WO2021081907A1 - 一种无人机的飞行控制方法、设备、无人机及存储介质 - Google Patents

一种无人机的飞行控制方法、设备、无人机及存储介质 Download PDF

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Publication number
WO2021081907A1
WO2021081907A1 PCT/CN2019/114770 CN2019114770W WO2021081907A1 WO 2021081907 A1 WO2021081907 A1 WO 2021081907A1 CN 2019114770 W CN2019114770 W CN 2019114770W WO 2021081907 A1 WO2021081907 A1 WO 2021081907A1
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WIPO (PCT)
Prior art keywords
altitude
sensor
data
height
altitude data
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PCT/CN2019/114770
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English (en)
French (fr)
Inventor
杨亮亮
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030321.7A priority Critical patent/CN112106005A/zh
Priority to PCT/CN2019/114770 priority patent/WO2021081907A1/zh
Publication of WO2021081907A1 publication Critical patent/WO2021081907A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means

Definitions

  • the present invention relates to the field of control technology, in particular to a flight control method, equipment, unmanned aerial vehicle and storage medium of an unmanned aerial vehicle.
  • the embodiments of the present invention provide a flight control method, equipment, unmanned aerial vehicle and storage medium of an unmanned aerial vehicle, which can determine the relative height between the unmanned aerial vehicle and the manned aerial vehicle, and help to avoid the unmanned aerial vehicle and the carrier Risks such as collisions of human aircraft have improved the safety of unmanned aerial vehicles and manned aircraft.
  • an embodiment of the present invention provides a flight control method.
  • the drone includes a height sensor, including:
  • the ADS-B message data is analyzed to obtain the altitude data of the manned aircraft, where the altitude data of the manned aircraft includes first altitude data and second altitude data, and the first altitude data is WGS84 An ellipsoidal surface or an average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as a reference surface;
  • the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data;
  • the relative height of the drone and the manned aircraft is determined according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • an embodiment of the present invention provides a flight control device, which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a height sensor, and the device includes a memory and a processor;
  • the memory is used to store programs
  • the processor is used to call the program, and when the program is executed, it is used to perform the following operations:
  • the ADS-B message data is analyzed to obtain the altitude data of the manned aircraft, where the altitude data of the manned aircraft includes first altitude data and second altitude data, and the first altitude data is WGS84 An ellipsoidal surface or an average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as a reference surface;
  • the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data;
  • the relative height of the drone and the manned aircraft is determined according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • an embodiment of the present invention provides a drone, the drone includes a height sensor, and the drone includes:
  • the power system configured on the fuselage is used to provide mobile power for the UAV;
  • the processor is configured to obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the drone; analyze the ADS-B message data to obtain the manned aircraft
  • the altitude data of the manned aircraft includes first altitude data and second altitude data.
  • the first altitude data is based on the WGS84 ellipsoid or the average sea surface
  • the second altitude data is based on
  • the standard air pressure plane is the reference plane; it is determined whether the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data; according to the altitude data measured by the sensors included in the determination and In the altitude data of the manned aircraft, the altitude data that matches the sensor included in the determination determines the relative altitude of the drone and the manned aircraft.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method as described in the first aspect is implemented.
  • the first altitude data and the second altitude data of the manned aircraft are obtained by analyzing the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the unmanned aerial vehicle
  • the first altitude data uses the WGS84 ellipsoid surface or the average sea surface as a reference surface
  • the second altitude data uses a standard air pressure plane as a reference surface.
  • the altitude sensor By determining whether the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data, according to the altitude data measured by the sensors included and the manned aircraft
  • the altitude data matched with the sensors included in the determination determines the relative altitude of the UAV and the manned aircraft, which helps to avoid the risk of collision between the UAV and the manned aircraft, and improves the safety Safety of man-machine and manned aircraft.
  • Fig. 1 is a schematic structural diagram of a flight control system provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of a flight control device provided by an embodiment of the present invention.
  • ADS-B Automatic Dependent Surveillance-Broadcast
  • ADS-B can automatically obtain parameters from relevant airborne equipment to broadcast the aircraft’s position, altitude, speed, heading, identification number and other information to other aircraft or ground stations for the controller to monitor the status of the aircraft.
  • ADS-B is divided into two types: ADS-B transmitter and ADS-B receiver; in some embodiments, ADS-B transmitter is the basic function of ADS-B, which is responsible for transmitting The position, altitude, speed, heading and other information of the human aircraft are broadcasted through the wireless link.
  • the ADS-B receiver is used to receive various information broadcast by a manned aircraft or an ADS-B transmitter equipped on the ground, so as to obtain information such as the position, altitude, speed, and heading of the manned aircraft.
  • the anti-collision technology between UAV and manned aircraft based on ADS-B has not been widely used in the UAV industry. Only a few drone manufacturers are trying to use the drone's onboard ADS-B receiver to sense the presence of manned vehicles around and provide inaccurate warning prompts to the drone remote control personnel in a large range. It is difficult to realize the automatic avoidance or precise warning of the manned aircraft by the UAV. Because the key technology here is that the drone can accurately sense the relative position of the manned aircraft to itself.
  • an embodiment of the present invention proposes a flight control method of the UAV.
  • the ADS-B receiver is integrated on the UAV to receive the equipment within a certain range.
  • UAVs have the ability to perceive manned vehicles, and can continuously detect the flight trajectory of manned vehicles in real time.
  • the drone combines its own position, altitude, speed, heading and other information, according to the anti-collision model and algorithm of the drone and the manned aircraft, it can accurately calculate the risk coefficient of the collision between the two, and give the corresponding risk coefficient. Warning messages and avoidance strategies.
  • the drone manufacturer first needs to calibrate the barometric altimeter on the drone during the factory production stage, that is, the altitude indicator under the standard atmosphere of 1013.2 hPa is 0. Or write the deviation into the internal code table of the UAV, and use the deviation value to compensate the actual measurement value; secondly, by analyzing the received ADS-B message data, the standard pressure altitude value of the manned aircraft and the global According to the altitude value of the Global Navigation Satellite System (GNSS), and according to the altitude accuracy range in the message, it can be obtained that the manned aircraft is in two coordinate systems (the reference plane is the standard air pressure plane and the WGS84 ellipsoidal surface).
