WO2021035670A1 - 天线方向的调节方法、设备及系统 - Google Patents

天线方向的调节方法、设备及系统 Download PDF

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Publication number
WO2021035670A1
WO2021035670A1 PCT/CN2019/103605 CN2019103605W WO2021035670A1 WO 2021035670 A1 WO2021035670 A1 WO 2021035670A1 CN 2019103605 W CN2019103605 W CN 2019103605W WO 2021035670 A1 WO2021035670 A1 WO 2021035670A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
antenna
control terminal
information
rotated
Prior art date
Application number
PCT/CN2019/103605
Other languages
English (en)
French (fr)
Inventor
王晓东
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN201980033233.2A priority Critical patent/CN112204492A/zh
Priority to PCT/CN2019/103605 priority patent/WO2021035670A1/zh
Publication of WO2021035670A1 publication Critical patent/WO2021035670A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation

Definitions

  • This application relates to the technical field of movable platforms, and in particular to a method, equipment and system for adjusting the direction of an antenna.
  • the position and angle of the UAV's antenna relative to the remote control will change, so that in some cases, the direction of the remote control is the UAV antenna pattern. Because of the weaker radiation intensity of the antenna in the direction of the recessed point, the receiving effect of the remote control is not good.
  • the antenna needs to maintain a relatively large radiation intensity in all directions, the power consumption of the antenna is relatively high. Therefore, without increasing the power consumption of the antenna, how to make the antenna have a relatively high radiation intensity in the direction where the remote control is located. Large radiation intensity is an urgent problem to be solved by those skilled in the art.
  • the embodiments of the present application provide a method, equipment, and system for adjusting the antenna direction, so that the antenna has a larger radiation intensity in the direction where the remote control is located without increasing the power consumption of the antenna.
  • an embodiment of the present application provides an antenna direction adjustment method, which is applied to a movable platform, the movable platform is provided with a pan-tilt, the pan-tilt is fixedly provided with an antenna, and the movable platform is used to communicate with
  • the method for adjusting the antenna direction may include:
  • the embodiment of the present application also provides a method for adjusting the antenna direction, which is applied to a control terminal, and the control terminal is used for communication connection with a movable platform, the movable platform is provided with a pan-tilt, the pan-tilt An antenna is fixedly provided, and the method for adjusting the direction of the antenna may include:
  • Output antenna direction adjustment information where the antenna direction adjustment information is used to instruct the user to adjust the direction of the antenna of the control terminal according to the antenna orientation adjustment information, so that the direction of the antenna of the control terminal is radiated from the antenna
  • the target direction alignment of the antenna wherein the antenna direction adjustment information includes second to-be-rotated information, and the second to-be-rotated information is used to indicate the target direction of the antenna of the control terminal, and the antenna is in the target direction
  • the radiation intensity is greater than the preset threshold.
  • an embodiment of the present application also provides a movable platform, which may include an interface for communicating with a control terminal.
  • One or more processors working individually or together, are used to execute the method for adjusting the antenna direction according to the first aspect described above.
  • an embodiment of the present application also provides a control terminal.
  • the control terminal may include an interface for communicating with a movable platform.
  • One or more processors working individually or together, are used to perform the antenna direction adjustment method as described in the second aspect above.
  • an embodiment of the present application also provides an antenna direction adjustment system.
  • the antenna direction adjustment system may include the movable platform described in the third aspect, and a control terminal, where the control terminal is used to communicate with the Mobile platform communication connection; or,
  • control terminal described in the fourth aspect and a movable platform, where the control terminal is used to communicate with the movable platform.
  • embodiments of the present application also provide a computer storage medium, which may include a readable storage medium and a computer program, the computer program is used to implement the adjustment of the antenna direction as described in the first aspect above method.
  • embodiments of the present application also provide a computer storage medium, which may include a readable storage medium and a computer program, the computer program is used to implement the adjustment of the antenna direction as described in the second aspect above method.
  • the embodiments of the present application also provide a program product.
  • the program product includes a computer program (that is, an execution instruction), and the computer program is stored in a readable storage medium.
  • the processor can read the computer program from a readable storage medium, and the processor executes the computer program to implement the antenna direction adjustment method described in the first aspect.
  • an embodiment of the present application also provides a program product.
  • the program product includes a computer program (that is, an execution instruction), and the computer program is stored in a readable storage medium.
  • the processor can read the computer program from a readable storage medium, and the processor executes the computer program to implement the antenna direction adjustment method described in the second aspect.
  • the movable platform when the movable platform controls the rotation of the platform according to the first information to be rotated, it first obtains the first information to be rotated corresponding to the movable platform, and controls the platform according to the first information to be rotated. Rotate so that the target direction of antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located. Since the antenna radiation intensity in the target direction is greater, the movable platform can be better in the target direction. It communicates with the control terminal, thus avoiding the high power consumption of the antenna of the movable platform due to the large radiation intensity maintained in all directions, so that the antenna can be made without increasing the power consumption of the antenna. It has a large radiation intensity in the direction where the control terminal is located.
  • Fig. 1 is an application scenario diagram provided by an embodiment of the application
  • FIG. 2 is a schematic flowchart of a method for adjusting antenna direction according to an embodiment of the application
  • FIG. 3 is a schematic diagram of aligning the target direction of antenna radiation with the direction in which the control terminal device corresponding to the movable platform is located according to an embodiment of the application;
  • FIG. 4 is a schematic flowchart of another method for adjusting antenna direction according to an embodiment of the application.
  • FIG. 5 is a schematic structural diagram of a movable platform provided by an embodiment of the application.
  • Fig. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the application.
  • “at least one” refers to one or more, and “multiple” refers to two or more.
  • “And/or” describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone. A and B can be singular or plural.
  • the character "/" generally indicates that the associated objects before and after are in an "or" relationship.
  • FIG. 1 is a diagram of an application scenario provided by an embodiment of the application, which can be applied to a communication system.
  • the communication system may include a control terminal and a movable platform.
  • the movable platform is provided with a movable device
  • the movable device is fixedly provided with an antenna
  • the unmanned aerial vehicle is used for communication connection with the remote controller.
  • the movable device may be a device such as a pan/tilt. During the movement of the UAV, its antenna position and angle relative to the remote control will change.
  • this application implements The example provides a method for adjusting the antenna direction.
  • the method for adjusting the antenna direction can be implemented in at least two possible ways to align the target direction of antenna radiation with the direction in which the control terminal device corresponding to the movable platform is located.
  • the target direction of the antenna radiation can be achieved by the control terminal equipment corresponding to the movable platform. Because the antenna radiation intensity in the target direction is relatively large, the movable platform can communicate with the control terminal better in the target direction. Therefore, it avoids that the antenna of the movable platform is in various directions. All of the above maintain a large radiation intensity, which leads to high power consumption, so that the antenna has a large radiation intensity in the direction where the control terminal is located without increasing the power consumption of the antenna.
  • the radiation intensity of the antenna in the target direction is greater than the preset threshold, which can be understood as the antenna's radiation intensity in the target direction is better, which can meet the actual needs of communication.
  • the radiation intensity of the antenna in each direction can be obtained separately, and the radiation intensity in each direction on the antenna can be compared with a preset threshold, and the radiation intensity greater than the preset threshold can be determined.
  • the direction of is determined as the target direction; of course, after the comparison, the radiation direction with the largest radiation intensity can also be directly determined as the target direction. It should be noted that if there are at least two directions on the antenna where the radiation intensity is greater than the preset threshold, a direction where the radiation intensity is greater than the preset threshold can be arbitrarily selected as the target direction.
  • the alignment of the target direction of antenna radiation with the direction of the control terminal device corresponding to the movable platform cannot be limitedly understood as the target direction of antenna radiation and the control terminal corresponding to the movable platform.
  • the absolute alignment of the direction in which the device is located can be broadly understood as alignment within a preset range, that is, there is a certain directional error, but the directional error will not affect the actual communication effect due to the radiation intensity.
  • the movable platform involved in this application may include at least one of the following: unmanned aerial vehicle, pan-tilt car; and/or, the control terminal includes at least one of the following: remote control, mobile phone, tablet computer .
  • the embodiment of the present application only takes as an example the movable platform includes at least one of an unmanned aerial vehicle and a pan/tilt vehicle, and/or the control terminal includes at least one of a remote control, a mobile phone, and a tablet computer, but it does not It means that the embodiments of this application are only limited to this.
  • FIG. 2 is a schematic flowchart of an antenna direction adjustment method provided by an embodiment of the application, which is applied to a movable platform, the movable platform is provided with a movable device, and the movable device is fixedly set There is an antenna.
  • the movable device may be a pan-tilt.
  • the movable platform is used to communicate with the control terminal, and the method for adjusting the antenna direction may include:
  • the first to-be-rotated information is used to control the rotation of the movable device.
  • the first to-be-rotated information is used to control the rotation of the pan/tilt, that is, during the rotation of the pan/tilt, the first to-be-rotated information is used as the basis for rotation.
  • the first to-be-rotated information may include the first to-be-rotated direction and the first to-be-rotated angle.
  • the first to-be-rotated direction can indicate the direction in which the movable platform needs to be rotated
  • the first to-be-rotated angle can indicate the angle at which the movable platform needs to be rotated, so that the target direction of antenna radiation is ultimately matched to the position of the control terminal device corresponding to the movable platform.
  • the antenna has a larger radiation intensity in the direction of aligning the control terminal.
  • the antenna does not need to maintain a larger radiation intensity in all directions, which avoids the need for the antenna to be in each direction. A large radiation intensity is maintained in all directions, which leads to an increase in the power consumption of the antenna, thereby reducing the power consumption of the antenna of the movable platform.
  • the first to-be-turned information when acquiring the first to-be-turned information, may be acquired in at least three possible ways.
  • the embodiments of the present application only take the three possible manners as examples for description, but it does not mean that the embodiments of the present application are limited to these. In the following, the three possible ways will be described in detail.
  • the entire calculation process of the first to-be-rotated information may be performed only by the movable platform.
