WO2018218536A1 - Procédé de commande de vol, appareil et terminal de commande et procédé de commande s'y rapportant et véhicule aérien sans pilote - Google Patents

Procédé de commande de vol, appareil et terminal de commande et procédé de commande s'y rapportant et véhicule aérien sans pilote Download PDF

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Publication number
WO2018218536A1
WO2018218536A1 PCT/CN2017/086674 CN2017086674W WO2018218536A1 WO 2018218536 A1 WO2018218536 A1 WO 2018218536A1 CN 2017086674 W CN2017086674 W CN 2017086674W WO 2018218536 A1 WO2018218536 A1 WO 2018218536A1
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WIPO (PCT)
Prior art keywords
altitude
route
drone
waypoint
relative height
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PCT/CN2017/086674
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English (en)
Chinese (zh)
Inventor
陈超彬
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/086674 priority Critical patent/WO2018218536A1/fr
Priority to CN201780004548.5A priority patent/CN108496130B/zh
Publication of WO2018218536A1 publication Critical patent/WO2018218536A1/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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of flight technology, and in particular, to a flight control method, device, control terminal, control method thereof, and drone.
  • Unmanned Aerial Vehicle UAV
  • UAV Unmanned Aerial Vehicle
  • its application fields are also expanding, including professional aerial photography, agricultural irrigation, electric power cruise, remote sensing mapping, and 3D reconstruction.
  • the flight path of the aircraft is set through the ground flight control console, and the aircraft is controlled to fly according to the set route to complete the corresponding task.
  • the route planning of drones is based on a relatively high degree of approach. That is, at the time of planning, the relative height of each waypoint is set, and then when the flight phase of the flight is initialized, the altitude of the drone is taken off, and the relative altitude of the waypoint is added, that is, the actual flight of all the waypoints is obtained. height.
  • the final route height must be different.
  • the embodiment of the invention discloses a flight control method, a device, a control terminal and a control method thereof, and a drone to ensure the consistency of the route height when the drone performs the same route each time.
  • a first aspect of an embodiment of the present invention discloses a flight control method, including:
  • the drone is controlled to fly on the route according to the relative height.
  • a second aspect of the embodiments of the present invention discloses a control method for controlling a terminal, including:
  • the drone is controlled to fly on the route according to the relative height.
  • a third aspect of the embodiments of the present invention discloses a flight control device, including: a memory and a processor.
  • the memory is configured to store program instructions
  • the processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:
  • the drone is controlled to fly on the route according to the relative height.
  • a fourth aspect of the embodiments of the present invention discloses a control terminal, including a memory and a processor.
  • the memory is configured to store program instructions
  • the processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:
  • the drone is controlled to fly on the route according to the relative height.
  • a fifth aspect of an embodiment of the present invention discloses a drone, including:
  • a power system disposed on the fuselage for providing flight power
  • a flight control device as described in the third aspect is described.
  • the embodiment of the present invention first determines the altitude of the take-off position of the drone, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls the unmanned according to the relative height.
  • the aircraft flies on the route. In this way, based on the altitude of the waypoint in the route, the altitude is determined according to the altitude of the waypoint in the route and the altitude of the takeoff position of the drone when performing the route task, and the drone is controlled according to the relative height. Flying on the route ensures the consistency of the route height of the drone every time the same route is executed.
  • FIG. 1 is a schematic flow chart of a flight control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a flight control method according to another embodiment of the present invention.
  • FIG. 3a is a schematic diagram of determining an altitude of a waypoint in a route according to an embodiment of the present invention
  • FIG. 3b is a schematic diagram of determining a relative height according to an altitude of a waypoint in a route and a takeoff position of a drone according to an embodiment of the present invention
  • FIG. 3c is a schematic diagram of determining an altitude of a waypoint in a route according to another embodiment of the present invention.
  • FIG. 3d is a schematic diagram of determining an altitude of a waypoint in a route according to another embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a drone according to an embodiment of the present invention.
