WO2020238966A1

WO2020238966A1 - Method and apparatus for transmitting reference navigation point data, and unmanned aerial vehicle

Info

Publication number: WO2020238966A1
Application number: PCT/CN2020/092644
Authority: WO
Inventors: 王凯; 邹佳池
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-05-29
Filing date: 2020-05-27
Publication date: 2020-12-03
Also published as: CN110345945A; CN110345945B

Abstract

A method and an apparatus for transmitting reference navigation point data, and an unmanned aerial vehicle, the transmission method being used in the unmanned aerial vehicle, and comprising: acquiring the flight position and flight state of an unmanned aerial vehicle (S101); on the basis of the flight position and the flight state, calculating the number of reference navigation point data to be acquired (S102); on the basis of the number of reference navigation point data to be acquired, reading a preset number of reference navigation point data from a memory of the unmanned aerial vehicle (S103); and transmitting the reference navigation point data to a guidance system of the unmanned aerial vehicle (S104). The process of acquiring reference navigation point data is more flexible and efficient, ensuring the reliability of data transmission and reducing memory consumption.

Description

Method and device for transmitting reference waypoint data and drone

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 29, 2019, the application number is 201910458628.9, and the application title is "A method, device and drone for reference waypoint data transmission", all of which The content is incorporated in this application by reference.

Technical field

This application relates to the field of UAV data processing, and in particular to a method, device and UAV for transmitting reference waypoint data.

Background technique

Currently, in the guidance process of UAVs, it is necessary to obtain information of reference waypoint data in real time. The existing method for obtaining reference waypoint data generally reads all reference waypoint data into the memory at one time, and then transmits it to the guidance system. This is not only difficult to ensure reliability, but also consumes a lot of memory space.

Summary of the invention

In order to overcome the problems of difficulty in ensuring reliability and consuming memory space when acquiring reference waypoint data in the prior art, the purpose of the present invention is to provide a transmission method, device and unmanned aerial vehicle for reference waypoint data.

In order to achieve the above objective, the present invention provides a method for transmitting reference waypoint data, which is applied to a drone, and the method includes:

Acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;

According to the flight position and the flight status, calculate the number of reference waypoint data to be acquired;

Reading a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;

The reference waypoint data is transmitted to the guidance system of the drone.

Further, the reading a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data that needs to be acquired specifically includes:

Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;

Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.

Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the preset number of data is read according to the index of the reference waypoint data to be read Reference waypoint data, including:

According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.

Further, the calculating the index of the reference waypoint data to be read according to the quantity of the reference waypoint data specifically includes:

Calculate the starting data index of the reference waypoint data to be read according to the starting data index of the reference waypoint data read last time and the number of reference waypoint data to be obtained;

According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.

Further, the method further includes:

An index corresponding to each of the reference waypoint data is established.

Further, the method further includes:

Calculate the flight trajectory of the drone based on the read reference waypoint data.

Further, the method further includes:

According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;

If the reference waypoint data read last time does not meet the flight trajectory calculation needs, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.

Further, the method further includes:

If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.

The present invention also provides a reference waypoint data transmission device, which is applied to the drone, and the device includes:

An acquisition module for acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;

A calculation module for calculating the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;

A reading module, configured to read a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;

The transmission module is used to transmit the reference waypoint data to the guidance system of the UAV.

Further, the reading module is also used for:

According to the index of the reference waypoint data to be read, read the preset number of reference waypoint data.

Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module is further used for:

Further, the reading module is also used for:

Calculate the starting data index of the reference waypoint data to be read according to the initial data index of the reference waypoint data read last time and the number of reference waypoint data to be acquired;

Further, the acquisition module is also used to establish an index corresponding to each of the reference waypoint data.

Further, the reading module is also used to calculate the flight trajectory of the drone based on the read reference waypoint data.

Further, the acquisition module is also used for:

If the reference waypoint data read last time does not meet the flight trajectory calculation requirement, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.

Further, the acquisition module is also used for:

The present invention also provides an unmanned aerial vehicle including a fuselage, an arm connected to the fuselage, a power device provided on the arm, and a flight control provided on the fuselage, the flight control including processing A computer readable program is stored in the memory, and the computer readable program is configured to be executed by the processor. When the computer readable program is executed by the processor, the above method is implemented.