  • the movable platform can obtain the position information of the movable platform and the position information of the control terminal respectively, where the position information of the movable platform includes the current position and the current direction of movement of the movable platform; and The current position of the movable platform, the current direction of motion, and the position information of the control terminal are used to obtain the first to-be-rotated information.
  • the entire calculation process of the first to-be-rotated information is only executed by the movable platform, so as to reduce transmission delay and improve calculation efficiency.
  • the mobile platform when the mobile platform obtains the location information of the control terminal, it can actively obtain the location information of the control terminal, or it can passively receive the location information sent by the control terminal, which can be specifically set according to actual needs.
  • this application The embodiment does not make specific restrictions.
  • the movable platform when it obtains the first to-be-rotated information according to the current position, current direction of motion, and position information of the control terminal of the movable platform, it may first be based on the current position of the movable platform, the current direction of motion, and the position information of the control terminal.
  • Control the position information of the terminal calculate the first relative angle between the current direction of movement of the movable platform and the first direction; then, determine the first relative angle between the current direction of movement of the movable platform and the first direction
  • the first to-be-rotated direction and the first to-be-rotated angle corresponding to the movable platform, the first to-be-rotated direction and the first to-be-rotated angle are the first to-be-rotated information, so that the first to-be-rotated information is acquired.
  • the first direction is the direction of the connection between the movable platform and the control terminal.
  • the entire calculation process of the first to-be-rotated information can be executed jointly by the movable platform and the control terminal.
  • the difference from the foregoing first possible manner is that in this possible implementation manner, the calculation of the first relative included angle is completed by the control terminal.
  • the mobile platform can send its position information to the control terminal; correspondingly, after the control terminal receives the position information sent by the movable platform, it can determine the movable platform according to the position information of the movable platform and the position information of the control terminal
  • the first relative included angle between the current direction of movement and the first direction; and the first relative included angle is included in the first instruction message and sent to the movable platform, so that the movable platform obtains the first relative angle after receiving
  • the angle to be rotated is the first information to be rotated, so that the first information to be rotated is obtained.
  • the calculation process of the first relative included angle can also be performed by the movable platform, that is, the mobile terminal calculates the movable platform according to the position information of the movable platform and the position information of the control terminal.
  • the first relative included angle between the current movement direction of the platform and the first direction refer to the first possible manner described above for details.
  • the control terminal can calculate the first to-be-rotated corresponding to the movable platform according to the first relative included angle.
  • the embodiment of the present application only takes the movable platform and the control terminal to obtain the first to-be-rotated information in these two ways as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the first The entire calculation process of the information to be rotated can be executed only by the control terminal.
  • the entire calculation of the first to-be-turned direction and the first to-be-turned angle is completed by the control terminal.
  • the control terminal calculates the first direction to be rotated and the first angle to be rotated according to the position information of the movable platform and the position information of the control terminal; and includes the calculated first direction to be rotated and the first angle to be rotated in the second
  • the instruction message is sent to the mobile platform.
  • the movable platform it only needs to receive the second instruction message including the first direction to be rotated and the first angle to be rotated corresponding to the movable platform from the control terminal, so as to directly obtain the first instruction message according to the second instruction message. To be rotated information.
  • control terminal when the control terminal calculates the first to-be-turned direction and the first to-be-turned angle according to the position information of the movable platform and the position information of the control terminal, it may first obtain the information of the movable platform.
  • Position information which includes the current position and current direction of movement of the movable platform; and according to the current position of the movable platform, the current direction of movement, and the position information of the control terminal, calculate the difference between the current direction of movement of the movable platform and the first direction
  • the first relative included angle between the movable platform and the first relative included angle between the current movement direction of the movable platform and the first direction are used to determine the first to-be-rotated direction and the first to-be-rotated angle corresponding to the movable platform, so as to obtain the first A direction to be rotated and a first angle to be rotated.
  • the pan-tilt can be controlled to rotate according to the first to-be-rotated information to make the antenna
  • the target direction of radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located, that is, the following S202 is executed:
  • S202 Control the rotation of the pan/tilt according to the first to-be-rotated information, so that the target direction of antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located.
  • the radiation intensity of the antenna in the target direction is greater than the preset threshold.
  • the radiation intensity of the antenna in the target direction needs to be greater than the preset threshold to stabilize the transmission between the movable platform and the control terminal.
  • the preset threshold may be an empirical value or a value set by the user, which is not limited here.
  • the movable platform when it controls the rotation of the pan/tilt according to the first to-be-turned information, it may send a control instruction to the pan/tilt.
  • the control instruction includes the first direction to be rotated and the first angle to be rotated; correspondingly, the pan/tilt
  • After receiving the control command control the rotation according to the first to-be-rotated direction and the first to-be-rotated angle, so that the target direction of antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located.
  • FIG. 3 is a schematic diagram of a target direction of antenna radiation provided by an embodiment of the application aligned with the direction in which the control terminal device corresponding to the movable platform is located.
  • the relative position of the pan/tilt and the movable platform is changed, and the relative position of the pan/tilt and the antenna of the movable platform is relative. It is fixed, that is, the antenna is driven to rotate by the rotation of the pan-tilt, and the relative position of the antenna of the pan-tilt and the movable platform remains unchanged during the whole rotation process, so that the target radiated by the antenna is made by rotating the pan-tilt.
  • the direction is aligned with the direction in which the control terminal device corresponding to the movable platform is located. In order to achieve the antenna has a larger radiation intensity in the direction of the control terminal.
  • the movable platform when the movable platform controls the rotation of the platform according to the first information to be rotated, it first obtains the first information to be rotated corresponding to the movable platform, and controls the platform according to the first information to be rotated. Rotate so that the target direction of antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located. Since the antenna radiation intensity in the target direction is greater, the movable platform can be better in the target direction. It communicates with the control terminal, thus avoiding the high power consumption of the antenna of the movable platform due to the large radiation intensity maintained in all directions, so that the antenna can be made without increasing the power consumption of the antenna. It has a large radiation intensity in the direction where the control terminal is located.
  • FIG. 2 describes in detail that in a possible implementation manner, there is no need to change the position of the control terminal, but the pan-tilt is controlled to rotate according to the first to-be-rotated information corresponding to the mobile platform, so that the antenna of the movable platform Driven by the pan-tilt, the target direction of its antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located.
  • the pan-tilt is controlled to rotate according to the first to-be-rotated information corresponding to the mobile platform, so that the antenna of the movable platform Driven by the pan-tilt, the target direction of its antenna radiation is aligned with the direction in which the control terminal device corresponding to the movable platform is located.
  • the direction of the antenna of the movable platform There is no need to change the direction of the antenna of the movable platform.
  • the user can control the direction of the antenna of the control terminal to adjust according to the antenna direction adjustment information until the direction of the antenna of the control terminal is
  • FIG. 4 is a schematic flowchart of another antenna direction adjustment method provided by an embodiment of the application, which is applied to a control terminal, and the control terminal is used to communicate with a movable platform.
  • the antenna direction The adjustment methods can include:
  • S401 Output antenna direction adjustment information.
  • the antenna direction adjustment information is used to instruct the user to adjust the direction of the antenna of the control terminal according to the antenna orientation adjustment information, so that the direction of the antenna of the control terminal is aligned with the target direction of antenna radiation; wherein, the antenna direction adjustment information includes the first 2.
  • the second to-be-turned information is used to indicate the target direction of the antenna of the control terminal, and the radiation intensity of the antenna in the target direction is greater than the preset threshold, so that the antenna has a larger radiation intensity in the direction of the control terminal Compared with the prior art, the antenna does not need to maintain a large radiation intensity in all directions, which avoids the increase in antenna power consumption due to the antenna’s need to maintain a large radiation intensity in all directions, thereby reducing The power consumption of the antenna of the movable platform.
  • the control terminal may output the antenna direction adjustment information to the user through the screen or the speaker, and the antenna direction adjustment information may include the second information to be rotated, so that the user can follow the second information to be rotated
  • the direction of the antenna of the control terminal is adjusted, and finally the direction of the antenna of the control terminal is aligned with the target direction of antenna radiation. It is convenient for the user to know the information to be adjusted, and to adjust the antenna direction of the control terminal according to the information to be adjusted, so as to improve the accuracy and convenience of the adjustment.
  • control terminal when the control terminal outputs the antenna direction adjustment information, it can output the antenna direction adjustment information to the user in text or pictures through the screen, or it can output the antenna direction adjustment information to the user in voice through the speaker.
  • the control terminal when the control terminal outputs the antenna direction adjustment information, it can output the antenna direction adjustment information to the user in text or pictures through the screen, or it can output the antenna direction adjustment information to the user in voice through the speaker.
  • this The application embodiments only take these three possible output modes as examples for description, but it does not mean that the embodiments of the application are limited to these.
  • the control terminal After the control terminal outputs the antenna direction adjustment information to the user, the user can adjust the direction of the antenna of the control terminal based on the second to-be-rotated information in the antenna direction adjustment information, so as to facilitate the user to accurately control the direction of the antenna of the terminal Adjustment.
  • the control terminal needs to obtain the rotation operation of the antenna of the control terminal by the user to determine whether the antenna direction of the control terminal after the rotation operation is the target direction, that is, perform the following S402-S403.
  • the rotation operation is used to adjust the direction of the antenna.
  • the control terminal can detect the current direction of the antenna in real time when acquiring the rotation operation of the antenna of the control terminal by the user, or detect the current direction of the antenna at an interval of a preset time period; and determine whether the current direction of the antenna is the target direction . To determine whether the rotation operation of the antenna of the control terminal by the user adjusts the current direction of the antenna to the target direction. Therefore, corresponding prompt information is output according to the determination result, that is, the following S403 is executed:
  • S403 Determine whether the antenna direction of the control terminal after the rotation operation is the target direction, and output corresponding prompt information according to the determination result.
  • first prompt information may be output, and the first prompt information is used to indicate that the direction of the antenna of the control terminal has been aligned with the target direction of antenna radiation.