  • GNSS Global Navigation Satellite System
  • the drone can compare the difference between the drone and the manned aircraft in the two coordinate systems according to the actual measurement value of its own GNSS and barometric altimeter and the accuracy of the sensor, and then the drone can be obtained.
  • Relatively accurate coordinate relationship with manned aircraft Relatively accurate coordinate relationship with manned aircraft.
  • the drone airborne ADS-B receiver is used as the effective device for the drone to perceive the manned aircraft.
  • Human-machine ground remote control personnel issue early warnings or automatically make avoidances, which can reduce the threat of drones to the flight safety of manned aircraft and improve the safety of drones and manned aircraft.
  • the flight control method of the drone provided in the embodiments of the present invention can be executed by a flight control system, where the flight control system can include a flight control device, a drone, and a manned aircraft; in some embodiments
  • the flight control device can be installed on the drone.
  • the flight control device can be spatially independent from the drone.
  • the flight control device can be unmanned.
  • the part of the man-machine, that is, the UAV includes flight control equipment.
  • the drone is equipped with an ADS-B receiver, and the drone includes a height sensor.
  • the manned aircraft includes an ADS-B transmitter.
  • FIG. 1 is a schematic structural diagram of a flight control system provided by an embodiment of the present invention.
  • the flight control system includes: a flight control device 11, an unmanned aerial vehicle 12 and a manned aircraft 13.
  • the drone 12 includes a power system 121, and the power system 121 is used to provide power for the drone 12 to fly.
  • the drone 12 and the flight control device 11 are independent of each other, and establish a communication connection with the drone 12 through a wireless communication connection.
  • the flight control device 11 may be set in the drone 12, and a communication connection with other devices (such as the power system 121) in the drone 12 may be established through a wired communication connection.
  • the flight control device 11 may be a flight controller.
  • the manned aircraft 13 and the flight control device 11 are independent of each other, and a communication connection is established through a wireless communication connection.
  • the flight control device 11 can obtain the ADS-B message data sent by the manned aircraft 13 received by the ADS-B receiver carried by the UAV 12, and perform processing on the ADS-B message data. Analyze and obtain the altitude data of the manned vehicle 13, wherein the altitude data of the manned vehicle 13 includes first altitude data and second altitude data, and the first altitude data is based on the WGS84 ellipsoid or average sea surface
  • the second altitude data uses a standard air pressure plane as a reference plane.
  • the flight control device 11 determines whether the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, and obtains the results according to the sensor measurement determined to be included in the altitude sensor.
  • the height data of the height data of the manned aircraft 13 and the height data of the sensor included in the determination are determined to determine the relative height of the drone 12 and the manned aircraft 13.
  • FIG. 2 is a schematic flowchart of a flight control method for a drone provided by an embodiment of the present invention.
  • the method can be executed by a flight control device, and the specific explanation of the flight control device is as described above.
  • the drone includes a height sensor.
  • the method of the embodiment of the present invention includes the following steps.
  • S201 Obtain the ADS-B message data sent by the manned aircraft and received by the ADS-B receiver carried by the drone.
  • the flight control device can obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the unmanned aerial vehicle.
  • the manned aircraft includes an ADS-B transmitter, and the manned aircraft transmits ADS-B message data through the ADS-B transmitter.
  • the altitude data in the ADS-B message data sent by the ADS-B transmitter comes from a barometer, and the altitude data in the ADS-B message data is a standard atmospheric pressure altitude.
  • the standard atmospheric pressure height is also called gravitational potential height and pressure height. According to the atmospheric pressure value measured in flight, the corresponding altitude is checked by the standard atmospheric meter.
  • the altimeter in the manned aircraft is carved according to the corresponding relationship between the atmospheric pressure value and the altitude value in the standard atmosphere table.
  • the barometric altimeter's barometric scale is adjusted to the standard atmospheric state, the altitude indicated by the barometric altimeter at this time is called the standard barometric altitude.
  • the manned aircraft uses standard atmospheric altitude.
  • the altitude data source of the drone may be GNSS, or barometer or other sensors such as vision, ultrasound, or infrared.
  • S202 Analyze the ADS-B message data to obtain altitude data of the manned aircraft, where the altitude data of the manned aircraft includes first altitude data and second altitude data, and the first altitude data Taking the WGS84 ellipsoid surface or the average sea surface as the reference surface, the second altitude data uses the standard air pressure plane as the reference surface.
  • the flight control device may analyze the ADS-B message data to obtain the altitude data of the manned aircraft, where the altitude data of the manned aircraft includes first altitude data and second altitude Data, the first altitude data uses a World Geodetic System (World Geodetic System 84, WGS84) ellipsoid or average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as a reference surface.
  • World Geodetic System World Geodetic System 84, WGS84
  • the first altitude data when the first altitude data is based on the average sea surface, the first altitude data is an absolute altitude, also called altitude.
  • the average sea level is also called a geoid.
  • the height of terrain and features marked on the navigation map are all calculated based on absolute height.
  • the first height data when the first height data is based on the WGS84 ellipsoid, the first height data is the GNSS height, that is, the height output by the GNSS sensor.
  • S203 Determine whether the altitude sensor of the drone includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data.
  • the flight control device may determine whether the altitude sensor of the drone includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data.
  • the flight control device may detect that the altitude sensor of the drone includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data. Whether the reference plane of the altitude data obtained by the altitude sensor of the drone is the same as the first altitude data and the second altitude data. If the reference plane is the same, the drone can be determined
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data.
  • S204 Determine the relative height of the drone and the manned aircraft according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the flight control device may determine the drone and the drone based on the altitude data measured by the sensor included in the determination and the altitude data of the manned aircraft that matches the sensor included in the determination. State the relative height of the manned aircraft.
  • the flight control device determines the drone and the drone based on the altitude data measured by the sensors included in the determination and the altitude data of the manned aircraft that matches the sensors included in the determination.
