WO2020238966A1 - Procédé et appareil permettant de transmettre des données de point de navigation de référence, et véhicule aérien sans pilote - Google Patents

Procédé et appareil permettant de transmettre des données de point de navigation de référence, et véhicule aérien sans pilote Download PDF

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Publication number
WO2020238966A1
WO2020238966A1 PCT/CN2020/092644 CN2020092644W WO2020238966A1 WO 2020238966 A1 WO2020238966 A1 WO 2020238966A1 CN 2020092644 W CN2020092644 W CN 2020092644W WO 2020238966 A1 WO2020238966 A1 WO 2020238966A1
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Prior art keywords
waypoint data
reference waypoint
data
read
index
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PCT/CN2020/092644
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English (en)
Chinese (zh)
Inventor
王凯
邹佳池
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深圳市道通智能航空技术有限公司
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Publication of WO2020238966A1 publication Critical patent/WO2020238966A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • This application relates to the field of UAV data processing, and in particular to a method, device and UAV for transmitting reference waypoint data.
  • 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.
  • the purpose of the present invention is to provide a transmission method, device and unmanned aerial vehicle for reference waypoint data.
  • the present invention provides a method for transmitting reference waypoint data, which is applied to a drone, and the method includes:
  • the reference waypoint data is transmitted to the guidance system of the drone.
  • 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:
  • the index of the reference waypoint data to be read includes a start data index and an end data index
  • the preset number of data is read according to the index of the reference waypoint data to be read Reference waypoint data, including:
  • 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 calculating the index of the reference waypoint data to be read according to the quantity of the reference waypoint data specifically includes:
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
  • the method further includes:
  • 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.
  • reading module is also used for:
  • 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:
  • the index sequence read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
  • reading module is also used for:
  • the acquisition module is also used to establish an index corresponding to each of the reference waypoint data.
  • the reading module is also used to calculate the flight trajectory of the drone based on the read reference waypoint data.
  • the acquisition module is also used for:
  • the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
  • the acquisition module is also used for:
  • 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 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.
  • 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.
  • Figure 1 is a schematic diagram of a drone provided by an embodiment of the present invention.
  • FIG. 2 is an application scenario diagram of a method for transmitting reference waypoint data provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the internal structure of a flight control of a drone provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of a 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.
  • 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.
  • 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.
  • the flight control of the UAV includes at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
  • 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.
  • the memory 11 may be an internal storage unit of the flight controller, such as a hard disk of the flight controller.
  • 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.
  • CPU central processing unit
  • controller microcontroller
  • microprocessor 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.
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the guidance system 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • reading module 30 is also used for:
  • the index of the reference waypoint data to be read includes a start data index and an end data index
  • the reading module 30 is further configured 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.
  • reading module 30 is also used for:
  • the acquisition module 10 is also used to establish an index corresponding to each of the reference waypoint data.
  • the reading module 30 is also used to calculate the flight trajectory of the drone according to the read reference waypoint data.
  • the acquisition module 10 is also used for:
  • the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
  • the acquisition module 10 is also used for:
  • 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 disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • 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.
  • 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.
  • each unit 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.
  • 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.
  • 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 .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un appareil permettant de transmettre des données de point de navigation de référence, et un véhicule aérien sans pilote, le procédé de transmission étant utilisé dans le véhicule aérien sans pilote, et consistant à : acquérir la position de vol et l'état de vol d'un véhicule aérien sans pilote (S101) ; sur la base de la position de vol et de l'état de vol, calculer le nombre de données de point de navigation de référence à acquérir (S102) ; sur la base du nombre de données de point de navigation de référence à acquérir, lire un nombre prédéfini de données de point de navigation de référence à partir d'une mémoire du véhicule aérien sans pilote (S103) ; et transmettre les données de point de navigation de référence à un système de guidage du véhicule aérien sans pilote (S104). Le processus d'acquisition de données de point de navigation de référence est plus flexible et efficace, ce qui garantit la fiabilité de transmission de données et réduit la consommation de mémoire.
PCT/CN2020/092644 2019-05-29 2020-05-27 Procédé et appareil permettant de transmettre des données de point de navigation de référence, et véhicule aérien sans pilote WO2020238966A1 (fr)

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WO2021217375A1 (fr) * 2020-04-27 2021-11-04 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote et procédé et appareil d'ajout de point de cheminement associés, et processeur d'application

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