  • the antenna direction of the control terminal after the rotation operation is not the target direction, it means that the user needs to continue to adjust the direction of the antenna.
  • the second prompt message can be output to instruct the user to continue according to the antenna
  • the orientation adjustment information adjusts the direction of the antenna of the control terminal until the direction of the antenna of the control terminal is aligned with the target direction of antenna radiation. In this way, timely feedback is given according to the user's rotation operation of the antenna of the control terminal, so that the user can more easily know the adjustment result, and make corrections according to the prompt information, which improves the antenna alignment efficiency and enhances the user experience.
  • the control terminal can output antenna direction adjustment information to the user, so that the user adjusts the direction of the antenna of the control terminal according to the second to-be-rotated information in the antenna direction adjustment information until the control terminal
  • the direction of the antenna is aligned with the target direction of antenna radiation. Because the antenna radiation intensity in the target direction is relatively large, the movable platform can communicate with the control terminal better in the target direction, thus avoiding the movable The platform’s antenna maintains a large radiation intensity in all directions, resulting in high power consumption, so that the antenna has a large radiation in the direction where the control terminal is located without increasing the power consumption of the antenna. strength.
  • the control terminal Before the control terminal outputs the antenna direction adjustment information including the second to-be-rotated information, it must first obtain the second to-be-rotated information.
  • the second to-be-rotated information may include the second to-be-rotated direction and the second to-be-rotated angle.
  • the second to-be-turned direction can indicate the direction of the antenna of the control terminal that the user needs to turn
  • the first to-be-turned angle can indicate the angle of the antenna of the control terminal that prompts the user to turn, so that the target direction of antenna radiation is consistent with the movable platform
  • the direction of the corresponding control terminal equipment is aligned, so that the antenna has a larger radiation intensity in the direction of the control terminal, which avoids the antenna power due to the need to maintain a large radiation intensity in all directions.
  • the power consumption is increased, thereby reducing the direction of the antenna at the power consumption end of the antenna of the movable platform.
  • control terminal when the control terminal obtains the second to-be-rotated information, it may also obtain the second to-be-rotated information in the following at least three possible ways.
  • the embodiments of the present application only take the three possible manners as examples for description, but it does not mean that the embodiments of the present application are limited to these. In the following, the three possible ways will be described in detail.
  • the entire calculation process of the second to-be-turned information may be executed only by the control terminal.
  • the control terminal can obtain the position information of the movable platform and the position information of the control terminal respectively, where the position information of the movable platform includes the current position and the current direction of movement of the movable platform; The current position of the mobile platform, the current direction of movement, and the position information of the control terminal are used to obtain the second to-be-rotated information.
  • the position information of the movable platform includes the current position and current direction of movement of the movable platform.
  • control terminal when the control terminal obtains the position information of the movable platform, it can actively obtain the position information of the movable platform, or it can passively receive the position information sent by the movable platform, which can be set according to actual needs.
  • the embodiments of this application do not make specific restrictions.
  • the control terminal when it obtains the second to-be-turned information according to the current position, current direction of motion, and position information of the control terminal of the movable platform, it may firstly determine the current position, current direction of motion, and control of the movable platform.
  • the position information of the terminal calculates the second relative included angle between the current direction of movement of the movable platform and the second direction; then, the control is determined according to the second relative included angle between the current direction of movement of the movable platform and the second direction
  • the second to-be-turned direction and the second to-be-turned angle corresponding to the terminal, the second to-be-turned direction and the second to-be-turned angle are the second to-be-turned information, so that the second to-be-turned information is acquired.
  • the second direction is the direction in which the connection between the movable platform and the control terminal is located.
  • the entire calculation process of the second to-be-rotated information can be executed jointly by the movable platform and the control terminal.
  • the difference from the first possible manner described above is that in this possible implementation manner, the calculation of the second relative included angle is completed by a movable platform.
  • the mobile platform can separately obtain the position information of the movable platform and the position information of the control terminal; and according to the current position of the movable platform, the current direction of motion, and the position information of the control terminal, determine the current direction of movement of the movable platform and the second
  • the second relative included angle between the directions; and the second relative included angle is included in the third instruction message and sent to the control terminal, so that after the control terminal obtains the second relative included angle, it is based on the current movement of the movable platform
  • the second relative included angle between the direction and the second direction determines the second to-be-turned direction and the second to-be-turned angle corresponding to the control terminal.
  • the second to-be-turned direction and the second to-be-turned angle are the second to-be-turned information , So as to obtain the second to-be-rotated information.
  • the calculation process of the second relative included angle can also be executed by the control terminal, that is, the control terminal calculates the current position of the movable platform according to the position information of the movable platform and the position information of the control terminal.
  • the control terminal calculates the second relative included angle between the movement direction and the second direction, refer to the first possible manner described above for details.
  • the control terminal can also send the second relative included angle to the movable platform; correspondingly, the movable platform can calculate the second to-be-rotated control terminal corresponding to the second relative included angle according to the second relative included angle.
  • the embodiment of the present application only takes the movable platform and the control terminal to obtain the first to-be-rotated information in these two ways as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the entire calculation process of the first to-be-rotated information may be executed only by the movable platform.
  • the entire calculation of the second to-be-turned direction and the second to-be-turned angle is completed by the movable platform , That is, the mobile platform calculates the second direction to be rotated and the second angle to be rotated according to the position information of the movable platform and the position information of the control terminal; and includes the calculated second direction to be rotated and the second angle to be rotated in The fourth instruction message is sent to the control terminal.
  • control terminal it only needs to receive the fourth instruction message including the second direction to be rotated and the second angle to be rotated corresponding to the control terminal and sent by the control movable platform, so as to directly obtain the second instruction message according to the fourth instruction message. To be rotated information.
  • the movable platform when the movable platform calculates the second to-be-rotated direction and the second to-be-rotated angle according to the position information of the movable platform and the position information of the control terminal, the movable platform may first obtain the movable platform respectively.
  • the position information of the mobile platform and the position information of the control terminal where the position information of the movable platform includes the current position and current movement direction of the movable platform; and according to the current position, current movement direction, and control terminal of the movable platform Calculate the second relative included angle between the current movement direction of the movable platform and the second direction, and then determine the corresponding control terminal according to the second relative included angle between the current movement direction of the movable platform and the second direction
  • the second direction to be rotated and the second angle to be rotated so as to obtain the second direction to be rotated and the second angle to be rotated.
  • the control terminal can output the antenna direction adjustment information including the second to-be-rotated information to the user, so that the user can control the terminal according to the second to-be-rotated information.
  • the direction of the antenna is adjusted until the direction of the antenna of the control terminal is aligned with the target direction of antenna radiation. Because the antenna radiation intensity in the target direction is relatively large, the movable platform can be better with the control in the target direction.
  • the terminal communicates. Therefore, it avoids that the antenna of the movable platform maintains a large radiation intensity in all directions and causes high power consumption, so that the antenna can be controlled without increasing the power consumption of the antenna.
  • the direction where the terminal is located has greater radiation intensity.
  • FIG. 5 is a schematic structural diagram of a movable platform 50 provided by an embodiment of the application.
  • the movable platform 50 may include an interface 501 for communicating with a control terminal.
  • One or more processors 502, working individually or together, are configured to perform the antenna direction adjustment method as described in the first aspect above, and the one or more processors 502 are configured to perform the following operations:
  • the first to-be-rotated information is used to control the rotation of the pan/tilt; and control the rotation of the pan/tilt according to the first to-be-rotated information, so that the target direction of antenna radiation is corresponding to the control terminal equipment of the movable platform 50
  • the direction in which the antenna is located is aligned; wherein the radiation intensity of the antenna in the target direction is greater than a preset threshold.
  • the one or more processors 502 are specifically configured to obtain the position information of the movable platform 50 and the position information of the control terminal respectively; wherein, the position information of the movable platform 50 includes the current position and the current position of the movable platform 50. Movement direction; and according to the current position of the movable platform 50, the current movement direction, and the position information of the control terminal, the first information to be rotated is acquired.
  • the one or more processors 502 are specifically configured to calculate the difference between the current direction of movement of the movable platform 50 and the first direction according to the current position of the movable platform 50, the current direction of movement, and the position information of the control terminal.
  • the first relative included angle wherein, the first direction is the direction of the connection between the movable platform 50 and the control terminal; and according to the first relative included angle between the current movement direction of the movable platform 50 and the first direction, obtain The first information to be rotated.
  • the one or more processors 502 are specifically configured to obtain a first instruction message sent by the control terminal, and the first instruction message includes a first relative angle between the current movement direction of the movable platform 50 and the first direction ;
  • the first direction is the direction in which the connection between the movable platform 50 and the control terminal is located; and the first relative angle between the current direction of movement of the movable platform 50 and the first direction is used to obtain the first information to be rotated .
  • control terminal determines the first relative included angle according to the position information of the movable platform 50 and the position information of the control terminal; wherein the position information of the movable platform 50 includes the current position and the current movement direction of the movable platform 50.
  • the one or more processors 502 are specifically configured to determine the first direction to be rotated and the first direction corresponding to the movable platform 50 according to the first relative angle between the current direction of movement of the movable platform 50 and the first direction. An angle to be rotated.
  • the one or more processors 502 are specifically configured to obtain a second instruction message sent by the control terminal.
  • the second instruction message includes the first direction to be rotated and the first angle to be rotated corresponding to the movable platform 50.
  • a direction to be rotated and a first angle to be rotated are calculated by the control terminal according to the position information of the movable platform 50 and the position information of the control terminal.
  • the position information of the movable platform 50 includes the current position and the current direction of movement of the movable platform 50 .
  • the one or more processors 502 are specifically configured to send a control instruction to the pan-tilt, the control instruction includes a first direction to be rotated and a first angle to be rotated; the control instruction is used to instruct the pan-tilt according to the first A direction to be rotated and a first angle to be rotated.
