above, and control the flight process of the aircraft according to the output data of the foregoing two. Specifically, the controller can control the flight attitude, speed, altitude, and the like of the aircraft.
  • the controller may control the operation of the aircraft according to the positioning data. It can be understood that the controller can fuse the positioning data output by the satellite signal receiver with the data information of the other sensor output indicating the flight state of the aircraft to obtain better control information of the aircraft. The controller can control the flight of the aircraft based on the preferred control information. Specifically, for example, the controller may also obtain a better control information by filtering the positioning data output by the satellite signal receiver, the positioning data output by the inertial navigation system, and the altitude data output by the height sensor. The controller controls the flight of the aircraft based on the control information. The controller can also obtain the control information by filtering the positioning data of the satellite signal receiver, the data output by the magnetometer, and the data output by the gyroscope.
  • the filtering process includes but is not limited to: Kalman filtering, particle filtering, complementary filtering, and the like.
  • the specified relationship may include a number of constraints for determining whether the satellite signal receiver has failed.
  • Specifying the relationship may include providing a height threshold, and when the difference between the first height data and the second height data is greater than or less than the height threshold, the first height data and the second height data are considered to conform to the specified relationship.
  • the height threshold is 30, the first height data is 1230 meters, and the second height data is 1100 meters. At this time, the difference between the first height data and the second height data is 130, and the difference 130 is greater than the height threshold. 30.
  • the first height data and the second height data are considered to be in a specified relationship.
  • the height threshold is -30
  • the first height data is 420 meters
  • the second height data is 500 meters.
  • the difference between the first height data and the second height data is -80, and the difference -80 is less than the height.
  • Threshold -30 the first height data and the second height data are considered to be in a specified relationship.
  • the designating the relationship may further include: the first height data at which the satellite signal receiver output occurs is substantially hopped compared to the second height data output by the height sensor.
  • the previous first height data is 2 meters larger than the second height data
  • the next first height data is 50 meters smaller than the second height data. It can also be considered that the first height data and the second height data conform to the specified relationship.
  • the aircraft may determine by itself that the satellite signal receiver has failed. If the controller continues to control the flight data from the receiver output, the aircraft will have difficulty reaching the actual target position.
  • the controller no longer controls the aircraft according to the positioning data.
  • the controller finds that the first height data and the second height data meet the specified relationship, it is considered that the satellite signal receiver has failed, and the positioning data output by the receiver can be stopped to control the flight of the aircraft.
  • the controller can be prevented from controlling the flight of the aircraft according to the wrong positioning data, and the aircraft is lost.
  • the controller may control the aircraft to land when the satellite signal receiver is considered to be faulty, or the controller may control the aircraft to fly according to the positioning data output by the other positioning components.
  • the aircraft inertial navigation system obtains better control information through Kalman filtering according to an inertial navigation system, a height sensor, a light flu detector, etc., and the controller controls the aircraft flight according to the control information.
  • the satellite signal receiver it is determined whether the satellite signal receiver has failed by determining whether the first height data and the second height data meet the specified relationship.
  • the fault detection of the satellite signal receiver by the aircraft itself can be realized. In this way, it can be found that the satellite signal receiver has failed, and corresponding countermeasures can be taken. To a certain extent, the aircraft may be prevented from being lost due to navigation of the satellite signal receiver according to the malfunctioning satellite.
  • a satellite signal receiver a strapdown inertial navigation system, a barometric altimeter, a light flu detector, an ultrasonic sensor, a depth sensor, and a controller are installed in the aircraft.
  • the aircraft can be applied to the field of delivery.
  • the controller controls the aircraft to fly to the target location according to the aircraft's own control program.
  • the controller can continuously receive the positioning data provided by the satellite signal receiver to determine the current flight status and further control the aircraft's flight attitude, flight altitude and flight speed.
  • the strapdown inertial navigation system and barometric altimeter can also measure the current altitude of the output aircraft during flight.
  • the optimal estimation can be performed, and an optimal value is output to the controller.
  • This optimal value can be used to more accurately represent the current height of the aircraft.
  • a Kalman filter algorithm can be used to optimally estimate the output of the strapdown inertial navigation system and the barometric altimeter.
  • the controller may compare the altitude data in the positioning data provided by the satellite signal receiver with the optimal value.
  • the satellite signal receiver is considered to be abnormal.