  • the flight control device may use the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • An altitude data determines the relative altitude of the UAV and the manned aircraft.
  • the flight control device obtains the altitude data measured by the drone's GNSS receiving sensor as H1 If the first altitude data of the manned aircraft is H2, and H2>H1, it can be determined that the relative height of the drone and the manned aircraft is H2-H1.
  • the flight control device may compare the GNSS altitude data measured by the GNSS receiving sensor with the manned GNSS altitude data.
  • the first altitude data of the aircraft is compared, the GNSS altitude data measured by the GNSS receiving sensor is used to determine the longitude, latitude, and altitude of the drone and the obtained accuracy values, and the first altitude data is used to determine the The longitude, latitude, and altitude of the manned aircraft and the accuracy values obtained.
  • the longitude, latitude, and altitude of the UAV and the obtained accuracy values as well as the longitude, latitude, and altitude of the manned aircraft, and the obtained accuracy values, determine the relative relationship between the UAV and the manned aircraft. position.
  • the flight control device determines the drone and the drone based on the altitude data measured by the sensors included in the determination and the altitude data of the manned aircraft that matches the sensors included in the determination.
  • the flight control device may use the altitude data measured by the air pressure sensor and the second altitude Data to determine the relative height of the UAV and the manned aircraft.
  • the altitude sensor only includes an air pressure sensor that matches the second altitude data
  • the flight control device obtains that the altitude data measured by the air pressure sensor of the drone is h1
  • the manned aircraft If the second altitude data of is h2, and h2>h1, it can be determined that the relative altitude of the drone and the manned aircraft is h2-h1.
  • the flight control device can obtain the standard air pressure altitude data measured by the drone according to the air pressure sensor, And obtaining the standard air pressure altitude data of the manned aircraft, that is, the second altitude data.
  • the flight control device can determine the relative altitude of the UAV and the manned aircraft based on the obtained standard air pressure altitude data of the UAV and the standard air pressure altitude data of the manned aircraft.
  • the flight control device determines the drone and the drone based on the altitude data measured by the sensors included in the determination and the altitude data of the manned aircraft that matches the sensors included in the determination.
  • the flight control device may be based on the GNSS
  • the altitude data measured by the receiver and the first altitude data determine the first relative altitude
  • the second relative altitude is determined according to the altitude data measured by the air pressure sensor and the second altitude data
  • the second relative altitude is determined by comparing the first altitude data.
  • a relative height and the second relative height are merged to determine the relative height of the drone and the manned aircraft.
  • the flight control device measures according to the drone's GNSS receiver
  • the obtained altitude data is H1
  • the first altitude data of the manned aircraft is h1, and H1>h2
  • it can be determined that the first relative altitude between the drone and the manned aircraft is H1-h2.
  • the altitude data measured by the flight control device according to the air pressure sensor of the UAV is h1
  • the second altitude data of the manned aircraft is H2
  • h1>H2 it can be determined that the UAV and the The second relative height of the manned aircraft is h1-H2.
  • the flight control device may merge the first relative height H1-h2 and the second relative height h1-H2 to determine the relative height of the drone and the manned aircraft.
  • the flight control device may determine the first relative altitude according to the GNSS altitude data measured by the GNSS receiver of the unmanned aerial vehicle and the first altitude data of the manned aircraft, and according to the unmanned aerial vehicle
  • the altitude data measured by the air pressure sensor of the aircraft and the second altitude data of the manned aircraft determine the second relative altitude.
  • the flight control device may combine the first relative height and the second relative height by taking the first relative height as the main factor and using the second relative height as compensation to determine the drone and the second relative height.
  • the relative height of the manned aircraft may be determined the first relative altitude according to the GNSS altitude data measured by the GNSS receiver of the unmanned aerial vehicle and the first altitude data of the manned aircraft, and according to the unmanned aerial vehicle
  • the altitude data measured by the air pressure sensor of the aircraft and the second altitude data of the manned aircraft determine the second relative altitude.
  • the flight control device may combine the first relative height and the second relative height by taking the first relative height as the main factor and using the
  • the flight control device may also integrate the first relative height and the second relative height by taking the second relative height as the main factor and using the first relative height as compensation. To determine the relative height of the drone and the manned aircraft.
  • the flight control device can calculate the altitude data measured by the GNSS receiving sensor and The first altitude data determines the relative altitude of the drone and the manned aircraft.
  • the altitude sensor of the drone when it is determined that the altitude sensor of the drone includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data, if the GNSS receiving sensor is detected Only the working state of the GNSS receiving sensor among the sensors and the air pressure sensor is the normal working state, and the flight control device can use the GNSS altitude data measured by the GNSS receiving sensor of the drone and the GNSS of the manned aircraft
  • the altitude data is the first altitude data, which determines the relative altitude of the UAV and the manned aircraft.
  • the flight control device may use the altitude data measured by the air pressure sensor and the first The second height data determines the relative height of the UAV and the manned aircraft.
  • the flight control device can use the standard pressure altitude data measured by the pressure sensor of the drone and the standard pressure of the manned aircraft The altitude data is the second altitude data, which determines the relative altitude of the UAV and the manned aircraft.
  • the flight control device may select from A target sensor is determined from the GNSS sensor and the air pressure sensor, and height data matching the target sensor is determined from the first height data and the second height data, so as to be based on the height measured by the target sensor
  • the data and the height data matched with the target sensor determine the relative height of the UAV and the manned aircraft.
  • the preset priority may be preset by the user. In other embodiments, the preset priority may be determined according to the usage rate of the GNSS receiving sensor and the air pressure sensor. The implementation of the present invention The examples are not specifically limited.
  • the flight control device may send the GNSS sensor and air pressure of the drone according to the preset priority.
  • the sensor determines that the GNSS receiving sensor is the target sensor, and determines the GNSS altitude data matching the GNSS receiving sensor from the first altitude data and the second altitude data, so as to obtain the measurement result from the GNSS receiving sensor of the drone.