  • connection herein may be a mechanical connection or an electrical connection.
  • the electrical connection may be a wired connection or a wireless connection.
  • FIG. 1 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • the take-off position of the drone may be a position where the drone is located when the drone is powered on, or may be a position where the drone is located when the drone is started, or may be an unmanned person.
  • the height sensor disposed under the fuselage of the drone detects the position at which the altitude changes.
  • the drone determines the altitude at which it is currently located.
  • the drone is generally equipped with a barometer. The drone can determine the altitude of the takeoff position by the barometer.
  • the barometer has a large error, if the barometer is used to measure the altitude of the takeoff position of the drone, A large error is generated when calculating the relative altitude of the waypoints of subsequent routes.
  • determining an altitude of the UAV takeoff location comprises: acquiring RTK data, and determining an altitude of the UAV takeoff location based on the acquired RTK data.
  • the positioning device configured on the drone can accurately determine the altitude of the drone based on the acquired RTK data.
  • determining the altitude of the take-off position of the drone is only one embodiment for determining the altitude, and those skilled in the art may also determine the take-off position of the drone by other embodiments.
  • the altitude of the embodiment is not limited in the embodiment of the present invention.
  • the control terminal sends the route information in the route to the drone, wherein the route includes multiple waypoints, wherein the route information includes at least the location information of each waypoint.
  • the route information may include, in addition to the location information of each waypoint, an index ID of the waypoint, waypoint action information, route attributes associated with the waypoint, etc.
  • the waypoint action includes but is not limited to pan/tilt control information and shooting control information.
  • the route attributes associated with the waypoint may include, but are not limited to, a flight mode of a straight flight mode, a coordinated turn mode, a POI, and the like.
  • the processor of the drone After receiving the route information sent by the control terminal, the processor of the drone can obtain the relative altitude between the altitude of the waypoint in the route and the altitude of the departure point of the drone, because each waypoint in the route
  • the altitude of the drone is determined to be constant.
  • the drone takes off at different take-off positions to perform the route task. If the drone wants to maintain the same altitude when performing the route, the UAV processor needs different height control.
  • the parameters, ie the processor of the drone need to obtain the relative heights of the different waypoints relative to the point of takeoff.
  • the unmanned aerial vehicle obtains a relative height between an altitude of a waypoint in the route and an altitude of the unmanned aircraft takeoff position, according to position information (longitude, latitude) of the waypoint in the route, and the relative height.
  • the drone is controlled to traverse each waypoint in the route to complete the route task.
  • the embodiment of the present invention first determines the altitude of the take-off position of the drone, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls the unmanned according to the relative height.
  • the aircraft flies on the route. In this way, based on the altitude of the waypoints in the route, the altitude of the route according to the route is obtained.
  • the relative height determined by the altitude of the take-off position of the drone when performing the current mission, and controlling the drone to fly on the route according to the relative height can ensure the altitude of the route when the drone performs the same route each time. Consistency.
  • FIG. 2 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 2, based on the foregoing embodiment, the method in this embodiment may include:
  • S201 Obtain RTK data, and determine an altitude of a take-off position of the drone according to the RTK data;
  • RTK real-time dynamic carrier differential positioning
  • GNSS global navigation satellite system
  • the base station and the rover Two stations are required in the RTK-based positioning scheme: the base station and the rover, which are user receivers and can be installed on different carriers, such as drones, where the RTK data includes at least: the carrier phase observed by the base station. At least one of pseudorange information and coordinate information.
  • the rover needs to receive the RTK data transmitted by the base station to complete the RTK positioning, thereby obtaining the precise position.
  • the base station there are two types of data transmission by the base station: one is transmitted through the radio station, and the rover receives the RTK data transmitted by the radio station through the communication interface of the radio station; the other is transmitted through the network RTK, that is, through the wireless network (2G) , 3G or 4G, etc.), the rover receives RTK data through the wireless network base station.