  • the controller compares the height data in the positioning data with the optimal value, and then compares the difference with a preset height threshold. The difference is greater than the height threshold, and the height data is considered to be in a specified relationship with the optimal value, that is, the satellite signal receiver is considered to be abnormal.
  • the control activates the ultrasonic sensor and the positioning data that is no longer output by the receiver controls the flight of the aircraft.
  • the controller can fuse the output data of the magnetometer, the gyroscope and the like according to the height data outputted by at least one of the strapdown inertial navigation system and the barometric altimeter to obtain control information, and control the aircraft to reduce the flying height.
  • Inertial Navigation System Preferably, the controller controls the aircraft to tend to reduce the height evenly.
  • the ultrasonic sensor when the ultrasonic sensor senses the feedback signal, it usually enters the working range of the ultrasonic sensor, which also indicates that it has entered the working range of the light flu detector.
  • the controller can control the start-up flu detector and control the aircraft based on the horizontal speed of the light flu detector output. Specifically, for example, the controller can control the horizontal speed of the aircraft to go to zero, thus realizing the aircraft to hover in a position in the space, preventing the aircraft from continuing to drift in the horizontal direction, and causing an impact.
  • the controller after entering the working range of the ultrasonic sensor, the controller can use the height data output by the ultrasonic sensor as a reference for controlling the flying height of the aircraft.
  • the output data of the ultrasonic sensor, the light flu detector, the magnetometer, the barometric altimeter, the inertial navigation system, the gyroscope, etc. are subjected to Kalman filtering to obtain relatively optimal control information.
  • the depth sensor is used to find the target landing area below the aircraft.
  • the controller can also intermittently control the aircraft to fly horizontally for a distance or a period of time, then control the aircraft to hover and find the target landing area during hovering.
  • the controller can also control the aircraft to maintain a low-speed flight at a height that is relatively uniform in the horizontal direction, and to find the target landing area through the depth sensor during flight. After finding the target landing zone, the controller controls the aircraft to land.
  • the height sensor may generate the second height data according to the air pressure of the environment in which the aircraft is located.
  • the height sensor can be a barometric altimeter. The height of the earth's ground is different, and the air pressure will change. The height sensor can further calculate the height of the position according to the air pressure at the location.
  • the specified relationship may include at least one of the following: a difference between the first height data and the second height data is greater than a first height threshold; or the first height data is The difference between the second height data is less than the second height threshold; or the absolute value of the difference between the first height data and the second height data is greater than the third height threshold.
  • a height threshold is provided as a reference for comparison.
  • the height threshold may be derived in advance by experiments or the like and set as a first height threshold, a second height threshold, or a third height threshold in the specified relationship.
  • the height threshold is used to determine whether there is a large deviation in the positioning data output by the satellite signal receiver to further determine whether the satellite signal receiver is faulty.
  • the first height threshold may be a positive value
  • the second height threshold may be a negative value.
  • the difference may be compared with the first height threshold.
  • the difference between the first height data and the second height data is a negative value
  • the difference may be compared with the second height threshold.
  • only one height threshold ie a third height threshold, may be provided, and the absolute value of the difference is compared to the third height threshold.
  • only one of the first height threshold, the second height threshold, and the third height threshold may be set in the aircraft, and the determination is made accordingly.
  • the specifying the relationship may include providing a data field based on the second height data, the first height data output by the satellite signal receiver being irregularly bouncing in the data domain.
  • the data field can be a range of values. Specifically, for example, the data field may be -30 to 30.
  • the data field based on the second height data may conform to the agreed condition for the data field and the second height data. Specifically, for example, the second height data is a central value of the data domain; or the second height data is a starting value of the data domain; or the second height data is an end value of the data domain.
  • the first height data is irregularly beat in the data domain. It can be understood that the first height data output by the satellite signal receiver loses coherence. Specifically, for example, the first height data continuously output by the satellite signal receiver is 620 meters, 670 meters, 531 meters, 683 meters, 602 meters, and the like. The second height data may be 600 meters, and the data field may be 500 to 700 meters. The first height data output by the satellite signal receiver loses continuity and jumps in the data domain, and the first height data and the first The two height data conforms to the specified relationship. At this point, the satellite signal receiver can be considered to have failed.
  • the maximum value of the data domain may be the first height threshold, and the minimum value of the data domain may be the second height threshold.