  • the GNSS altitude data of the manned aircraft and the GNSS altitude data matched with the GNSS receiving sensor in the manned aircraft determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.
  • the flight control device may obtain the air pressure from the GNSS sensor of the drone according to the preset priority.
  • the air pressure sensor is determined as the target sensor in the sensor, and the standard air pressure altitude data matching the air pressure sensor is determined from the first altitude data and the second altitude data, so as to be based on the standard measured by the air pressure sensor of the drone.
  • the air pressure altitude data and the standard air pressure altitude data matched with the air pressure sensor in the manned aircraft determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.
  • the flight control device may detect the working status of the GNSS receiving sensor and the air pressure sensor.
  • the flight control device may obtain the measurement according to the target sensor.
  • the altitude data of and the altitude data matched with the target sensor determine the relative altitude of the UAV and the manned aircraft.
  • the flight control device when the determined target sensor of the UAV is a GNSS receiving sensor, if the flight control device detects that the working state of the GNSS receiving sensor is a normal working state, the flight control device may perform the operation according to the GNSS The GNSS altitude data measured by the receiving sensor and the GNSS altitude data matched with the GNSS receiving sensor in the manned aircraft are received to determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.
  • the flight control device when the determined target sensor of the drone is an air pressure sensor, if the flight control device detects that the air pressure sensor is in a normal working state, the flight control device may measure the air pressure according to the air pressure sensor.
  • the obtained standard air pressure altitude data and the standard air pressure altitude data matched with the air pressure sensor in the manned aircraft determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.
  • the flight control device may obtain information from the first altitude data and the second altitude data. Determine the height data matching the sensor different from the target sensor in the height data, and determine the height data matching the sensor different from the target sensor according to the height data measured by the sensor different from the target sensor and the height matching the sensor different from the target sensor The data determines the relative height of the drone and the manned aircraft.
  • the flight control device when the determined target sensor of the drone is an air pressure sensor, if the flight control device detects that the working state of the GNSS receiving sensor is a normal working state, the flight control device may obtain the data from the first altitude data. And the second altitude data to determine the GNSS altitude data matching the GNSS receiving sensor, and according to the GNSS altitude data measured by the GNSS receiving sensor in the drone, and the manned aircraft and the GNSS receiving The GNSS altitude data matched by the sensor determines the relative altitude of the UAV and the manned aircraft.
  • the flight control device when the determined target sensor of the drone is a GNSS receiving sensor, if the flight control device detects that the working state of the air pressure sensor is a normal working state, the flight control device may obtain the data from the first altitude data. And the second altitude data to determine the standard air pressure altitude data matching the air pressure sensor, and the standard air pressure altitude data measured by the air pressure sensor in the drone and the air pressure sensor in the manned aircraft The matched standard atmospheric pressure altitude data determines the relative altitude of the UAV and the manned aircraft.
  • the flight control device determines the drone and the drone based on the altitude data measured by the sensors included in the determination and the altitude data of the manned aircraft that matches the sensors included in the determination. After the relative height of the manned aircraft is described, the collision parameters can be determined according to the relative heights of the drone and the manned aircraft, and whether the drone performs an evasion operation can be determined according to the collision parameters.
  • the relative height may be directly determined as the collision parameter. For example, assuming that the relative height of the UAV and the manned aircraft is 2m, the flight control device may determine that the collision parameter is 2.
  • the flight control device when the flight control device determines the collision parameter according to the relative height of the drone and the manned aircraft, it may determine the relative height and the collision parameter according to the corresponding relationship between the preset height and the collision parameter.
  • the collision parameters corresponding to the height may be determined.
  • the flight control device when the flight control device determines whether the drone performs an avoidance operation according to the collision parameter, it can detect whether the collision parameter is less than a preset threshold, and if the collision parameter is less than the preset threshold, then It can be determined that the drone performs an evasive operation, and if the collision parameter is greater than a preset threshold, it can be determined that the drone does not need to perform an evasive operation.
  • the flight control device when the flight control device determines that the drone performs an avoidance operation according to the collision parameters, it can determine an avoidance route to control the drone to fly according to the avoidance route.
  • the flight control device may obtain the first direction vector of the drone and the manned aircraft when determining the avoidance route, where the first direction vector refers to the first direction vector from the unmanned aerial vehicle.
  • the head of the human machine points to the direction vector of the manned aircraft, and the opposite direction of the first direction vector is determined as the avoidance route of the drone.
  • the flight control device can obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the drone, and analyze the ADS-B message data to obtain the data. Describe the first altitude data and the second altitude data of the manned aircraft, the first altitude data uses the WGS84 ellipsoidal surface or the average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as the reference surface.
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, and based on the altitude data measured by the included sensors and the manned aircraft
  • the altitude data in the altitude data that matches the sensor included in the determination determines the relative altitude of the UAV and the manned aircraft.
  • the relative height between the drone and the manned vehicle can be accurately determined, which helps to avoid the risk of collision between the drone and the manned vehicle, and reduces the flight safety of the drone to the manned vehicle.
  • the threat posed has improved the safety of UAVs and manned aircraft.
  • FIG. 3 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.
  • the flight control device includes: a memory 301 and a processor 302.
  • the flight control device further includes a data interface 303, and the data interface 303 is used to transfer data information between the flight control device and other devices.
  • the memory 301 may include a volatile memory (volatile memory); the memory 301 may also include a non-volatile memory (non-volatile memory); the memory 301 may also include a combination of the foregoing types of memories.
  • the processor 302 may be a central processing unit (CPU).