Compared with the prior art, the present invention has the beneficial effects of obtaining the flight position and flight status of the drone, calculating the number of reference waypoint data to be obtained according to the flight position and flight status, and obtaining the reference waypoint data according to the need Read the preset number of reference waypoint data at the preset address from the memory, thereby making the process of obtaining reference waypoint data more flexible and efficient, ensuring the reliability of data transmission, and reducing memory consumption.

Description of the drawings

Figure 1 is a schematic diagram of a drone provided by an embodiment of the present invention;

2 is an application scenario diagram of a method for transmitting reference waypoint data provided by an embodiment of the present invention;

3 is a schematic diagram of the internal structure of a flight control of a drone provided by an embodiment of the present invention;

4 is a flowchart of a method for transmitting reference waypoint data provided by the first embodiment of the present invention;

5 is a flowchart of sub-steps of the method for transmitting reference waypoint data provided by the first embodiment of the present invention;

FIG. 6 is a schematic diagram of calculating a flight trajectory of a drone provided by an embodiment of the present invention;

FIG. 7 is a flowchart of a method for transmitting reference waypoint data provided by the second embodiment of the present invention;

FIG. 8 is a schematic diagram of a transmission device for reference waypoint data provided by an embodiment of the present invention.

Detailed ways

In the following, the present invention will be further described in conjunction with the drawings and specific implementations. It should be noted that, provided that there is no conflict, the following embodiments or technical features can be combined to form new embodiments. .

As shown in FIG. 1, the method for transmitting reference waypoint data provided by the embodiment of the present invention is applied to a UAV 100. The UAV 100 may be a suitable UAV, including a fixed-wing UAV and a rotary-wing UAV , Such as helicopters, quadrotors and aircraft with other numbers of rotors and/or rotor configurations. The UAV 100 may also be other movable objects, such as manned aircraft, model airplanes, unmanned airships, and unmanned hot air balloons.

In some embodiments, the drone 100 includes a fuselage 10, an arm 20 connected to the fuselage 10, a power device (not shown in the figure) provided on the arm 20, and a flight controller provided on the fuselage 10 (Not shown in the figure), the power device is used to provide flight power for the drone 100. As shown in Figure 2-3, the flight control of the UAV includes at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.

Among them, the reference waypoint data is stored in the memory 11. The reference waypoint data is the data point on the reference route of the UAV, including longitude, latitude and altitude information, and can also include the radius of the waypoint and the waypoint type (overflight type, Surround type) and other information. The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of the flight controller, such as a hard disk of the flight controller. In some other embodiments, the memory 11 may also be an external memory of the flight controller, such as a plug-in hard disk equipped on the flight controller, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory. Card (Flash Card) etc. Further, the memory 11 may also include both an internal storage unit of the flight controller and an external memory. The memory 11 can be used not only to store the application software and various data installed in the flight control, such as the code of the program 01 of the reference waypoint data transmission method, but also to temporarily store the data that has been output or will be output.

The processor 12 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments, and is used to run the program code or processing stored in the memory 11 Data, for example, execute reference waypoint data transmission method program 01, etc.

The bus 13 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

Further, the flight controller may also include a network interface 14. The network interface 14 may optionally include a wired interface and/or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to connect the flight controller with other electronic devices. Establish a communication connection between.

Figure 3 only shows the flight controller with components 11-14 and reference waypoint data transmission method program 01. Those skilled in the art can understand that the structure shown in Figure 3 does not constitute a limitation on the flight control, Including fewer or more components than shown, or combining certain components, or different component arrangements.

As shown in FIG. 4, the method for transmitting reference waypoint data provided by the first embodiment of the present invention includes:

Step S101: Obtain the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone.

In one embodiment, the processor is a guidance system, and the guidance system obtains the flight position and flight status of the drone, where the flight position includes the current longitude, latitude, altitude, and distance information of the drone from the reference route, etc. , The flight status includes the speed, acceleration, heading angle, force information, etc. of UAV flight.

Step S102: Calculate the number of reference waypoint data to be acquired according to the flight position and the flight status.

Among them, the flight position and flight status determine the amount of reference waypoint data that needs to be obtained. For example, if the current speed of the drone is large and the distance from the reference route is far, then more reference waypoint data needs to be obtained, and vice versa , Need to obtain less reference waypoint data.

Step S103: According to the number of reference waypoint data to be acquired, read a preset number of reference waypoint data from the memory of the drone.

As shown in FIG. 5, in an implementation manner, step S103 includes:

Step S201: Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired.