  • the aircraft may also include an ultrasonic sensor and a light flu detector.
  • the ultrasonic sensor is configured to output a sensing signal indicative of a distance between the aircraft and a surface.
  • the ultrasonic sensor can emit ultrasonic waves in one direction, and ultrasonic reflection can occur when the ultrasonic waves encounter an object.
  • the ultrasonic sensor can calculate the distance between the aircraft and the object based on the received reflected sound waves.
  • the ultrasonic sensor may be disposed on a side of the aircraft facing the ground surface.
  • the sensing signal output by the ultrasonic sensor can be used to represent the distance between the aircraft and the surface.
  • the ultrasonic sensor is not limited to being disposed on the side of the aircraft facing the surface as long as it transmits ultrasonic waves and the functional unit that receives the ultrasonic waves is directed toward the lower side of the aircraft.
  • the sensing signal can be an electrical signal.
  • the sensing signal can be an analog signal, the distance is represented by the signal strength, and the sensing signal can also be a digital signal, and the number indicating the distance is directly output.
  • the light flu detector is configured to output a horizontal velocity of the aircraft based on the sensed image.
  • the light flu detector can output the horizontal speed of the aircraft based on the sensed image of the periphery of the aircraft.
  • the horizontal speed can be a moving speed in a three-dimensional space compared to a horizontal plane.
  • the light flu detector can sense the image and output a speed based on the motion relationship between successive images. This speed can be used as the horizontal speed of the aircraft.
  • the controller controls the aircraft to reduce the height if the aircraft is no longer controlled according to the positioning data, and if the sensing signal output by the ultrasonic sensor reaches a fourth height threshold, according to the The horizontal speed of the light flu detector output is controlled to control the aircraft.
  • the controller may determine that the satellite signal receiver has failed. Specifically, for example, the satellite signal receiver does not output positioning data, or the positioning data output by the controller receiver determines that the satellite signal receiver has failed.
  • the aircraft may be in a horizontal stall condition when the aircraft's satellite signal receiver fails. An aircraft in this state may be relatively easy to hit an object in the vicinity, or when the battery is nearly exhausted, it may be forced to descend, or the battery may be exhausted after the battery is exhausted.
  • the manner in which the controller controls the aircraft to reduce the height may include: the controller controls the aircraft to stably reduce the height according to the altitude data output by the height sensor of the aircraft; or the controller directly controls the relative rotation speed of the propeller of the aircraft. lower the altitude.
  • the fourth height threshold is used to constrain whether the sensing signal reaches a specified state.
  • the sensing signal is an analog signal, and the intensity is used to represent the distance, and the fourth height threshold may be a signal strength; or the sensing signal is a digital signal, and the fourth height threshold may be a value. .
  • the controller when the sensing signal reaches the fourth height threshold, it may be indicated that the controller can control the flight of the aircraft according to the horizontal speed output by the light flu detector.
  • the light flu detector needs to be within a certain height range, the effective horizontal speed can be output. In this way, by setting the fourth height threshold to determine whether the aircraft has reached the working height range of the light flu detector, to some extent, the controller is prevented from controlling the flight of the aircraft according to the erroneous horizontal speed output by the light flu detector.
  • the ultrasonic sensor itself may also have a certain range of sensing distances. Within this range the ultrasonic sensor can output the height of the aircraft relative to the surface. The sensing distance of the ultrasonic sensor is close to the working height range of the light flu detector, so that the output of the ultrasonic sensor is used as a basis for determining the light flu detector, and has a high degree of use.
  • the controller controls the flight of the aircraft according to the horizontal speed output by the light flu detector, so that the horizontal speed output by the light flu detector can be used as the speed reference for controlling the aircraft. Based on this speed reference, the controller can control the propeller speed of the aircraft accordingly to adjust the flight attitude or the flight speed in the horizontal direction. Specifically, for example, to prevent the aircraft from being in a horizontal direction, causing an impact on the object, the controller can control the aircraft's horizontal speed to approach zero to achieve a position hovering in the air. Of course, the controller can also control the aircraft to maintain a speed according to the horizontal speed of the light flu detector output, tending to fly at a constant speed.
  • the controller controls the horizontal speed of the aircraft to a specified speed based on the horizontal speed of the light flu detector output.
  • the specified speed may be 0 or a positive value other than 0.
  • the specified speed may be zero.