  • the processor 302 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 301 is used to store programs, and the processor 302 can call the programs stored in the memory 301 to perform the following steps:
  • the ADS-B message data is analyzed to obtain the altitude data of the manned aircraft, where the altitude data of the manned aircraft includes first altitude data and second altitude data, and the first altitude data is WGS84 An ellipsoidal surface or an average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as a reference surface;
  • the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data;
  • the relative height of the drone and the manned aircraft is determined according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the processor 302 determines the drone and the carrier according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative height of the human aircraft it is specifically used for:
  • the drone and the carrier are determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the relative height of the human aircraft is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the processor 302 determines the drone and the carrier according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative height of the human aircraft it is specifically used for:
  • the altitude sensor only includes an air pressure sensor that matches the second altitude data
  • the processor 302 determines the drone and the carrier according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative height of the human aircraft it is specifically used for:
  • the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data, according to the altitude data measured by the GNSS receiver and the first altitude Determining a first relative altitude based on the data, and determining a second relative altitude based on the altitude data measured by the air pressure sensor and the second altitude data;
  • the first relative height and the second relative height are merged to determine the relative height of the drone and the manned aircraft.
  • processor 302 is further configured to:
  • Determining a first relative altitude according to the altitude data measured by the GNSS receiver and the first altitude data, and determining a second relative altitude according to the altitude data measured by the air pressure sensor and the second altitude data include:
  • the first relative altitude is determined according to the altitude data measured by the GNSS receiver and the first altitude data
  • the first relative altitude is determined according to the The altitude data measured by the air pressure sensor and the second altitude data determine the second relative altitude.
  • processor 302 is further configured to:
  • the unmanned person is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the relative height of the aircraft and the manned aircraft is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • processor 302 is further configured to:
  • the drone and the second altitude data are determined according to the altitude data measured by the air pressure sensor and the second altitude data.
  • the relative height of the manned aircraft is determined according to the altitude data measured by the air pressure sensor and the second altitude data.
  • the processor 302 determines the drone and the carrier according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative height of the human aircraft it is specifically used for:
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, select from the GNSS sensor and the air pressure sensor according to a preset priority. Identify a target sensor;
  • the relative height of the unmanned aerial vehicle and the manned aircraft is determined.
  • processor 302 is further configured to:
  • the determining the relative height of the drone and the manned aircraft according to the height data measured by the target sensor and the height data matched with the target sensor includes:
  • the relative height of the unmanned aerial vehicle and the manned aircraft is determined according to the height data measured by the target sensor and the height data matched with the target sensor.
  • processor 302 is further configured to:
  • the relative height of the drone and the manned aircraft is determined according to the height data measured by a sensor different from the target sensor and the height data matched with the sensor different from the target sensor.
  • processor 302 is further configured to:
  • the flight control device can obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the drone, and analyze the ADS-B message data to obtain the data. Describe the first altitude data and the second altitude data of the manned aircraft, the first altitude data uses the WGS84 ellipsoidal surface or the average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as the reference surface.
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, and based on the altitude data measured by the included sensors and the manned aircraft
  • the altitude data in the altitude data that matches the sensor included in the determination determines the relative altitude of the UAV and the manned aircraft.
  • the relative height between the drone and the manned vehicle can be accurately determined, which helps to avoid the risk of collision between the drone and the manned vehicle, and reduces the flight safety of the drone to the manned vehicle.
  • the threat posed has improved the safety of UAVs and manned aircraft.
  • An embodiment of the present invention also provides an unmanned aerial vehicle, the unmanned aerial vehicle including a height sensor, the unmanned aerial vehicle includes: a fuselage; a power system configured on the fuselage for providing the unmanned aerial vehicle The power of movement; the processor is used to obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the UAV; analyze the ADS-B message data to obtain the The altitude data of the manned aircraft, wherein the altitude data of the manned aircraft includes first altitude data and second altitude data, the first altitude data is based on the WGS84 ellipsoidal surface or the average sea surface, and the first altitude data 2.
  • the altitude data is based on the standard air pressure plane; it is determined whether the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data; it is determined according to the measurement of the included sensors
  • the altitude data of the altitude data of the manned aircraft and the altitude data of the sensor included in the determination are determined to determine the relative altitude of the unmanned aerial vehicle and the manned aircraft.
  • the processor determines the drone and the manned aircraft according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative altitude of the aircraft is specifically used for:
  • the drone and the carrier are determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the relative height of the human aircraft is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the processor determines the drone and the manned aircraft according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative altitude of the aircraft is specifically used for:
  • the altitude sensor only includes an air pressure sensor that matches the second altitude data
  • the processor determines the drone and the manned aircraft according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative altitude of the aircraft is specifically used for:
  • the altitude sensor includes a GNSS receiving sensor matching the first altitude data and an air pressure sensor matching the second altitude data, according to the altitude data measured by the GNSS receiver and the first altitude Determining a first relative altitude based on the data, and determining a second relative altitude based on the altitude data measured by the air pressure sensor and the second altitude data;
  • the first relative height and the second relative height are merged to determine the relative height of the drone and the manned aircraft.
  • processor is also used for:
  • Determining a first relative altitude according to the altitude data measured by the GNSS receiver and the first altitude data, and determining a second relative altitude according to the altitude data measured by the air pressure sensor and the second altitude data include:
  • the first relative altitude is determined according to the altitude data measured by the GNSS receiver and the first altitude data
  • the first relative altitude is determined according to the The altitude data measured by the air pressure sensor and the second altitude data determine the second relative altitude.
  • processor is also used for:
  • the unmanned person is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the relative height of the aircraft and the manned aircraft is determined according to the altitude data measured by the GNSS receiving sensor and the first altitude data.
  • the processor determines the drone and the manned aircraft according to the height data measured by the sensors included in the determination and the height data of the height data of the manned aircraft that matches the sensors included in the determination.
  • the relative altitude of the aircraft is specifically used for:
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, select from the GNSS sensor and the air pressure sensor according to a preset priority. Identify a target sensor;
  • the relative height of the unmanned aerial vehicle and the manned aircraft is determined.
  • processor is also used for:
  • the determining the relative height of the drone and the manned aircraft according to the height data measured by the target sensor and the height data matched with the target sensor includes:
  • the relative height of the unmanned aerial vehicle and the manned aircraft is determined according to the height data measured by the target sensor and the height data matched with the target sensor.
  • processor is also used for:
  • the relative height of the drone and the manned aircraft is determined according to the height data measured by a sensor different from the target sensor and the height data matched with the sensor different from the target sensor.