  • the network RTK that is, through the wireless network (2G) , 3G or 4G, etc.
  • the obtaining RTK data comprises: acquiring RTK data transmitted by an RTK ground station.
  • the drone can obtain the RTK data transmitted by the radio station through the communication interface of the radio station, or the drone can acquire the RTK data sent by the radio network base station through the wireless network communication interface, and after obtaining the RTK data, the drone The altitude of the takeoff location point can be determined based on the acquired RTK data.
  • the obtaining the RTK data comprises: acquiring RTK data sent by the control terminal.
  • RTK data is transmitted through the wireless network base station, whereas the transmitting board of the wireless network base station is generally installed in parallel or downward. Therefore, when the drone flies to a higher altitude, the drone may not receive the RTK data transmitted by the wireless network base station.
  • the RTK data can be received by the control terminal of the drone on the ground.
  • the control terminal can configure the wireless network communication interface or the radio station communication interface, receive the RTK data from the wireless network base station, or receive the radio station of the RTK ground station. The RTK data is sent, and then the control terminal forwards the received RTK data to the drone.
  • determining the altitude of the takeoff location point based on the acquired RTK data comprises: determining a height difference between a location of the drone takeoff location point and the RTK ground station based on the RTK data, determining according to the altitude difference The altitude at which the drone takes off.
  • the UAV can calculate the relative positional relationship between the UAV and the base station according to the RTK data. For example, the UAV and the base station can be determined.
  • the height difference between the two, and the altitude of the take-off position of the drone is determined according to the height difference.
  • the altitude of the take-off position of the drone may be determined according to the height difference and the altitude of the base station.
  • the altitude of the waypoints in the route may be saved in the control terminal of the drone, wherein the control terminal includes a dedicated remote controller, a smart phone, a tablet computer, a laptop computer, a wearable device (watch, bracelet) One or more of them.
  • Obtaining the relative height between the altitude of the waypoints in the route and the altitude of the UAV takeoff location may include the following feasible ways:
  • a feasible way is to send the altitude of the departure point of the drone to the control terminal, and receive the relative height between the altitude of the waypoint in the route sent by the control terminal and the altitude of the takeoff position.
  • the altitude of the drone is determined, and the altitude is transmitted to the control terminal, and the control terminal can determine each of the routes according to the altitude of the received take-off position.
  • the altitude of the waypoint and the altitude of the takeoff location determine the relative height of each waypoint.
  • the control terminal can combine the route information with the relative height of each waypoint in the route. Send to the drone.
  • Another feasible manner receiving the altitude of the waypoint in the route sent by the control terminal; determining the altitude of the waypoint in the route and the takeoff location according to the altitude of the waypoint in the route and the altitude of the departure point of the drone The relative height between the altitudes of the points.
  • the control terminal sends the saved route information together with the altitude of the waypoint in the route to the drone, and the drone can receive the route information and the altitude of the waypoint in the route, according to the route.
  • the altitude of each waypoint and the altitude of the takeoff location determine the relative height of each waypoint.
  • Another possible way is to determine the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location.
  • the altitude of the waypoints in the route is stored inside the drone, for example, stored in the memory of the drone, and stored in the flight control system of the drone, and the drone receives the route information sent by the control terminal. That is, the relative height may be determined according to the altitude of the departure point of the drone that performs the current route and the altitude of the waypoint in the route.
  • step S203 and step S103 are the same, and are not described here.
  • the altitude determination process of the waypoints in the route in the route will be described in detail below.
  • the determination of the altitude of the waypoints in the route includes the following feasible ways:
  • the altitude of the waypoint in the route is based on the previous or previous execution of the flight
  • the altitude of the line at the takeoff position of the drone is determined by the relative height between the waypoint in the route set by the control terminal and the takeoff position of the drone.
  • the user determines the location information of each waypoint in the route by controlling the interaction interface of the terminal, and the user determines the flight altitude of each waypoint by controlling the interaction interface of the terminal, that is, determining the flight altitude in the route.