  • the one or more processors 502 are also used to separately obtain the radiation intensity of the antenna in each direction; and according to the radiation intensity of the antenna in each direction, determine the target direction where the radiation intensity is greater than a preset threshold. ; Or, according to the radiation intensity of the antenna in each direction, the radiation direction with the largest radiation intensity is determined as the target direction.
  • the one or more processors 502 are specifically configured to send the position information of the movable platform 50 to the control terminal.
  • the movable platform 50 shown in the embodiment of the present application can implement the technical solution of the method for adjusting the antenna direction on the movable platform 50 side shown in any of the above embodiments, and its implementation principle and beneficial effects are similar to those on the movable platform 50 side.
  • the implementation principle and beneficial effects of the method for adjusting the antenna direction are similar, and will not be repeated here.
  • FIG. 6 is a schematic structural diagram of a control terminal 60 provided by an embodiment of the application.
  • the control terminal 60 may include an interface 601 for communicating with a movable platform.
  • One or more processors 602, working individually or together, are configured to perform the antenna direction adjustment method as described in the second aspect above, and the one or more processors 602 are configured to perform the following operations:
  • the antenna direction adjustment information is output, and the antenna direction adjustment information is used to instruct the user to adjust the direction of the antenna of the control terminal 60 according to the antenna orientation adjustment information, so that the direction of the antenna of the control terminal 60 is aligned with the target direction of antenna radiation;
  • the antenna direction adjustment information includes second to-be-turned information, which is used to indicate the target direction of the antenna of the control terminal 60, and the radiation intensity of the antenna in the target direction is greater than a preset threshold; obtain the user’s information on the antenna of the control terminal 60
  • the rotation operation is used to adjust the direction of the antenna; it is determined whether the antenna direction of the control terminal 60 after the rotation operation is the target direction, and corresponding prompt information is output according to the determination result.
  • the one or more processors 602 are specifically configured to output first prompt information if the antenna direction of the control terminal 60 after the rotation operation is the target direction, and the first prompt information is used to indicate the antenna direction of the control terminal 60 The direction is aligned with the target direction of antenna radiation.
  • a second prompt message is output.
  • the second prompt message is used to instruct the user to continue to adjust the direction of the antenna of the control terminal 60 according to the antenna orientation adjustment information until the control The direction of the antenna of the terminal 60 is aligned with the target direction of antenna radiation.
  • the one or more processors 602 are further configured to obtain second to-be-rotated information.
  • the one or more processors 602 are specifically configured to obtain the position information of the movable platform and the position information of the control terminal 60 respectively; wherein, the position information of the movable platform includes the current position and the current movement direction of the movable platform ; And according to the current position of the movable platform, the current direction of movement, and the position information of the control terminal 60, the second to-be-rotated information is acquired.
  • the one or more processors 602 are specifically configured to calculate the second direction between the current movement direction of the movable platform and the second direction according to the current position of the movable platform, the current movement direction, and the position information of the control terminal 60. Two relative included angles; where the second direction is the direction in which the connection between the movable platform and the control terminal 60 is located; and the second relative included angle between the current direction of movement of the movable platform and the second direction is used to obtain the second To be rotated information.
  • the one or more processors 602 are specifically configured to obtain a third instruction message sent by the movable platform, where the third instruction message includes a second relative angle between the current movement direction of the movable platform and the second direction , And obtain the second to-be-rotated information according to the second relative included angle between the current direction of movement of the movable platform and the second direction.
  • the second direction is the direction in which the connection between the movable platform and the control terminal 60 is located
  • the second relative included angle is calculated by the movable platform according to the position information of the movable platform and the position information of the control terminal 60.
  • the movable platform The position information of the platform includes the current position and current movement direction of the movable platform.
  • the one or more processors 602 are specifically configured to determine the second to-be-rotated direction and the second-to-be-turned direction corresponding to the control terminal 60 according to the second relative angle between the current direction of movement of the movable platform and the second direction. Angle of rotation.
  • the one or more processors 602 are specifically configured to obtain a fourth instruction message sent by the movable platform, and the fourth instruction message includes the second direction to be rotated and the second angle to be rotated corresponding to the control terminal 60.
  • the second to-be-rotated direction and the second to-be-rotated angle are calculated by the movable platform according to the position information of the movable platform and the position information of the control terminal 60.
  • the position information of the movable platform includes the current position and the current direction of movement of the movable platform.
  • the one or more processors 602 are further configured to send location information of the control terminal 60 to the movable platform.
  • the one or more processors 602 are specifically configured to obtain the position information of the movable platform sent by the movable platform.
  • the one or more processors 602 are specifically configured to include outputting the antenna direction adjustment information in at least one of the following ways: a voice mode, a text mode, or a picture mode.
  • the control terminal 60 shown in the embodiment of the present application can execute the technical solution of the method for adjusting the antenna direction of the control terminal 60 shown in any of the above embodiments, and its implementation principles and beneficial effects are related to the adjustment of the antenna direction of the control terminal 60 The implementation principle and beneficial effects of the method are similar, and will not be repeated here.
  • An embodiment of the present application also provides an antenna direction adjustment system.
  • the antenna direction adjustment system may include the movable platform described in FIG. 5 and a control terminal 60 that is used to interact with the movable platform. Communication connection; or,
  • control terminal 60 described in FIG. 6 and the movable platform described above the control terminal 60 is used to communicate with the movable platform, and its implementation principle and beneficial effects are similar to those of the antenna direction adjustment method , I won’t repeat it here.
  • An embodiment of the present application also provides a computer storage medium, which may include a readable storage medium and a computer program, and the computer program is used to implement the antenna direction on the movable platform side as shown in any of the above embodiments.
  • the technical solution of the adjustment method, its implementation principle and beneficial effects are similar to the implementation principles and beneficial effects of the method for adjusting the antenna direction of the movable platform, and will not be repeated here.
  • An embodiment of the present application also provides a computer storage medium, which may include a readable storage medium and a computer program, and the computer program is used to implement the control of the antenna direction on the terminal side as shown in any of the above embodiments.
  • the technical solution of the adjustment method, its implementation principle and beneficial effects are similar to the implementation principle and beneficial effects of the method for controlling the antenna direction of the terminal, and will not be repeated here.
  • the embodiments of the present application also provide a program product, which includes a computer program (that is, an execution instruction), and the computer program is stored in a readable storage medium.
  • the processor can read the computer program from the readable storage medium, and the processor executes the computer program to implement the technical solution of the method for adjusting the antenna direction on the movable platform side shown in any of the above embodiments, and its implementation principles and benefits The effect is similar to the implementation principle and beneficial effects of the method for adjusting the antenna direction of the movable platform, and will not be repeated here.
  • the embodiments of the present application also provide a program product, which includes a computer program (ie, an execution instruction), and the computer program is stored in a readable storage medium.
  • the processor can read the computer program from a readable storage medium, and the processor executes the computer program to implement the technical solution of the method for controlling the antenna direction of the terminal side shown in any of the above embodiments, its implementation principles and beneficial effects
  • the implementation principle and beneficial effects of the method for adjusting the antenna direction of the control terminal are similar, and will not be repeated here.
  • the processor in the foregoing embodiment may be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (field programmable gate array, FPGA), or Other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Other programmable logic devices discrete gates or transistor logic devices, discrete hardware components.
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory (RAM), flash memory, read-only memory (read-only memory, ROM), programmable read-only memory, or electrically erasable programmable memory, registers, etc. mature in the field Storage medium.
  • RAM random access memory
  • flash memory read-only memory
  • read-only memory read-only memory
  • ROM programmable read-only memory
  • electrically erasable programmable memory registers, etc. mature in the field Storage medium.