  • processor is also used for:
  • the UAV can obtain the ADS-B message data sent by the manned aircraft received by the ADS-B receiver carried by the UAV, and analyze the ADS-B message data to obtain the data. Describe the first altitude data and the second altitude data of the manned aircraft, the first altitude data uses the WGS84 ellipsoidal surface or the average sea surface as a reference surface, and the second altitude data uses a standard air pressure plane as the reference surface.
  • the altitude sensor includes a GNSS receiving sensor that matches the first altitude data and an air pressure sensor that matches the second altitude data, and based on the altitude data measured by the included sensors and the manned aircraft
  • the altitude data in the altitude data that matches the sensor included in the determination determines the relative altitude of the UAV and the manned aircraft.
  • the relative height between the drone and the manned vehicle can be accurately determined, which helps to avoid the risk of collision between the drone and the manned vehicle, and reduces the flight safety of the drone to the manned vehicle.
  • the threat posed has improved the safety of UAVs and manned aircraft.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method described in the embodiment corresponding to FIG. 2 of the present invention ,
  • the device corresponding to the embodiment of the present invention described in FIG. 3 can also be implemented, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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Abstract

一种无人机的飞行控制方法、设备、无人机及存储介质，该方法包括：对无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据进行解析，获取载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面（S202）；确定无人机的高度传感器是否包括与第一高度数据匹配的GNSS接收传感器和与第二高度数据匹配的气压传感器（S203）；根据确定包括的传感器测量得到的高度数据和载人飞行器的高度数据中与确定包括的传感器匹配的高度数据，确定无人机和载人飞行器的相对高度（S204），以确定无人机与载人飞行器之间的相对高度，提高无人机和载人飞行器的安全性。

Description

一种无人机的飞行控制方法、设备、无人机及存储介质 技术领域
本发明涉及控制技术领域，尤其涉及一种无人机的飞行控制方法、设备、无人机及存储介质。
背景技术
随着无人机的快速发展与普及，越来越多的无人机用户未接受过专业训练就使用无人机，从而对载人飞行器的安全飞行的威胁越来越大。因此，如何有效提高无人机与载人飞行器之间的安全性成为亟需解决的问题。
发明内容
本发明实施例提供了一种无人机的飞行控制方法、设备、无人机及存储介质，可以确定出无人机与载人飞行器之间的相对高度，有助于避免无人机和载人飞行器发生碰撞等危险，提高了无人机和载人飞行器的安全性。
第一方面，本发明实施例提供了一种飞行控制方法，所述无人机包括高度传感器，包括：
获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
第二方面，本发明实施例提供了一种飞行控制设备，应用于无人机，所述无人机包括高度传感器，所述设备包括存储器和处理器；
所述存储器，用于存储程序；
所述处理器，用于调用所述程序，当所述程序被执行时，用于执行以下操作：
获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
第三方面，本发明实施例提供了一种无人机，所述无人机包括高度传感器，所述无人机包括：
机身；
配置在机身上的动力系统，用于为所述无人机提供移动的动力；
所述处理器，用于获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
第四方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述的方法。
本发明实施例，通过对无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据进行解析，获取所述载人飞行器的第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。通过确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器，根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，有助于避免无人机和载人飞行器发生碰撞等危险，提高了无人机和载人飞行器的安全性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种飞行控制系统的结构示意图；
图2是本发明实施例提供的一种无人机的飞行控制方法的流程示意图；
图3是本发明实施例提供的一种飞行控制设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
目前，全球绝大部分国家要求载人飞行器都安装广播式自动相关监视(Automatic Dependent Surveillance-Broadcast，ADS-B)。其中，ADS-B可以自动地从相关机载设备获取参数向其他飞行器或地面站广播飞行器的位置、高度、速度、航向、识别号等信息，以供管制员对飞行器状态进行监控。在某些 实施例中，ADS-B分为ADS-B发射机和ADS-B接收机两类；在某些实施例中，ADS-B发射机是ADS-B的基本功能，它负责将载人飞行器的位置、高度、速度、航向等信息通过无线链路广播出去。在某些实施例中，ADS-B接收机用于接收载人飞行器或地面装配的ADS-B发射机广播出来的各种信息，从而获得载人飞行器的位置、高度、速度、航向等信息。
目前，基于ADS-B的无人机与载人航空器之间防碰撞技术并没有在无人机行业内得到广泛应用。只有个别无人机制造商在尝试使用无人机机载ADS-B接收机来感知周围存在的载人飞行器，并在很大的范围内向无人机遥控人员提供非精确的告警提示，却很难实现无人机对载人飞行器的自动避让或精确告警。因为这里的关键技术是无人机能够准确感知载人航空器与自身的相对位置。
因此，为了得到无人机与载人飞行器之间准确的相对关系，本发明实施例提出一种无人机的飞行控制方法，通过在无人机上集成ADS-B接收机，接收一定范围内装配了ADS-B发射机的载人飞行器广播的位置、高度、速度、航向等信息。无人机就具备了感知载人飞行器的能力，并能够实时连续检测载人飞行器的飞行轨迹。无人机再结合自身的位置、高度、速度、航向等信息，根据无人机与载人飞行器的防碰撞模型和算法，能够精确计算出两者碰撞的风险系数，并给出对应风险系数的警示信息和避让策略。