In one embodiment, the memory is a storage device of the waypoint distribution system, and an index corresponding to each reference waypoint data is pre-established in the memory, and the index of the reference waypoint data to be read includes the starting data index And the end data index, set the initial value of the start data index index to 0. After the guidance system calculates the number of steps needed to obtain the reference waypoint data, it sends it to the waypoint distribution system, and the waypoint distribution system assigns the value of index+step to index.

The read reference waypoint data is first transmitted to the bus interface of the guidance system, and the number of reference waypoint data that the bus interface can receive at one time is a fixed value, for example, M. Therefore, the preset number of reference waypoint data read from the waypoint distribution system each time is a fixed value, namely M. The waypoint distribution system calculates the termination data index based on the initial data index and the preset number of reference waypoint data, that is, the termination data index is index+M, and the guidance system reads M references between the initial data index and the termination data index Waypoint data. When the guidance system receives the number of reference waypoint data that needs to be acquired, it calculates the reference waypoint data to be read based on the initial data index of the reference waypoint data read last time and the number of reference waypoint data that needs to be acquired. The starting data index of the point data, that is, calculate index+step again, and assign the value of index+step to index.

Step S202: Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.

Specifically, the guidance system searches for the index between the start data index and the end data index according to the index order, and reads the preset number of reference waypoint data in sequence according to the index order.

Step S104: Transmit the reference waypoint data to the guidance system of the UAV.

Specifically, after the bus interface of the guidance system reads the reference waypoint data, it transmits the reference waypoint data to the guidance system, and the guidance system calculates the flight trajectory of the drone based on the reference waypoint data. Please refer to Figure 6, in one implementation, the guidance system uses the L1 guidance algorithm to calculate the required overload for lateral maneuvering, and then realizes trajectory tracking. The reference waypoint data a in Figure 6 is a point on the reference route b, and the position c of the drone is a point on the flight trajectory d. The L1 guidance algorithm is to select the reference waypoint data a with a distance of L1 from the UAV on the reference route b, connect the reference waypoint data a and the UAV's position c to form a connection e, according to the speed direction and the connection e direction The angle of, then the overload required for lateral maneuvering can be calculated.

In the above embodiment, by acquiring the flight position and flight status of the drone, the number of reference waypoint data that needs to be acquired is calculated according to the flight position and flight status, and the number of reference waypoint data that needs to be acquired is read from the memory. The preset number of reference waypoint data at the preset address can save memory space, and the transmission process of reference waypoint data is more flexible and efficient.

As shown in Fig. 7, the method for transmitting reference waypoint data provided by the second embodiment of the present invention differs from the first embodiment in that the method further includes:

Step S301: Determine whether the reference waypoint data read last time meets the flight trajectory calculation requirement according to the flight position and the flight status. If the reference waypoint data read last time does not meet the flight trajectory calculation needs, step S302 is executed; if the reference waypoint data read last time meets the flight trajectory calculation needs, step S303 is executed.

Among them, the number of reference waypoint data read last time is M. If the flight position and flight status of the drone are within the preset range, the reference waypoint data read last time can meet the requirements of the next round. Trajectory calculation needs. If the drone's flight position and flight status change beyond the preset range, new reference waypoint data needs to be added again to meet the next round of trajectory calculation needs.

Step S302: Calculate the number of reference waypoint data to be read according to the flight position and the flight status.

Step S303: Repeat reading the reference waypoint data read last time.

For example, if it is necessary to increase reference waypoint data, the guidance system sends the number of reference waypoint data that needs to be read to the waypoint distribution system. If there is no need to increase reference waypoint data, the guidance system sends the reference to the waypoint distribution system. The number of waypoint data is 0, the waypoint distribution system does not update the starting data index, and the guidance system repeatedly reads the reference waypoint data read last time.

For example, the initial value of index is 0. If the step calculated for the first time is 0, the waypoint distribution system takes out the M reference waypoint data of wp1-wpM and sends it to the guidance system. The step calculated for the second time is 1. Then the waypoint distribution system takes out the M reference waypoint data wp2-wp(M+2) and sends it to the guidance system.

In the above embodiment, it is determined whether the reference waypoint data read last time meets the flight trajectory calculation needs according to the flight position and flight status. If not, the number of reference waypoint data that needs to be read is calculated, and if so, repeat Read the reference waypoint data read last time to improve the data reading efficiency and save the memory space occupied by the data.