  • the controller controls the horizontal speed of the aircraft to tend to zero, which can be understood as the horizontal speed of the aircraft is close to zero. Due to the influence of air flow and control accuracy, the horizontal speed of the aircraft may not be equal to 0, but the controller will target the horizontal speed equal to zero.
  • the light flu detector starts to start working.
  • the sensing signal reaches the fourth height threshold, which can be used as a starting condition of the light flu detector.
  • the light flu detector can not start working, thus saving energy of the aircraft.
  • the aircraft may further include a depth sensor; the depth sensor is configured to output a depth information map below the aircraft; the controller may further be configured according to the height sensor output
  • the second height data controls the aircraft to maintain a height, the aircraft is controlled to maintain a horizontal speed according to the horizontal speed output by the light flu detector, and the target landing area of the aircraft is determined according to the depth information map; The aircraft is landed in the target landing area.
  • the depth sensor is configured to output a depth information map below the aircraft, and the controller may analyze whether there is an area suitable for landing according to the depth information map.
  • the controller may analyze whether there is an area suitable for landing according to the depth information map.
  • the controller may control the aircraft to maintain a height according to the second height data output by the height sensor, and may control the aircraft to maintain according to the horizontal speed output by the light flu detector.
  • the depth information map of the depth sensor output can have a more uniform reference. This can make it easier to accurately reflect the actual terrain below the aircraft and reduce the inaccuracy of the data in the depth map caused by the altitude change of the aircraft itself.
  • the aircraft is maintained at a horizontal speed so that the aircraft can continuously sense the output depth map for the terrain, so that the target landing area can be found quickly and accurately.
  • the target landing area of the aircraft is determined in the depth information map, and it may be analyzed in the depth information map whether there is a sufficiently large area suitable for the aircraft to land.
  • the area of the target landing area is larger than the area of the figure, or the target landing area may contain the figure. In this way, the aircraft can land in the target landing area.
  • the aircraft may include a satellite signal receiver, an ultrasonic sensor, a light flu detector, and a controller.
  • the satellite signal receiver is configured to receive a satellite signal;
  • the ultrasonic sensor is configured to output a sensing signal indicating a distance between the aircraft and a surface;
  • the light influenza detector is configured to output the aircraft according to the sensed image a horizontal speed;
  • the controller is configured to control flight of the aircraft; if the satellite signal receiver is abnormal, controlling the aircraft to reduce a height, and a sensing signal output by the ultrasonic sensor reaches a threshold In the case, the aircraft is controlled according to the horizontal speed of the light flu detector output.
  • the controller is configured to control the flight of the aircraft, and the controller may control the aircraft to fly according to the positioning data generated by the satellite signal receiver based on the received satellite signal. It can also be: the controller acquires other types of data through other devices, and controls the flight of the aircraft according to other types of data acquired. For example, the controller can acquire environmental data through the Strapdown Inertial Navigation System and control aircraft flight based on environmental data. Among them, a preferred embodiment is that the controller controls the flight of the aircraft based on the positioning data generated by the satellite receiver. Of course, in specific implementation, the controller may also control the flight of the aircraft by other means than those enumerated above, depending on the specific situation. In this regard, the application is not limited.
  • the aircraft provided by the embodiment determines whether to enter the working range of the light flu detector by the ultrasonic sensor, and after entering the working range of the light flu detector, controls the aircraft according to the horizontal speed output by the light flu detector.
  • the aircraft typically controls its flight direction and speed based on the positioning data output by the satellite signal receiver in conjunction with the output of other sensors.
  • the controller may lose the data reference to the aircraft's own control. That is, the controller does not know the current horizontal speed of the aircraft, so that the aircraft is in a state of horizontal drift. In this state, the aircraft is not able to position itself very well. During the drift process, it is very likely to hit objects such as buildings. Therefore, the longer the aircraft is in a drift state, the greater the risk of an impact.
  • the controller further controls the flight of the aircraft according to the horizontal speed outputted by the light flu detector, thereby achieving a greater degree of avoiding the state in which the aircraft is in a stall drift, and reducing the risk of the aircraft hitting the object.
  • the controller can control the horizontal speed of the aircraft to 0, so as to avoid hitting the object, and also control the aircraft to move in one direction at a certain speed to find the location of the landing.
  • controlling the aircraft to reduce the height may refer to controlling the aircraft to reduce the height under the condition that the satellite signal receiver is abnormal.