在一个实施例中，实现本发明实施例的飞行控制方法，首先需要无人机制造商在工厂生产阶段需要对无人机上气压高度计进行校准，即标准大气1013.2百帕大气压下高度指示为0，或者把偏差写入无人机内部码表中，用该偏差值对实际测量值进行补偿；其次，通过解析接收到的ADS-B报文数据，从中得到载人飞行器的标准气压高度值和全球导航卫星系统(Global Navigation Satellite System，GNSS)的高度值，并且根据报文中的高度精度范围，就能够得到载人飞行器分别在两种坐标系下(参考面分别为标准气压平面和WGS84椭球面)的相对精准的位置；最后，无人机可以根据自身GNSS和气压高度计实际测量值以及传感器精度，对比无人机与载人飞行器在两种坐标系下的差别，就能够得出无人机与载人飞行器之间相对精确的坐标关系。
本发明实施例，基于ADS-B技术以无人机机载ADS-B接收机作为无人机感知载人飞行器的有效设备，通过对空中一定区域范围内载人飞行器的感知， 可及时向无人机地面远程遥控人员发出预警或自动做出避让，可降低无人机对载人飞行器飞行安全构成的威胁，提高了无人机和载人飞行器的安全性。
本发明实施例中提供的无人机的飞行控制方法可以由一种飞行控制系统执行，其中，所述飞行控制系统可以包括飞行控制设备、无人机和载人飞行器；在某些实施例中，所述飞行控制设备可以安装在无人机上，在某些实施例中，所述飞行控制设备可以在空间上独立于无人机，在某些实施例中，所述飞行控制设备可以是无人机的部件，即所述无人机包括飞行控制设备。在某些实施例中，所述无人机上搭载了ADS-B接收机，所述无人机包括高度传感器。在某些实施例中，所述载人飞行器上包括ADS-B发射机。
下面结合附图对本发明实施例提供的飞行控制系统进行示意性说明。
请参见图1，图1是本发明实施例提供的一种飞行控制系统的结构示意图。所述飞行控制系统包括：飞行控制设备11、无人机12以及载人飞行器13。所述无人机12包括动力系统121，所述动力系统121用于为无人机12提供飞行的动力。在某些实施例中，无人机12和飞行控制设备11彼此独立，通过无线通信连接方式与无人机12建立通信连接。在其他实施例中，飞行控制设备11可以设置在无人机12中，可以通过有线通信连接方式与无人机12中的其他设备(如动力系统121)建立通信连接。在某些实施例中，所述飞行控制设备11可以为飞行控制器。在某些实施例中，载人飞行器13和飞行控制设备11彼此独立，通过无线通信连接方式建立通信连接。
本发明实施例中，飞行控制设备11可以获取无人机12搭载的ADS-B接收机接收到的载人飞行器13发送的ADS-B报文数据，并对所述ADS-B报文数据进行解析获取所述载人飞行器13的高度数据，其中，所述载人飞行器13的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。飞行控制设备11通过确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器，并根据所述高度传感器中确定包括的传感器测量得到的高度数据和所述载人飞行器13的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机12和所述载人飞行器13的相对高度。
下面结合附图对本发明实施例提供的无人机的飞行控制方法进行示意性说明。
具体请参见图2，图2是本发明实施例提供的一种无人机的飞行控制方法的流程示意图，所述方法可以由飞行控制设备执行，其中，飞行控制设备的具体解释如前所述，所述无人机包括高度传感器。具体地，本发明实施例的所述方法包括如下步骤。
S201：获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据。
本发明实施例中，飞行控制设备可以获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据。
在一些实施例中，所述载人飞行器上包括ADS-B发射机，所述载人飞行器通过ADS-B发射机发送ADS-B报文数据。在某些实施例中，所述ADS-B发射机发送的ADS-B报文数据中的高度数据来自气压计，且所述ADS-B报文数据中的高度数据是标准气压高度。在某些实施例中，所述标准气压高度又叫重力势高度、压力高度。根据飞行中测出的大气压力值，由标准大气表查得的相应的高度。在某些实施例中，载人飞行器中的高度表就是按照标准大气表中的大气压力值和高度值的对应关系而刻制的。若把气压高度表的气压刻度调到标准大气状态,则这时的气压高度表所指示的高度称为标准气压高度。在某些实施例中，载人飞行器在远航、分层飞行时,为了防止相撞,均使用标准气压高度。
在一些实施例中，无人机的高度数据来源可以是GNSS，也可以来自气压计或其他如视觉、超声或红外等传感器。
S202：对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。
本发明实施例中，飞行控制设备可以对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以世界大地测量系统(World  Geodetic System 84，WGS84)椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。
在一个实施例中，当所述第一高度数据以平均海水面为基准面时，所述第一高度数据为绝对高度，也叫海拔高度。在某些实施例中，所述平均海平面又称大地水准面。例如，在航行地图上标出的地形、地物的高度，都是按绝对高度计算的。
在一个实施例中，当所述第一高度数据以WGS84椭球面为基准面时，所述第一高度数据为GNSS高度，即GNSS传感器输出的高度。
S203：确定所述无人机的高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器。
本发明实施例中，飞行控制设备可以确定所述无人机的高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器。
在一个实施例中，飞行控制设备在确定所述无人机的高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，可以检测所述无人机的高度传感器获取到的高度数据的基准面是否与所述第一高度数据和与所述第二高度数据使用相同的基准面，如果基准面相同，则可以确定所述无人机的高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器。
S204：根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
本发明实施例中，飞行控制设备可以根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
在一个实施例中，飞行控制设备在根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，飞行控制设备可以根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述 无人机和所述载人飞行器的相对高度。
例如，当确定无人机的高度传感器仅包括与载人飞行器的第一高度数据匹配的GNSS接收传感器时，如果飞行控制设备获取到所述无人机的GNSS接收传感器测量得到的高度数据为H1，所述载人飞行器的第一高度数据为H2，且H2>H1，则可以确定所述无人机和所述载人飞行器的相对高度为H2-H1。
在一种实施方式中，当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，飞行控制设备可以根据所述GNSS接收传感器测量得到的GNSS高度数据与所述载人飞行器的第一高度数据进行对比，根据所述GNSS接收传感器测量得到的GNSS高度数据确定所述无人机的经度、纬度、高度以及获得的精度值，并根据所述第一高度数据确定所述载人飞行器的经度、纬度、高度以及获得的精度值。根据所述无人机的经度、纬度、高度以及获得的精度值，以及所述载人飞行器的经度、纬度、高度以及获得的精度值，确定所述无人机和所述载人飞行器的相对位置。
可见，通过无人机的GNSS高度数据和载人飞行器的GNSS高度数据可以获取到无人机和载人飞行器之间较为准确的相对高度。
在一个实施例中，飞行控制设备在根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，飞行控制设备可以根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