  • the storage medium is located in the memory, and the processor reads the instructions in the memory and completes the steps of the above method in combination with its hardware.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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Abstract

本申请实施例提供一种天线方向的调节方法、设备及系统，可移动平台在根据第一待转动信息控制云台转动时，先获取可移动平台对应的第一待转动信息，并根据第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在遥控器所在的方向上具有较大的辐射强度。

Description

天线方向的调节方法、设备及系统 技术领域
本申请涉及可移动平台技术领域，尤其涉及一种天线方向的调节方法、设备及系统。
背景技术
无人机在飞行过程中，随着无人机姿态的变化，无人机的天线位置和角度相对遥控器会发生变化，使得在某些情况下，遥控器所在方向是无人机天线方向图的凹陷点，由于凹陷点方向上天线的辐射强度较弱，从而导致遥控器的接收效果不好。
但是，由于天线需要在各个方向上都维持有较大的辐射强度，使得天线的功耗较大，因此，在不增加天线功耗的情况下，如何使得天线在遥控器所在的方向上具有较大的辐射强度，是本领域技术人员亟待解决的问题。
发明内容
本申请实施例提供一种天线方向的调节方法、设备及系统，在不增加天线功耗的情况下，使得天线在遥控器所在的方向上具有较大的辐射强度。
第一方面，本申请实施例提供一种天线方向的调节方法，应用于可移动平台，所述可移动平台设有云台，所述云台固定设置有天线，所述可移动平台用于与控制终端通讯连接，该天线方向的调节方法可以包括：
获取第一待转动信息；其中，所述第一待转动信息用于控制所述云台转动。
根据所述第一待转动信息控制所述云台转动，以使所述天线辐射的目标方向与所述可移动平台对应的控制终端设备所处的方向对准；其中，所述天线在所述目标方向上的辐射强度大于预设阈值。
第二方面，本申请实施例还提供一种天线方向的调节方法，应用于控制终端，所述控制终端用于与可移动平台通讯连接，所述可移动平台设有云台， 所述云台固定设置有天线，该天线方向的调节方法可以包括：
输出天线方向调整信息，所述天线方向调整信息用于指示用户根据所述天线朝向调整信息对所述控制终端的天线的方向进行调整，以使所述控制终端的天线的方向与所述天线辐射的目标方向对准；其中，所述天线方向调整信息包括第二待转动信息，所述第二待转动信息用于指示所述控制终端的天线的目标方向，所述天线在所述目标方向上的辐射强度大于预设阈值。
获取用户对所述控制终端的天线的转动操作，所述转动操作用于调整所述天线的方向。
确定转动操作后的所述控制终端的天线方向是否为目标方向，并根据确定结果输出相应的提示信息。
第三方面，本申请实施例还提供一种可移动平台，该可移动平台可以包括与控制终端进行通信的接口。
一个或多个处理器，单独地或共同地工作，用于执行如上述第一方面所述的天线方向的调节方法。
第四方面，本申请实施例还提供一种控制终端，该控制终端可以包括与可移动平台进行通信的接口。
一个或多个处理器，单独地或共同地工作，用于执行如上述第二方面所述的天线方向的调节方法。
第五方面，本申请实施例还提供一种天线方向的调节系统，该天线方向的调节系统可以包括上述第三方面所述的可移动平台，以及控制终端，所述控制终端用于与所述可移动平台通讯连接；或者，
上述第四方面所述的控制终端，以及可移动平台，所述控制终端用于与所述可移动平台通讯连接。
第六方面，本申请实施例还提供一种计算机存储介质，该计算机存储介质可以包括可读存储介质和计算机程序，所述计算机程序，用于实现如上述第一方面所述的天线方向的调节方法。
第七方面，本申请实施例还提供一种计算机存储介质，该计算机存储介质可以包括可读存储介质和计算机程序，所述计算机程序，用于实现如上述第二方面所述的天线方向的调节方法。
第八方面，本申请实施例还提供一种程序产品，该程序产品包括计算机 程序(即执行指令)，该计算机程序存储在可读存储介质中。处理器可以从可读存储介质读取该计算机程序，处理器执行该计算机程序用于实现上述第一方面所述的天线方向的调节方法。
第九方面，本申请实施例还提供一种程序产品，该程序产品包括计算机程序(即执行指令)，该计算机程序存储在可读存储介质中。处理器可以从可读存储介质读取该计算机程序，处理器执行该计算机程序用于实现上述第二方面所述的天线方向的调节方法。
由此可见，在本申请实施例中，可移动平台在根据第一待转动信息控制云台转动时，先获取可移动平台对应的第一待转动信息，并根据第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在控制终端所在的方向上具有较大的辐射强度。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种应用场景图；
图2为本申请实施例提供的一种天线方向的调节方法的流程示意图；
图3为本申请实施例提供的一种天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准的示意图；
图4为本申请实施例提供的另一种天线方向的调节方法的流程示意图；
图5为本申请实施例提供的一种可移动平台的结构示意图；
图6为本申请实施例提供的一种控制终端的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本申请的实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A，B可以是单数或者复数。在本申请的文字描述中，字符“/”一般表示前后关联对象是一种“或”的关系。
图1为本申请实施例提供的一种应用场景图，可应用于通讯系统。示例的，请参见图1所示，该通讯系统可包括控制终端以及可移动平台。其中，可移动平台上设有可移动装置，可移动装置固定设置有天线，无人机用于与遥控器通讯连接。可移动装置可以是云台等装置。无人机在运动过程中，其天线位置和角度相对遥控器会发生变化，为了在不增加天线功耗的情况下，使得天线在遥控器所在的方向上具有较大的辐射强度，本申请实施例提供了一种天线方向的调节方法，该天线方向的调节方法可以通过至少两种可能的实现方式，使得天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准。在一种可能的实现方式中，可以无需改变控制终端的位置，只是根据移动平台对应的第一待转动信息控制云台进行转动，使得可移动平台的天线在云台的带动下，其天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准。在另一种可能的实现方式中，无需改变可移动平台的天线的方向，用户可以根据天线方向调整信息控制控制终端的天线的方向进行调整，直至控制终端的天线的方向与天线辐射的目标方向对准。可以看出，通过该两种可能的实现方式，无论是控制转动云台的方向，或者，转动控制终端的天线的方向，均可以实现天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在控制终端所在的 方向上具有较大的辐射强度。
其中，天线在目标方向上的辐射强度大于预设阈值，可以理解为天线在目标方向上的辐射强度较好，可以满足通讯的实际需求。示例的，在确定目标方向时，可以分别获取天线在每一个方向上的辐射强度，并将天线上的每一个方向上的辐射强度与预设阈值进行比较，将大于预设阈值的辐射强度所在的方向确定为目标方向；当然，在比较之后，也可以直接将辐射强度最大的辐射方向确定为目标方向。需要说明的是，若天线上存在至少两个方向上的辐射强度均大于预设阈值时，可以任意选择一个大于预设阈值的辐射强度所在的方向确定为目标方向。
可以理解的是，在本申请实施例中，天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准不能局限地理解为天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向绝对对准，可以广泛地理解为预设范围内对准，即存在一定的方向误差，但是该方向误差不会因为辐射强度的问题而影响实际的通讯效果。
此外，还需要说明的是，本申请中涉及的可移动平台可以包括如下至少一种：无人飞行器、云台车；和/或，控制终端包括如下至少一种：遥控器、手机、平板电脑。当然，本申请实施例只是以可移动平台包括无人飞行器、云台车中至少一种，和/或，控制终端包括遥控器、手机、平板电脑中至少一种为例进行说明，但并不代表本申请实施例仅局限于此。
下面，将结合具体的实施例分别对本申请实施例提供的两种可能的实现方式进行详细地说明，下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
在一种可能的实现方式中，即无需改变控制终端的位置，只是根据第一待转动信息控制云台进行转动，以使可移动平台的天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准。示例的，请参见图2所示，图2为本申请实施例提供的一种天线方向的调节方法的流程示意图，应用于可移动平台，可移动平台设有可移动装置，可移动装置固定设置有天线。可移动装置可以是云台。可移动平台用于与控制终端通讯连接，该天线方向的调节方法可以包括：
S201、获取第一待转动信息。
在一些实施例中，第一待转动信息用于控制可移动装置转动。例如，第一待转动信息用于控制云台转动，即云台在转动过程中，以该第一待转动信息为转动依据进行转动。可选的，第一待转动信息可以包括第一待转动方向和第一待转动角度。其中，第一待转动方向可以指示可移动平台需要转动的方向，第一待转动角度可以指示可移动平台需要转动的角度，最终使得天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，这样使得天线在对准控制终端的方向具有较大的辐射强度，与现有相比，天线无需在各个方向上都维持有较大的辐射强度，避免了由于天线需要在各个方向上都维持有较大的辐射强度而导致天线功耗加大，从而降低了可移动平台的天线的功耗。
可选的，在本申请实施例中，在获取第一待转动信息时，可以通过至少三种可能的方式获取该第一待转动信息。当然，本申请实施例只是以该三种可能的方式为例进行说明，但并不代表本申请实施例仅局限于此。下面，将分别针对该三种可能的方式进行详细地说明。
在第一种可能的方式中，该第一待转动信息的整个计算过程可以仅由可移动平台执行。在该种可能的实现方式中，可移动平台可以分别获取可移动平台的位置信息和控制终端的位置信息，其中，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向；并根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，获取第一待转动信息。该第一待转动信息的整个计算过程仅由可移动平台执行，以减少传输延时，提高计算效率。
示例的，可移动平台在获取控制终端的位置信息时，可以主动地获取控制终端的位置信息，也可以被动地接收控制终端发送的位置信息，具体可以根据实际需要进行设置，在此，本申请实施例不做具体限制。
可选的，可移动平台在根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，获取第一待转动信息时，可以先根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，计算可移动平台当前运动方向与第一方向之间的第一相对夹角；之后，再根据可移动平台当前运动方向与第一方向之间的第一相对夹角，确定可移动平台对应的第一待转动方向和第一待转动角度，该第一待转动方向和第一待转动角度即为第一待转动信息，从而获取到该第一待转动信息。其中，第一方向为可移动平台与控制终 端之间连线所在的方向。