  • the aircraft when the satellite signal receiver is abnormal, the aircraft can be controlled to reduce the height. It is also possible to control the aircraft to reduce the altitude within a preset time range after the satellite signal receiver is found to be abnormal. It is also possible to control the aircraft to lower the altitude after a specified time interval when the satellite signal receiver is found to be abnormal.
  • the foregoing preset time range may be determined according to a specific situation. For example, it can be determined according to the data processing performance of the functional devices in the aircraft, the data transmission speed between the functional devices, and the like. Specifically, for example, the aircraft may be controlled to decrease in height within 1 minute after the satellite signal receiver is abnormal.
  • the satellite signal receiver anomaly includes: no satellite signal is received; or no positioning data is output; or the output positioning data is incorrect.
  • the satellite signal is not received, the satellite may be faulty, and no relevant signal is sent; or the signal sent by the satellite receives interference, and the satellite signal receiver of the aircraft is not received.
  • the satellite signal decoding process fails, resulting in no output positioning data; or the satellite signal receiver itself is damaged and cannot be normal. jobs.
  • the output positioning data is incorrect, and the satellite signal receiver may be faulty, and the receiving satellite signal may be intermittent; or the satellite signal received by the satellite signal receiver may be interfered with, for example, weather, etc., resulting in output.
  • the positioning data has an error.
  • the aircraft further includes a height sensor; the height sensor is configured to generate altitude data of the aircraft based on an environment in which the aircraft is located; the controller controls the aircraft to reduce height during the process According to the height data output by the height sensor, the height of the aircraft is lowered at a constant speed.
  • a height sensor can be mounted on the aircraft for measuring the height of the aircraft.
  • the height sensor may be a barometric altimeter, an inertial navigation system, or the like.
  • the height sensor can measure the height of the aircraft according to the environment in which the aircraft is located, so that in the case of an abnormality of the satellite signal receiver, the controller can control the flight of the aircraft according to the altitude data output by the height sensor.
  • the ultrasonic sensor of the aircraft can also be used as the height sensor.
  • the controller receives the height data output by the height sensor, and can know the height of the current aircraft.
  • the speed of the altitude data can be combined, and the controller aircraft tends to fall at a constant speed, so that the flight state of the aircraft is relatively stable.
  • the controller controls the aircraft to maintain the current altitude if the sensed signal output by the ultrasonic sensor reaches the threshold.
  • the controller can control the aircraft to reduce the height until the sensing signal of the ultrasonic sensor reaches the threshold.
  • the controller can know the current horizontal speed of the aircraft according to the light flu detector, and then can control the flight attitude of the aircraft, and the propeller speed, etc., to control the horizontal speed of the aircraft.
  • the aircraft is maintained at a height that prevents the aircraft from landing hard when it is not ready to land, avoiding the risk of damage to the aircraft.
  • the sensing signal output threshold of the ultrasonic sensor output includes at least one of: an intensity of the sensing signal output by the ultrasonic sensor reaches a threshold; or, the sensing signal represents The distance reaches the threshold.
  • the ultrasonic sensor can output a voltage or current signal, and the strength of the signal can indicate the distance of the distance.
  • the threshold can be correspondingly set to an intensity value of a voltage or current.
  • the ultrasonic sensor can directly output the distance value.
  • the ultrasonic sensor outputs a value indicating the distance based on the sensed voltage or current signal strength after being converted into a distance.
  • the threshold can be a value that identifies the distance.
  • An embodiment of the present application further provides an aircraft, including: a height sensor, a light flu detector, a depth sensor, and a controller; the height sensor is configured to output height data of the aircraft relative to a surface; a light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the depth sensor for outputting a depth information map below the aircraft; the controller for outputting according to the height sensor Height data and a horizontal velocity of the light flu detector output controlling the aircraft flight; determining a target landing zone of the aircraft based on a depth map of the depth sensor output; controlling the aircraft to land at the target landing region.
  • the controller controls the flight of the aircraft based on the height data output by the height sensor and the horizontal speed output by the light flu detector.
  • the controller may include: the controller controls the aircraft to maintain a height, that is, the height data output by the height sensor is maintained at a value, and the controller controls the horizontal speed of the aircraft to 0, that is, the horizontal speed of the output of the light flu detector At 0.