As shown in Figure 8, the device for transmitting reference waypoint data provided by the embodiment of the present invention is applied to an unmanned aircraft, and the device includes:

The acquiring module 10 is used to acquire the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;

The calculation module 20 is configured to calculate the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;

The reading module 30 is configured to read a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data to be acquired;

The transmission module 40 is used to transmit the reference waypoint data to the guidance system of the UAV.

Further, the reading module 30 is also used for:

Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module 30 is further configured to:

Further, the reading module 30 is also used for:

Further, the acquisition module 10 is also used to establish an index corresponding to each of the reference waypoint data.

Further, the reading module 30 is also used to calculate the flight trajectory of the drone according to the read reference waypoint data.

Further, the acquisition module 10 is also used for:

The functions or operation steps implemented by the program modules such as the acquisition module 10, the calculation module 20, the reading module 30, and the transmission module 40 when executed are substantially the same as those in the foregoing embodiment, and will not be repeated here.

Those skilled in the art can clearly understand that, for convenience and concise description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

In addition, the functional units in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

It should be noted that the sequence numbers of the above-mentioned embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. And the terms "include", "include" or any other variants thereof in this article are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements not only includes those elements, but also includes The other elements listed may also include elements inherent to the process, device, article, or method. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, device, article or method that includes the element.

The foregoing embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the present invention. The scope of protection required.

Claims

A method for transmitting reference waypoint data, applied to an unmanned aerial vehicle, characterized in that the method includes:

Acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;

According to the flight position and the flight status, calculate the number of reference waypoint data to be acquired;

Reading a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data to be acquired;

The reference waypoint data is transmitted to the guidance system of the UAV.
The method for transmitting reference waypoint data according to claim 1, wherein the number of reference waypoint data acquired according to the need is to read a preset number of references from the memory of the UAV Waypoint data, including:

Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;

According to the index of the reference waypoint data to be read, read the preset number of reference waypoint data.
The method for transmitting reference waypoint data according to claim 2, wherein the index of the reference waypoint data to be read includes a start data index and an end data index, and the Get the index of the reference waypoint data, and read the preset number of reference waypoint data, which specifically includes:

According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
The method for transmitting reference waypoint data according to claim 3, wherein said calculating the index of reference waypoint data to be read according to the quantity of said reference waypoint data specifically comprises:

Calculate the initial data index of the reference waypoint data to be read according to the initial data index of the reference waypoint data read last time and the number of reference waypoint data to be acquired;

According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
The method for transmitting reference waypoint data according to claim 2, wherein the method further comprises:

An index corresponding to each of the reference waypoint data is established.
The method for transmitting reference waypoint data according to claim 1, wherein the method further comprises:

According to the read reference waypoint data, calculate the flight trajectory of the drone.
The method for transmitting reference waypoint data according to claim 1, wherein the method further comprises:

According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;

If the reference waypoint data read last time does not meet the flight trajectory calculation requirements, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
The method for transmitting reference waypoint data according to claim 7, wherein the method further comprises:

If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
A transmission device for reference waypoint data, applied to a drone, characterized in that the device includes:

An acquisition module for acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;

A calculation module for calculating the number of reference waypoint data to be acquired according to the flight position and the flight status;

A reading module, configured to read a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;

The transmission module is used to transmit the reference waypoint data to the guidance system of the UAV.
The device for transmitting reference waypoint data according to claim 9, wherein the reading module is further used for:

Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;

Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
The device for transmitting reference waypoint data according to claim 10, wherein the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module is further configured to:

According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
The device for transmitting reference waypoint data according to claim 11, wherein the reading module is further used for:

Calculate the starting data index of the reference waypoint data to be read according to the starting data index of the reference waypoint data read last time and the number of reference waypoint data to be obtained;

According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
The transmission device for reference waypoint data according to claim 10, wherein the acquisition module is further used to establish an index corresponding to each of the reference waypoint data.
9. The transmission device for reference waypoint data according to claim 9, wherein the reading module is further configured to calculate the flight trajectory of the drone based on the read reference waypoint data.
The device for transmitting reference waypoint data according to claim 9, wherein the acquisition module is further used for:

According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;

If the reference waypoint data read last time does not meet the flight trajectory calculation requirements, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
The device for transmitting reference waypoint data according to claim 15, wherein the acquisition module is further used for:

If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
An unmanned aerial vehicle, characterized by comprising a fuselage, an arm connected to the fuselage, a power device provided on the arm, and a flight control provided on the fuselage, the flight control including processing A computer readable program is stored in the memory, and the computer readable program is configured to be executed by the processor. 8 The method of any one.