在第二种可能的方式中，该第一待转动信息的整个计算过程可以由可移动平台和控制终端共同执行。与上述第一种可能的方式不同的是，在该种可能的实现方式中，第一相对夹角的计算是由控制终端完成的。即可移动平台可以将其位置信息发送给控制终端；对应的，控制终端在接收到可移动平台发送的位置信息之后，可以根据可移动平台的位置信息和控制终端的位置信息，确定可移动平台当前运动方向与第一方向之间的第一相对夹角；并将该第一相对夹角包括在第一指示消息中发送给可移动平台，使得可移动平台在接收获取到该第一相对夹角之后，根据可移动平台当前运动方向与第一方向之间的第一相对夹角，确定可移动平台对应的第一待转动方向和第一待转动角度，该第一待转动方向和第一待转动角度即为第一待转动信息，从而获取到该第一待转动信息。从而减少可移动平台的计算资源，节约可移动平台的功耗。
可以理解的是，在该种可能的方式中，第一相对夹角的计算过程也可以由可移动平台执行，即可移动终端根据可移动平台的位置信息和控制终端的位置信息，计算可移动平台当前运动方向与第一方向之间的第一相对夹角，具体可以参见上述第一种可能的方式。可移动平台在计算得到第一相对夹角之后，还可以将该第一相对夹角发送给控制终端；对应的，控制终端可以根据该第一相对夹角计算可移动平台对应的第一待转动方向和第一待转动角度，并将计算得到的第一待转动方向和第一待转动角度发送给可移动平台，从而使得可移动平台获取到该第一待转动信息。当然，本申请实施例只是以可移动平台和控制终端可以通过这两种方式配合获取第一待转动信息为例进行说明，但并不代表本申请实施例仅局限于此。
可以理解的是，在本申请实施例中，为了减少可移动平台的数据处理量，节约可移动平台的资源消耗，降低可移动平台的功耗，在第三种可能的方式中，该第一待转动信息的整个计算过程可以仅由控制终端执行。在该种可能的方式中，与上述第一种可能的方式不同的是，在该种可能的实现方式中，第一待转动方向和第一待转动角度的整个计算是由控制终端完成的，即控制终端根据可移动平台的位置信息和控制终端的位置信息计算得到第一待转动方向和第一待转动角度；并将计算得到的第一待转动方向和第一待转动角度 包括在第二指示消息中发送给可移动平台。对于可移动平台而言，只需要接收控制终端发送的包括可移动平台对应的第一待转动方向和第一待转动角度的第二指示消息，从而根据该第二指示消息直接获取到该第一待转动信息。
可选的，在该种可能的方式中，控制终端在根据可移动平台的位置信息和控制终端的位置信息计算第一待转动方向和第一待转动角度时，可以先获取该可移动平台的位置信息，该位置信息包括可移动平台的当前位置、当前运动方向；并根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，计算可移动平台当前运动方向与第一方向之间的第一相对夹角，进而根据可移动平台当前运动方向与第一方向之间的第一相对夹角，确定可移动平台对应的第一待转动方向和第一待转动角度，从而得到第一待转动方向和第一待转动角度。
对于可移动平台而言，在通过上述三种可能的方式中任一种可能的方式，获取到该第一待转动信息之后，就可以根据该第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，即执行下述S202：
S202、根据第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准。
其中，天线在目标方向上的辐射强度大于预设阈值。天线在目标方向上的辐射强度需要大于预设阈值，以使可移动平台与控制终端之间的传输稳定。该预设阈值可以是经验值，也可以是用户自设定的值，在此不做限定。
可选的，可移动平台在根据第一待转动信息控制云台转动时，可以向云台发送控制指令，该控制指令中包括第一待转动方向和第一待转动角度；对应的，云台在接收到该控制命令之后，根据该第一待转动方向和第一待转动角度控制进行转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，示例的，请参见图3所示，图3为本申请实施例提供的一种天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准的示意图。
可以理解的是，云台在根据第一待转动方向和第一待转动角度控制进行转动时，该云台与可移动平台的相对位置是变化的，而其与可移动平台的天线为相对位置是固定不变的，即通过云台的转动带动天线进行转动，且整个 转动过程中，云台与可移动平台的天线为相对位置是保持不变的，从而通过转动云台使得天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准。以实现天线在对准控制终端的方向具有较大的辐射强度。
由此可见，在本申请实施例中，可移动平台在根据第一待转动信息控制云台转动时，先获取可移动平台对应的第一待转动信息，并根据第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在控制终端所在的方向上具有较大的辐射强度。
上述图2所示的实施例详细描述了在一种可能的实现方式中，无需改变控制终端的位置，只是根据移动平台对应的第一待转动信息控制云台进行转动，使得可移动平台的天线在云台的带动下，其天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准的技术方案。下面，将详细描述在另一种可能的实现方式中，无需改变可移动平台的天线的方向，用户可以根据天线方向调整信息控制控制终端的天线的方向进行调整，直至控制终端的天线的方向与天线辐射的目标方向对准的技术方案。示例的，请参见图4所示，图4为本申请实施例提供的另一种天线方向的调节方法的流程示意图，应用于控制终端，控制终端用于与可移动平台通讯连接，该天线方向的调节方法可以包括：
S401、输出天线方向调整信息。
其中，天线方向调整信息用于指示用户根据天线朝向调整信息对控制终端的天线的方向进行调整，以使控制终端的天线的方向与天线辐射的目标方向对准；其中，天线方向调整信息包括第二待转动信息，第二待转动信息用于指示控制终端的天线的目标方向，天线在目标方向上的辐射强度大于预设阈值，这样使得天线在对准控制终端的方向具有较大的辐射强度，与现有相比，天线无需在各个方向上都维持有较大的辐射强度，避免了由于天线需要在各个方向上都维持有较大的辐射强度而导致天线功耗加大，从而降低了可移动平台的天线的功耗。
在确定需要调整控制终端天线的方向时，控制终端可以通过屏幕或者扬声器向用户输出天线方向调整信息，该天线方向调整信息中可以包括第二待转动信息，使得用户可以根据该第二待转动信息对控制终端的天线的方向进行调整，最终使得控制终端的天线的方向与天线辐射的目标方向对准。方便用户得知需调整信息，并跟需调整信息对控制终端的天线方向进行调整，提高调整的准确性以及便捷性。
可选的，控制终端在输出天线方向调整信息时，可以通过屏幕以文字方式或者以图片方式向用户输出天线方向调整信息，也可以通过扬声器以语音方式向用户输出天线方向调整信息，当然，本申请实施例只是以这三种可能的输出方式为例进行说明，但并不代表本申请实施例仅局限于此。
控制终端在向用户输出天线方向调整信息之后，用户就可以基于该天线方向调整信息中的第二待转动信息对控制终端的天线的方向进行调整，以方便用户对于控制终端的天线的方向进行准确调整。对应的，控制终端需要获取用户对控制终端的天线的转动操作，以确定转动操作后的控制终端的天线方向是否为目标方向，即执行下述S402-S403。
S402、获取用户对控制终端的天线的转动操作。
其中，转动操作用于调整天线的方向。
示例的，控制终端在获取用户对控制终端的天线的转动操作时，可以实时检测天线的当前方向，也可以间隔一个预设时间段检测天线的当前方向；并确定天线的当前方向是否为目标方向，以确定用户对控制终端的天线的转动操作是否将天线的当前方向调整为目标方向。从而根据确定结果输出相应的提示信息，即执行下述S403：
S403、确定转动操作后的控制终端的天线方向是否为目标方向，并根据确定结果输出相应的提示信息。
示例的，在根据确定结果输出相应的提示信息，若转动操作后的控制终端的天线方向为目标方向，说明用户已经将天线的当前方向调节为目标方向，无需再继续对天线的方向进行调整，此时可以输出第一提示信息，第一提示信息用于指示控制终端的天线的方向已与天线辐射的目标方向对准。相反的，若转动操作后的控制终端的天线方向不为目标方向，说明用户需要继续对天线的方向进行调整，此时可以输出第二提示信息，以通过该第二提示信息指 示用户继续根据天线朝向调整信息对控制终端的天线的方向进行调整，直至控制终端的天线的方向与天线辐射的目标方向对准。如此，及时根据用户的对控制终端的天线的转动操作给出反馈，使用户更方便的得知其调整结果，并根据提示信息进行修正，提高了天线对准效率，增强了用户体验。
由此可见，在本申请实施例中，控制终端可以向用户输出天线方向调整信息，使得用户根据该天线方向调整信息中的第二待转动信息对控制终端的天线的方向进行调整，直至控制终端的天线的方向与天线辐射的目标方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在控制终端所在的方向上具有较大的辐射强度。
基于上述图4所示的实施例，可以看出，控制终端在输出包括第二待转动信息的天线方向调整信息之前，必然需要先获取到该第二待转动信息。可选的，第二待转动信息可以包括第二待转动方向和第二待转动角度。其中，第二待转动方向可以提示用户需要转动的控制终端的天线的方向，第一待转动角度可以指示提示用户需要转动的控制终端的天线的角度，以使天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，最终使得天线在对准控制终端的方向具有较大的辐射强度，避免了由于天线需要在各个方向上都维持有较大的辐射强度而导致天线功耗加大，从而降低了可移动平台的天线的功耗端的天线的方向。可选的，控制终端在获取该第二待转动信息时，同样可以通过下述至少三种可能的方式获取。当然，本申请实施例只是以该三种可能的方式为例进行说明，但并不代表本申请实施例仅局限于此。下面，将分别针对该三种可能的方式进行详细地说明。
在第一种可能的方式中，该第二待转动信息的整个计算过程可以仅由控制终端执行。在该种可能的实现方式中，控制终端可以分别获取可移动平台的位置信息和控制终端的位置信息，其中，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向；并根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，获取第二待转动信息。其中，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向。从而减少可移动平台的计算资源，节约可移动平台的功耗。并且该第二待转动信息的整个计算 过程可以仅由控制终端执行，减少传输延时，提高计算效率。
示例的，控制终端在获取可移动平台的位置信息时，可以主动地获取可移动平台的位置信息，也可以被动地接收可移动平台发送的位置信息，具体可以根据实际需要进行设置，在此，本申请实施例不做具体限制。
可选的，控制终端在根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，获取第二待转动信息时，可以先根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，计算可移动平台当前运动方向与第二方向之间的第二相对夹角；之后，再根据可移动平台当前运动方向与第二方向之间的第二相对夹角，确定控制终端对应的第二待转动方向和第二待转动角度，该第二待转动方向和第二待转动角度即为第二待转动信息，从而获取到该第二待转动信息。其中，第二方向为可移动平台与控制终端之间连线所在的方向。