  • the relative height between the waypoint and the point at which the drone takes off For example, the user determines the coordinate information of the four waypoints A, B, C, and D by way of dot on the map, and determines the four waypoints A, B, C, and D by setting the waypoint.
  • the drone determines the altitude d of the take-off position, specifically determined.
  • the altitude of the departure point of the drone can be seen in the foregoing section and will not be described here.
  • the drone can transmit the altitude of the take-off position to the control terminal, and the control terminal can determine the altitude of the waypoint in the route according to the altitude of the take-off position point and the relative height of the waypoint in the route determined by the user, that is, determine A.
  • the altitudes of the four destinations of B, C, and D are H A +d, H B +d, H C +d, and H D +d, respectively, and the altitude of the waypoints in the route is saved. For example, as shown in FIG.
  • the drone when the route task is executed next time, the drone may take off at another location, and the control terminal may send the saved route information and the altitude of the waypoint in the route to the drone, and further, control The terminal may also receive the altitude of the current take-off position sent by the drone, and determine the relative height of each waypoint in the route relative to the current take-off position according to the altitude of the take-off position, and then The relative altitude and route information are sent to the drone.
  • the altitude of the current takeoff location is d 1 .
  • the altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route.
  • the user determines the location information of each waypoint in the route by controlling the interaction interface of the terminal, and the user determines the flight altitude of each waypoint by controlling the interaction interface of the terminal, that is, setting the route in the route.
  • the user determines the coordinate information of the four waypoints A, B, C, and D and the relative heights of the altitudes of the four destinations A, B, C, and D relative to the takeoff position of the drone, H A , H B , H C , H D , during the previous or previous execution of the route, the drone took off from the position shown in the figure, however, the user planned relative heights H A , H B , H C , H D may not be the optimal flight altitude.
  • the user can send a control command to the drone through the control terminal, and the control command is used for adjustment.
  • the flight altitude of the drone on the waypoints in the route for example, according to the position information of the waypoints A, B, C, D and the relative heights of the user-planned waypoints A, B, C, D H A , H B , H C , H D , the drone arrives at the waypoints A, B, C, D. At this time, if the drone does not reach the optimal flight altitude at the waypoints A, B, C, D, the user can adjust through the control terminal.
  • the user performs a first confirmation operation on the interactive interface of the control terminal (ie, the second operation of the later part of this document)
  • the control terminal sends a first confirmation command to the drone after detecting the confirmation operation, and the drone can determine the altitude of the waypoints A 1 , B 1 , C 1 , D 1 according to the acquired RTK data.
  • the height and the altitude of the waypoints A 1 , B 1 , C 1 , D 1 are sent to the control terminal, and the control terminal receives the altitude for preservation.
  • the route is modified to the route indicated by the waypoints A 1 , B 1 , C 1 , D 1 , that is, the position information of the waypoints in the route is unchanged, and the altitude of the route becomes the waypoint A 1 , the altitude of B 1 , C 1 , D 1 .
  • the altitude of the waypoints in the route is determined according to the acquired RTK data during the route planning process.
  • the user can control the drone to fly through the control terminal, when the user controls the drone to fly to a certain point and wants to use the location as a waypoint in the route.
  • the user controls the drone to fly to the location point A, and wants to use the location point A as the waypoint A in the route, and the user performs a second confirmation operation on the interactive interface of the control terminal (ie, the part of the later part of this document)
  • the control terminal sends a second confirmation command to the drone, and the drone acquires the position information and the altitude of the position point A through the RTK data, and confirms the waypoint B in this way.
  • the embodiment of the present invention first determines the altitude of the take-off position of the drone according to the RTK data, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls according to the relative height.
  • the drone flies on the route. In this way, based on the altitude of the waypoints in the route, the relative altitude determined according to the altitude of the route in the route and the altitude of the takeoff position of the drone when performing the route task is obtained, and the uncontrolled according to the relative height is controlled.