  • the aircraft can be in a state of maintaining a position in the space, so that the depth sensor can accurately sense the depth information map under the aircraft, so as to accurately find the target landing area suitable for the aircraft to land.
  • the method may further include: the controller controls the aircraft to maintain a height according to the height data output by the height sensor, and controls the aircraft to fly horizontally for a distance or a period of time according to the horizontal speed of the light flu detector output, and hangs Stop for a period of time for the depth sensor to generate a depth map below the aircraft and analyze if there is a suitable target landing area.
  • the method may further include: the controller controls the aircraft area to maintain a height according to the height data output by the height sensor, and controls the aircraft to fly at a constant horizontal speed according to the horizontal speed outputted by the light flu detector, The depth sensor can continuously generate a depth map and further analyze whether there is a suitable target landing area.
  • the height sensor may be a barometric altimeter, an ultrasonic sensor, or an inertial navigation system.
  • the height sensor is not limited to the above list, and it can also be other components or systems that can output the height of the aircraft.
  • the controller can combine the height data of the height sensor and the horizontal speed of the light flu detector by filtering processing to obtain better control information.
  • the controller controls the flight of the aircraft based on the control information.
  • the filtering processing algorithms include, but are not limited to, Kalman filtering, particle filtering, complementary filtering, and the like.
  • the target landing area may have a flat area large enough for the ground to be used for landing of the aircraft.
  • the height of the target landing area in the depth map tends to be the same.
  • the controller can analyze in the depth information map whether there is a depth that tends to be the same, and the area formed is enough for the area where the aircraft is landing.
  • the controller can determine the found area that meets the above requirements as the target landing area.
  • the depth of a region in the depth map tends to be the same, which indicates that there is a relatively flat ground on the part of the surface.
  • the area of the target landing area is not less than the area in which the bottom surface of the aircraft forms a pattern. In the present embodiment, the area of the target landing area is greater than or equal to the area in which the bottom surface of the aircraft forms a pattern. In this way, it can be achieved that the target landing area can be large enough to be suitable for landing the aircraft. If the area of the target landing area is smaller than the area of the figure formed by the bottom surface of the aircraft, there may be protrusions or depressions on the surface outside the target landing area, so that when the aircraft is landing, it may be affected by the protrusion or depression, and it is difficult to land smoothly. .
  • the graphics formed by the target landing zone may be capable of encompassing a graphic formed by the side of the aircraft facing the ground.
  • the physical contour of the aircraft has a side facing the ground.
  • the side where the part in contact with the ground is located.
  • the side of the aircraft facing the ground itself can form a figure with a certain area.
  • the shape and size of this graphic can be used as the minimum value of the target landing area. That is, the target landing area can include the graphic formed by the aircraft inside. At this time, the target landing area can be better suited for aircraft landing.
  • the graphic may be a graphic formed by orthographic projection of the aircraft on the ground when the aircraft is landing on the ground.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un véhicule aérien, comprenant : un récepteur de signal satellitaire, un capteur d'altitude et un dispositif de commande. Le récepteur de signal satellitaire sert à recevoir un signal satellitaire pour générer des données de positionnement du véhicule aérien, les données de positionnement comprenant des premières données d'altitude. Le capteur d'altitude sert à générer des secondes données d'altitude du véhicule aérien sur la base de l'environnement où se trouve le véhicule aérien. Le dispositif de commande commande le fonctionnement du véhicule aérien conformément aux données de positionnement, et arrête de commander le véhicule aérien conformément aux données de positionnement dans le cas dans lequel les premières données d'altitude et les secondes données d'altitude satisfont une relation spécifiée. Le véhicule aérien peut lui-même obtenir la détermination d'une défaillance du récepteur de signal satellitaire.
PCT/CN2018/083146 2017-04-24 2018-04-16 Véhicule aérien WO2018196641A1 (fr)

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CN201710270984.9 2017-04-24

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WO2021056139A1 (fr) * 2019-09-23 2021-04-01 深圳市大疆创新科技有限公司 Procédé et dispositif d'acquisition de position d'atterrissage, véhicule aérien sans pilote, système et support de stockage
CN111381608A (zh) * 2020-03-31 2020-07-07 成都飞机工业（集团）有限责任公司 一种地面定向天线数字引导方法及系统
CN112414365B (zh) * 2020-12-14 2022-08-16 广州昂宝电子有限公司 位移补偿方法和设备及速度补偿方法和设备

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