在第二种可能的方式中，该第二待转动信息的整个计算过程可以由可移动平台和控制终端共同执行。与上述第一种可能的方式不同的是，在该种可能的实现方式中，第二相对夹角的计算是由可移动平台完成的。即可移动平台可以分别获取可移动平台的位置信息和控制终端的位置信息；并根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，确定可移动平台当前运动方向与第二方向之间的第二相对夹角；并将该第二相对夹角包括在第三指示消息中发送给控制终端，使得控制终端在获取到该第二相对夹角之后，根据可移动平台当前运动方向与第二方向之间的第二相对夹角，确定控制终端对应的第二待转动方向和第二待转动角度，该第二待转动方向和第二待转动角度即为第二待转动信息，从而获取到该第二待转动信息。
可以理解的是，在该种可能的方式中，第二相对夹角的计算过程也可以由控制终端执行，即控制终端根据可移动平台的位置信息和控制终端的位置信息，计算可移动平台当前运动方向与第二方向之间的第二相对夹角，具体可以参见上述第一种可能的方式。控制终端在计算得到第二相对夹角之后，还可以将该第二相对夹角发送给可移动平台；对应的，可移动平台可以根据该第二相对夹角计算控制终端对应的第二待转动方向和第二待转动角度，并将计算得到的第二待转动方向和第二待转动角度发送给控制终端，从而使得控制终端获取到该第二待转动信息。当然，本申请实施例只是以可移动平台 和控制终端可以通过这两种方式配合获取第一待转动信息为例进行说明，但并不代表本申请实施例仅局限于此。
可以理解的是，在本申请实施例中，为了减少控制终端的数据处理量，在第三种可能的方式中，该第一待转动信息的整个计算过程可以仅由可移动平台执行。在该种可能的方式中，与上述第一种可能的方式不同的是，在该种可能的实现方式中，第二待转动方向和第二待转动角度的整个计算是由可移动平台完成的，即可移动平台根据可移动平台的位置信息和控制终端的位置信息计算得到第二待转动方向和第二待转动角度；并将计算得到的第二待转动方向和第二待转动角度包括在第四指示消息中发送给控制终端。对于控制终端而言，只需要接收控制可移动平台发送的包括控制终端对应的第二待转动方向和第二待转动角度的第四指示消息，从而根据该第四指示消息直接获取到该第二待转动信息。
可选的，在该种可能的方式中，可移动平台在根据可移动平台的位置信息和控制终端的位置信息计算第二待转动方向和第二待转动角度时，可以先分别获取所述可移动平台的位置信息和所述控制终端的位置信息，其中，可移动平台的位置信息包括可移动平台的当前位置、当前运动方向；并根据可移动平台的当前位置、当前运动方向、及控制终端的位置信息，计算可移动平台当前运动方向与第二方向之间的第二相对夹角，进而根据可移动平台当前运动方向与第二方向之间的第二相对夹角，确定控制终端对应的第二待转动方向和第二待转动角度，从而得到第二待转动方向和第二待转动角度。
在分别通过上述三种可能的方式获取到第二待转动信息之后，控制终端就可以向用户输出包括该第二待转动信息的天线方向调整信息，使得用户根据该第二待转动信息对控制终端的天线的方向进行调整，直至控制终端的天线的方向与天线辐射的目标方向对准，由于该目标方向上的天线辐射强度较大，在该目标方向上，可移动平台可以较好地与控制终端进行通讯，因此，避免了可移动平台的天线由于在各个方向上都维持有较大的辐射强度而导致功耗较大，从而实现了在不增加天线功耗的情况下，使得天线在控制终端所在的方向上具有较大的辐射强度。
需要说明的是，为了实现天线辐射的目标方向与可移动平台对应的控制终端设备所处的方向对准，在本申请实施例中，只是以通过上述图2所示的 实施例及上述图4所示的实施例所示的两种可能的实现方式为例进行说明，当然，也可以在控制云台转动的同时，调节控制终端的天线的方向，其具体方式与分别控制云台转动、调节控制终端的天线的方向的方式类似，可参见上述相关描述，在此，本申请实施例不再进行赘述。
图5为本申请实施例提供的一种可移动平台50的结构示意图，示例的，请参见图5所示，该可移动平台50可以包括与控制终端进行通信的接口501。
一个或多个处理器502，单独地或共同地工作，用于执行如上述第一方面所述的天线方向的调节方法，该一个或多个处理器502用于执行以下操作：
获取第一待转动信息；其中，第一待转动信息用于控制云台转动；并根据第一待转动信息控制云台转动，以使天线辐射的目标方向与可移动平台50对应的控制终端设备所处的方向对准；其中，天线在目标方向上的辐射强度大于预设阈值。
可选的，该一个或多个处理器502具体用于分别获取可移动平台50的位置信息和控制终端的位置信息；其中，可移动平台50的位置信息包括可移动平台50的当前位置和当前运动方向；并根据可移动平台50的当前位置、当前运动方向、及控制终端的位置信息，获取第一待转动信息。
可选的，该一个或多个处理器502具体用于根据可移动平台50的当前位置、当前运动方向、及控制终端的位置信息，计算可移动平台50当前运动方向与第一方向之间的第一相对夹角；其中，第一方向为可移动平台50与控制终端之间连线所在的方向；并根据可移动平台50当前运动方向与第一方向之间的第一相对夹角，获取第一待转动信息。
可选的，该一个或多个处理器502具体用于获取控制终端发送的第一指示消息，第一指示消息中包括可移动平台50当前运动方向与第一方向之间的第一相对夹角；其中，第一方向为可移动平台50与控制终端之间连线所在的方向；并根据可移动平台50当前运动方向与第一方向之间的第一相对夹角，获取第一待转动信息。
可选的，控制终端根据可移动平台50的位置信息和控制终端的位置信息，确定第一相对夹角；其中，可移动平台50的位置信息包括可移动平台50的当前位置和当前运动方向。
可选的，该一个或多个处理器502具体用于根据可移动平台50当前运动 方向与第一方向之间的第一相对夹角，确定可移动平台50对应的第一待转动方向和第一待转动角度。
可选的，该一个或多个处理器502具体用于获取控制终端发送的第二指示消息，第二指示消息中包括可移动平台50对应的第一待转动方向和第一待转动角度，第一待转动方向和第一待转动角度是控制终端根据可移动平台50的位置信息和控制终端的位置信息计算得到的，可移动平台50的位置信息包括可移动平台50的当前位置和当前运动方向。
可选的，可选的，该一个或多个处理器502具体用于向云台发送控制指令，控制指令包括第一待转动方向和第一待转动角度；控制指令用于指示云台根据第一待转动方向和第一待转动角度转动。
可选的，该一个或多个处理器502还用于分别获取天线在每一个方向上的辐射强度；并根据天线在每一个方向上的辐射强度，确定出辐射强度大于预设阈值的目标方向；或者，根据天线在每一个方向上的辐射强度，将辐射强度最大的辐射方向确定为目标方向。
可选的，该一个或多个处理器502具体用于向控制终端发送可移动平台50的位置信息。
本申请实施例所示的可移动平台50，可以执行上述任一实施例所示的可移动平台50侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与可移动平台50侧的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
图6为本申请实施例提供的一种控制终端60的结构示意图，示例的，请参见图6所示，该控制终端60可以包括与可移动平台进行通信的接口601。
一个或多个处理器602，单独地或共同地工作，用于执行如上述第二方面所述的天线方向的调节方法，该一个或多个处理器602用于执行以下操作：
输出天线方向调整信息，天线方向调整信息用于指示用户根据天线朝向调整信息对控制终端60的天线的方向进行调整，以使控制终端60的天线的方向与天线辐射的目标方向对准；其中，天线方向调整信息包括第二待转动信息，第二待转动信息用于指示控制终端60的天线的目标方向，天线在目标方向上的辐射强度大于预设阈值；获取用户对控制终端60的天线的转动操作，转动操作用于调整天线的方向；确定转动操作后的控制终端60的天线方向是 否为目标方向，并根据确定结果输出相应的提示信息。
可选的，该一个或多个处理器602具体用于若转动操作后的控制终端60的天线方向为目标方向，则输出第一提示信息，第一提示信息用于指示控制终端60的天线的方向已与天线辐射的目标方向对准。
若转动操作后的控制终端60的天线方向不为目标方向，则输出第二提示信息，第二提示信息用于指示用户继续根据天线朝向调整信息对控制终端60的天线的方向进行调整，直至控制终端60的天线的方向与天线辐射的目标方向对准。
可选的，该一个或多个处理器602还用于获取第二待转动信息。
可选的，该一个或多个处理器602具体用于分别获取可移动平台的位置信息和控制终端60的位置信息；其中，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向；并根据可移动平台的当前位置、当前运动方向、及控制终端60的位置信息，获取第二待转动信息。
可选的，该一个或多个处理器602具体用于根据可移动平台的当前位置、当前运动方向、及控制终端60的位置信息，计算可移动平台当前运动方向与第二方向之间的第二相对夹角；其中，第二方向为可移动平台与控制终端60之间连线所在的方向；并根据可移动平台当前运动方向与第二方向之间的第二相对夹角，获取第二待转动信息。
可选的，该一个或多个处理器602具体用于获取可移动平台发送的第三指示消息，第三指示消息中包括可移动平台当前运动方向与第二方向之间的第二相对夹角，并根据可移动平台当前运动方向与第二方向之间的第二相对夹角，获取第二待转动信息。其中，第二方向为可移动平台与控制终端60之间连线所在的方向，第二相对夹角是可移动平台根据可移动平台的位置信息和控制终端60的位置信息计算得到的，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向。
可选的，该一个或多个处理器602具体用于根据可移动平台当前运动方向与第二方向之间的第二相对夹角，确定控制终端60对应的第二待转动方向和第二待转动角度。
可选的，该一个或多个处理器602具体用于获取可移动平台发送的第四指示消息，第四指示消息中包括控制终端60对应的第二待转动方向和第二待 转动角度，第二待转动方向和第二待转动角度是可移动平台根据可移动平台的位置信息和控制终端60的位置信息计算得到的，可移动平台的位置信息包括可移动平台的当前位置和当前运动方向。
可选的，该一个或多个处理器602还用于向可移动平台发送控制终端60的位置信息。
可选的，该一个或多个处理器602具体用于获取可移动平台发送的可移动平台的位置信息。
可选的，该一个或多个处理器602具体用于包括按照如下至少一种方式输出天线方向调整信息：语音方式、文字方式、或者图片方式。
本申请实施例所示的控制终端60，可以执行上述任一实施例所示的控制终端60侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与控制终端60的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
本申请实施例还提供一种天线方向的调节系统，该天线方向的调节系统可以包括上述图5所述的可移动平台，以及控制终端60，所述控制终端60用于与所述可移动平台通讯连接；或者，
上述图6所述的控制终端60，以及可移动平台，所述控制终端60用于与所述可移动平台通讯连接，其实现原理以及有益效果与天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
本申请实施例还提供一种计算机存储介质，该计算机存储介质可以包括可读存储介质和计算机程序，所述计算机程序，用于实现如上述任一实施例所示的可移动平台侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与可移动平台的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
本申请实施例还提供一种计算机存储介质，该计算机存储介质可以包括可读存储介质和计算机程序，所述计算机程序，用于实现如上述任一实施例所示的控制终端侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与控制终端的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