  • the flight of the aircraft on the route can ensure the consistency of the route height of the drone every time the same route is executed.
  • FIG. 4 is a schematic flowchart diagram of a control method of a control terminal according to an embodiment of the present invention.
  • a flight control method for controlling a terminal which is described in this embodiment, includes:
  • the drone determines the altitude of the take-off position point when performing the current route task by the manner as described above, and the drone passes the altitude of the take-off position point through the downlink data link with the control terminal. Height sent to control The terminal controls the terminal to obtain the altitude of the takeoff location point.
  • the control terminal determines, according to the altitude of the waypoint in the route pre-stored by the control terminal and the acquired altitude of the takeoff position of the drone.
  • the altitude of each waypoint in the route is subtracted from the altitude of the takeoff position of the drone to obtain the relative height of the corresponding waypoint, and the relative height of each waypoint in the route is obtained in this way.
  • determining a relative height between an altitude of a waypoint in the route and an altitude of the drone takeoff location includes: detecting a first operation of the user, determining an altitude selected by the first operation For the altitude corresponding to the waypoint in the route, determine the relative height between the altitude of the waypoint in the route and the altitude of the departure point of the drone.
  • the control terminal may configure an interaction interface that interacts with the user, where the interaction interface may be a touch display screen, and before performing the current task, the interaction interface may perform the navigation on the route when the route is executed the previous time or the previous time. The altitude of the point is displayed.
  • the user selects the altitude of the waypoint in the route through the first operation.
  • the first operation may be a click operation
  • the control terminal is The relative height of each waypoint in the route may be determined according to the method described above according to the altitude of the waypoint in the route selected by the user and the altitude of the takeoff position of the drone when performing the route task.
  • the altitude of the waypoint in the route is determined during the previous or previous execution of the route.
  • the altitude of the route and the altitude of the route in the waypoint are determined by the relative height between the waypoint in the route set by the control terminal and the departure point of the drone.
  • a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route; After the operation, the altitude of the waypoint in the route sent by the drone is received.
  • a flight control command is sent to the drone to control the flight of the drone to the waypoint; after detecting the third operation of the user, according to the route sent by the receiving drone Location information and altitude of the midpoint.
  • the control terminal before controlling the drone to perform the current route task, the control terminal sends the route information to the drone, and the control terminal determines the altitude of the waypoint in the route and the altitude of the takeoff position of the drone. After the relative height between the two, the relative height is sent to the drone to control the drone to fly on the route, that is, to control the coordinate information of the waypoint according to the waypoint in the route and the altitude of the waypoint in the route and the absence.
  • the relative height between the altitudes of the man-machine take-off position points on the route so that even if the take-off position point when performing the route task this time is different from the take-off position point when the previous or previous execution of the route task is performed, It is still possible to ensure that the route height at the time of the execution of the route task is consistent with the route height at the previous or previous execution of the route task.
  • the altitude of the take-off position of the drone is first obtained, and then the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone is determined, and finally according to the relative height control.
  • the drone is flying on the route, and the drone can be controlled based on the absolute altitude, thereby ensuring the consistency of the route height of the drone every time the same route is executed.
  • FIG. 5 is a schematic structural diagram of a flight control device according to an embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include: a memory 501 and a processor 502.
  • the memory 501 is configured to store program instructions
  • the processor 502 is configured to execute the program instructions stored in the memory, when the program instructions are executed, to:
  • the drone is controlled to fly on the route according to the relative height.
  • the processor 502 determines the altitude of the UAV takeoff location point, specifically for:
  • the processor 502 when the processor 502 acquires RTK data, it is specifically used to:
  • the processor 502 when the processor 502 acquires RTK data, it is specifically used to:
  • the processor 502 when the processor 502 determines the altitude of the departure point of the drone based on the RTK data, the processor 502 is specifically configured to:
  • the height difference between the position of the take-off position of the drone and the RTK ground station is determined according to the RTK data, and the altitude of the take-off position of the drone is determined according to the height difference.
  • the processor 502 determines the altitude of the take-off position of the drone according to the height difference, specifically, the processor 502 is configured to:
  • the altitude of the take-off position of the drone is determined according to the height difference and the altitude of the RTK ground station.
  • the processor 502 when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:
  • the processor 502 when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:
  • the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the departure point of the drone.
  • the processor 502 when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:
  • the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location.
  • the altitude of the waypoints in the route is based on the altitude of the unmanned aircraft takeoff location point when the route was executed the previous time or the previous time and the navigation of the route set by the user through the control terminal.
  • the relative height between the point and the point at which the drone takes off is determined.
  • the altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route.
  • the altitude of the waypoints in the route is determined based on the acquired RTK data during the route planning process.
  • FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 6, the method in this embodiment may include: a memory 601 and a processor 602.
  • the memory 601 is configured to store program instructions
  • the processor 602 is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:
  • the drone is controlled to fly on the route according to the relative height.
  • the processor 602 determines the relative height between the altitude of the waypoint in the route and the altitude of the drone takeoff location, specifically for:
  • Detecting the first operation of the user determining the altitude selected by the first operation as the altitude corresponding to the waypoint in the route;
  • the processor 602 controls the drone to fly on the route according to the relative height, specifically for:
  • the relative altitude is sent to the drone to control the drone to fly on the route.
  • the processor 602 is further configured to:
  • the processor 602 is further configured to:
  • a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route;
  • the processor 602 is further configured to:
  • a flight control command is sent to the drone to control the drone flight to the waypoint;
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle includes a fuselage 701, a power system 702, and a flight control device 703.
  • the power system 702 is mounted to the body 701 for providing flight power.
  • the flight control device 703 is any of the above-mentioned flight control devices disclosed in the embodiments of the present invention, and the principles and implementations thereof are similar to the above embodiments, and are not described herein again.
  • the power system includes one or more of a propeller, a motor, and an electric power.
  • the unmanned aerial vehicle may further include a pan/tilt 704 and an imaging device 705, and the imaging device 705 is mounted on the main body of the unmanned aerial vehicle through the pan/tilt 704.
  • the imaging device 705 is used for image or video shooting during the flight of the unmanned aerial vehicle, including but not limited to a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc., and the pan/tilt 704 is multi-axis transmission and stabilized.
  • the motor compensates for the photographing angle of the image forming apparatus 705 by adjusting the rotation angle of the rotating shaft, and prevents or reduces the shake of the image forming apparatus 705 by setting an appropriate buffer mechanism.
  • the drone receives the control command of the control terminal 800, and controls the drone to perform a corresponding action according to the command.
  • the program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

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Abstract

La présente invention porte sur un procédé de commande de vol, sur un dispositif, sur un terminal de commande et sur un système de commande, ainsi que sur un véhicule aérien sans pilote. Le procédé de commande de vol consiste : à déterminer l'altitude d'un point de position de décollage d'un véhicule aérien sans pilote (S101); à acquérir la hauteur relative entre l'altitude d'un point de cheminement dans une liaison aérienne et l'altitude du point de position de décollage (S102); et à commander le véhicule aérien sans pilote de telle sorte que ce dernier vole le long de la liaison aérienne en fonction de la hauteur relative (S103). Le vol d'un véhicule aérien sans pilote peut être commandé sur la base de l'altitude d'un point de cheminement dans une liaison aérienne, ce qui permet de garantir la cohérence de l'altitude de la liaison aérienne chaque fois que le véhicule aérien sans pilote exécute la même liaison aérienne.
PCT/CN2017/086674 2017-05-31 2017-05-31 Procédé de commande de vol, appareil et terminal de commande et procédé de commande s'y rapportant et véhicule aérien sans pilote WO2018218536A1 (fr)

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CN201780004548.5A CN108496130B (zh) 2017-05-31 2017-05-31 飞行控制方法、设备、控制终端及其控制方法、无人机

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