本申请实施例还提供一种程序产品，该程序产品包括计算机程序(即执 行指令)，该计算机程序存储在可读存储介质中。处理器可以从可读存储介质读取该计算机程序，处理器执行该计算机程序用于实现上述任一实施例所示的可移动平台侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与可移动平台的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
本申请实施例还提供一种程序产品，该程序产品包括计算机程序(即执行指令)，该计算机程序存储在可读存储介质中。处理器可以从可读存储介质读取该计算机程序，处理器执行该计算机程序用于实现上述任一实施例所示的控制终端侧的天线方向的调节方法的技术方案，其实现原理以及有益效果与控制终端的天线方向的调节方法的实现原理及有益效果类似，此处不再进行赘述。
上述实施例中处理器可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存取存储器(random access memory，RAM)、闪存、只读存储器(read-only memory，ROM)、可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的指令，结合其硬件完成上述方法的步骤。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通 技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (28)

  1. 一种天线方向的调节方法，其特征在于，应用于可移动平台，所述可移动平台设有云台，所述云台固定设置有天线，所述可移动平台用于与控制终端通讯连接，所述方法包括：
    获取第一待转动信息；其中，所述第一待转动信息用于控制所述云台转动；
    根据所述第一待转动信息控制所述云台转动，以使所述天线辐射的目标方向与所述可移动平台对应的控制终端设备所处的方向对准；其中，所述天线在所述目标方向上的辐射强度大于预设阈值。
  2. 根据权利要求1所述的方法，其特征在于，所述获取第一待转动信息，包括：
    分别获取所述可移动平台的位置信息和所述控制终端的位置信息；其中，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向；
    根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，获取所述第一待转动信息。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，获取所述第一待转动信息，包括：
    根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，计算所述可移动平台当前运动方向与第一方向之间的第一相对夹角；其中，所述第一方向为所述可移动平台与所述控制终端之间连线所在的方向；
    根据所述可移动平台当前运动方向与所述第一方向之间的第一相对夹角，获取所述第一待转动信息。
  4. 根据权利要求1所述的方法，其特征在于，所述获取第一待转动信息，包括：
    获取所述控制终端发送的第一指示消息，所述第一指示消息中包括所述可移动平台当前运动方向与第一方向之间的第一相对夹角；其中，所述第一方向为所述可移动平台与所述控制终端之间连线所在的方向；
    根据所述可移动平台当前运动方向与所述第一方向之间的第一相对夹角，获取所述第一待转动信息。
  5. 根据权利要求4所述的方法，其特征在于，包括：
    所述控制终端根据所述可移动平台的位置信息和所述控制终端的位置信息，确定所述第一相对夹角；其中，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向。
  6. 根据权利要求3所述的方法，其特征在于，所述根据所述可移动平台当前运动方向与所述第一方向之间的第一相对夹角，获取所述第一待转动信息，包括：
    根据所述可移动平台当前运动方向与所述第一方向之间的第一相对夹角，确定所述可移动平台对应的第一待转动方向和第一待转动角度。
  7. 根据权利要求1所述的方法，其特征在于，所述获取第一待转动信息，包括：
    获取所述控制终端发送的第二指示消息，所述第二指示消息中包括所述可移动平台对应的第一待转动方向和第一待转动角度，所述第一待转动方向和所述第一待转动角度是所述控制终端根据可移动平台的位置信息和所述控制终端的位置信息计算得到的，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向。
  8. 根据权利要求6或7所述的方法，其特征在于，所述根据所述第一待转动信息控制所述云台转动，包括：
    向所述云台发送控制指令，所述控制指令包括所述第一待转动方向和所述第一待转动角度；所述控制指令用于指示所述云台根据所述第一待转动方向和所述第一待转动角度转动。
  9. 根据权利要求1-7任一项所述的方法，其特征在于，所述根据所述第一待转动信息控制所述云台转动之前，所述方法还包括：
    分别获取所述天线在每一个方向上的辐射强度；
    根据所述天线在每一个方向上的辐射强度，确定出辐射强度大于所述预设阈值的所述目标方向；或者，根据所述天线在每一个方向上的辐射强度，将辐射强度最大的辐射方向确定为所述目标方向。
  10. 根据权利要求4或7所述的方法，其特征在于，所述方法还包括：
    向所述控制终端发送所述可移动平台的位置信息。
  11. 根据权利要求1-7任一项所述的方法，其特征在于，
    所述可移动平台包括如下至少一种：无人飞行器、云台车；和/或，
    所述控制终端包括如下至少一种：遥控器、手机、平板电脑。
  12. 一种天线方向的调节方法，其特征在于，应用于控制终端，所述控制终端用于与可移动平台通讯连接，所述可移动平台设有云台，所述云台固定设置有天线，所述方法包括：
    输出天线方向调整信息，所述天线方向调整信息用于指示用户根据所述天线朝向调整信息对所述控制终端的天线的方向进行调整，以使所述控制终端的天线的方向与所述天线辐射的目标方向对准；其中，所述天线方向调整信息包括第二待转动信息，所述第二待转动信息用于指示所述控制终端的天线的目标方向，所述天线在所述目标方向上的辐射强度大于预设阈值；
    获取用户对所述控制终端的天线的转动操作，所述转动操作用于调整所述天线的方向；
    确定转动操作后的所述控制终端的天线方向是否为目标方向，并根据确定结果输出相应的提示信息。
  13. 根据权利要求12所述的方法，其特征在于，所述根据确定结果输出相应的提示信息，包括：
    若转动操作后的所述控制终端的天线方向为目标方向，则输出第一提示信息，所述第一提示信息用于指示所述控制终端的天线的方向已与所述天线辐射的目标方向对准；
    若转动操作后的所述控制终端的天线方向不为目标方向，则输出第二提示信息，所述第二提示信息用于指示用户继续根据所述天线朝向调整信息对所述控制终端的天线的方向进行调整，直至所述控制终端的天线的方向与所述天线辐射的目标方向对准。
  14. 根据权利要求12所述的方法，其特征在于，所述输出天线方向调整信息之前，还包括：
    获取所述第二待转动信息。
  15. 根据权利要求14所述的方法，其特征在于，所述获取所述第二待转动信息，包括：
    分别获取所述可移动平台的位置信息和所述控制终端的位置信息；其中，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向；
    根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，获取所述第二待转动信息。
  16. 根据权利要求15所述的方法，其特征在于，所述根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，获取所述第二待转动信息，包括：
    根据所述可移动平台的当前位置、当前运动方向、及所述控制终端的位置信息，计算所述可移动平台当前运动方向与第二方向之间的第二相对夹角；其中，所述第二方向为所述可移动平台与所述控制终端之间连线所在的方向；
    根据所述可移动平台当前运动方向与所述第二方向之间的第二相对夹角，获取所述第二待转动信息。
  17. 根据权利要求14所述的方法，其特征在于，所述获取所述第二待转动信息，包括：
    获取所述可移动平台发送的第三指示消息，所述第三指示消息中包括所述可移动平台当前运动方向与第二方向之间的第二相对夹角，其中，所述第二方向为所述可移动平台与所述控制终端之间连线所在的方向，所述第二相对夹角是所述可移动平台根据所述可移动平台的位置信息和所述控制终端的位置信息计算得到的，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向；
    根据所述可移动平台当前运动方向与所述第二方向之间的第二相对夹角，获取所述第二待转动信息。
  18. 根据权利要求16或17所述的方法，其特征在于，所述根据所述可移动平台当前运动方向与第二方向之间的第二相对夹角，获取所述第二待转动信息，包括：
    根据所述可移动平台当前运动方向与第二方向之间的第二相对夹角，确定所述控制终端对应的第二待转动方向和第二待转动角度。
  19. 根据权利要求14所述的方法，其特征在于，所述获取所述第二待转动信息，包括：
    获取所述可移动平台发送的第四指示消息，所述第四指示消息中包括所述控制终端对应的第二待转动方向和第二待转动角度，所述第二待转动方向和所述第二待转动角度是所述可移动平台根据所述可移动平台的位置信息和 所述控制终端的位置信息计算得到的，所述可移动平台的位置信息包括所述可移动平台的当前位置和当前运动方向。
  20. 根据权利要求16所述的方法，其特征在于，所述方法还包括：
    向所述可移动平台发送所述控制终端的位置信息。
  21. 根据权利要求15或16所述的方法，其特征在于，获取所述可移动平台的位置信息，包括：
    获取所述可移动平台发送的所述可移动平台的位置信息。
  22. 根据权利要求12-17任一项所述的方法，其特征在于，所述输出天线方向调整信息，包括：
    包括按照如下至少一种方式输出所述天线方向调整信息：语音方式、文字方式、或者图片方式。
  23. 根据权利要求12-17任一项所述的方法，其特征在于，
    所述可移动平台包括如下至少一种：无人飞行器、云台车；和/或，
    所述控制终端包括如下至少一种：遥控器、手机、平板电脑。
  24. 一种可移动平台，其特征在于，包括与控制终端进行通信的接口；
    一个或多个处理器，单独地或共同地工作，用于执行如上述权利要求1-11任一项所述的天线方向的调节方法。
  25. 一种控制终端，其特征在于，其特征在于，包括与可移动平台进行通信的接口；
    一个或多个处理器，单独地或共同地工作，用于执行如上述权利要求12-22任一项所述的天线方向的调节方法。
  26. 一种天线方向的调节系统，其特征在于，包括上述权利要求24所述的可移动平台，以及控制终端，所述控制终端用于与所述可移动平台通讯连接；或者，
    上述权利要求25所述的控制终端，以及可移动平台，所述控制终端用于与所述可移动平台通讯连接。
  27. 一种计算机存储介质，其特征在于，包括可读存储介质和计算机程序，所述计算机程序，用于实现如上述权利要求1-11任一项所述的天线方向的调节方法。
  28. 一种计算机存储介质，其特征在于，包括可读存储介质和计算机程 序，所述计算机程序，用于实现如上述权利要求12-23任一项所述的天线方向的调节方法。
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CN105892492A (zh) * 2016-06-07 2016-08-24 南方科技大学 一种无人机通信控制方法和装置
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