例如，当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，如果飞行控制设备获取到所述无人机的气压传感器测量得到的高度数据为h1，所述载人飞行器的第二高度数据为h2，且h2>h1，则可以确定所述无人机和所述载人飞行器的相对高度为h2-h1。
在一种实施方式中，当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，飞行控制设备可以获取到无人机根据所述气压传感器测量得到的标准气压高度数据，以及获取到所述载人飞行器的标准气压高度数据即第二高度数据。飞行控制设备可以根据获取到的无人机的标准气压高度数据和所述载人飞行器的标准气压高度数据，确定所述无人机和所述载人飞行器的相 对高度。
可见，通过无人机的标准气压高度数据和载人飞行器的标准气压高度数据可以获取到无人机和载人飞行器之间较为准确的相对高度。
在一个实施例中，飞行控制设备在根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，飞行控制设备可以根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度，以及通过对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
例如，当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，如果飞行控制设备根据所述无人机的GNSS接收器测量得到的高度数据为H1，所述载人飞行器的第一高度数据为h1，且H1>h2，则可以确定所述无人机与所述载人飞行器的第一相对高度为H1-h2。如果飞行控制设备根据所述无人机的气压传感器测量得到的高度数据为h1，所述载人飞行器的第二高度数据为H2，且h1>H2，则可以确定所述无人机与所述载人飞行器的第二相对高度为h1-H2。飞行控制设备可以对所述第一相对高度H1-h2和所述第二相对高度h1-H2进行融合，以确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，飞行控制设备可以根据所述无人机的GNSS接收器测量得到的GNSS高度数据和所述载人飞行器的第一高度数据确定第一相对高度，并根据所述无人机的气压传感器测量得到的高度数据和所述载人飞行器的第二高度数据确定第二相对高度。飞行控制设备可以通过以所述第一相对高度为主，将所述第二相对高度作为补偿，对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，飞行控制设备还可以通过以所述第二相对高度为主，将所述第一相对高度作为补偿，对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
可见，通过无人机的标准气压高度数据和载人飞行器的标准气压高度数据，以及无人机的GNSS高度数据和载人飞行器的GNSS高度数据，可以获取到无人机和载人飞行器之间非常准确的相对高度。
在一个实施例中，当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，如果飞行控制设备可以根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式，当确定所述无人机的高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，如果检测到所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态，则飞行控制设备可以根据所述无人机的GNSS接收传感器测量得到的GNSS高度数据和所述载人飞行器的GNSS高度数据即第一高度数据，确定所述无人机和所述载人飞行器的相对高度。
在一个实施例中，当所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态时，飞行控制设备可以根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式，当确定所述无人机的高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，如果检测到所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态，则飞行控制设备可以根据所述无人机的气压传感器测量得到的标准气压高度数据和所述载人飞行器的标准气压高度数据即第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
可见，通过无人机中处于正常工作状态的高度传感器和载人飞行器中与所述正常工作状态的高度传感器对应的高度数据，可以获取到无人机和载人飞行器之间较为准确的相对高度。
在一个实施例中，当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，飞行控制设备可以根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器，并从所述第一高度数据和第二高度数据中确定与所述目标传感器匹 配的高度数据，从而根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。在某些实施例中，所述预设的优先级可以用户预先设置的，在其他实施例中，所述预设的优先级可以是根据GNSS接收传感器和气压传感器的使用率确定，本发明实施例不做具体限定。
在一种实施方式中，如果预设的优先级为GNSS接收传感器的优先级高于气压传感器的优先级，则飞行控制设备可以根据预设的优先级从所述无人机的GNSS传感器和气压传感器中确定GNSS接收传感器为目标传感器，并从所述第一高度数据和第二高度数据中确定与所述GNSS接收传感器匹配的GNSS高度数据，从而根据所述无人机的GNSS接收传感器测量得到的GNSS高度数据和所述载人飞行器中与所述GNSS接收传感器匹配的GNSS高度数据，确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，如果预设的优先级为GNSS接收传感器的优先级低于气压传感器的优先级，则飞行控制设备可以根据预设的优先级从所述无人机的GNSS传感器和气压传感器中确定气压传感器为目标传感器，并从所述第一高度数据和第二高度数据中确定与所述气压传感器匹配的标准气压高度数据，从而根据所述无人机的气压传感器测量得到的标准气压高度数据和所述载人飞行器中与所述气压传感器匹配的标准气压高度数据，确定所述无人机和所述载人飞行器的相对高度。
可见，通过无人机中高度传感器的优先级确定目标传感器的高度数据和载人飞行器中与所述目标传感器匹配的高度数据，可以获取到无人机和载人飞行器之间较为准确的相对高度。
在一个实施例中，飞行控制设备可以检测所述GNSS接收传感器和所述气压传感器的工作状态，当所述目标传感器的工作状态为正常工作状态时，飞行控制设备可以根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，当确定的无人机的目标传感器为GNSS接收传感器时，飞行控制设备如果检测到所述GNSS接收传感器的工作状态为正常工作状态，则飞行控制设备可以根据所述GNSS接收传感器测量得到的GNSS高度数据和与所述载人飞行器中与所述GNSS接收传感器匹配的GNSS高度数据，确 定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，当确定的无人机的目标传感器为气压传感器时，飞行控制设备如果检测到所述气压传感器的工作状态为正常工作状态，则飞行控制设备可以根据所述气压传感器测量得到的标准气压高度数据和与所述载人飞行器中与所述气压传感器匹配的标准气压高度数据，确定所述无人机和所述载人飞行器的相对高度。
在一个实施例中，当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，飞行控制设备可以从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据，并根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，当确定的无人机的目标传感器为气压传感器时，飞行控制设备如果检测到GNSS接收传感器的工作状态为正常工作状态，则飞行控制设备可以从所述第一高度数据和所述第二高度数据中确定与所述GNSS接收传感器匹配的GNSS高度数据，并根据所述无人机中GNSS接收传感器测量得到的GNSS高度数据和所述载人飞行器中与所述GNSS接收传感器匹配的GNSS高度数据，确定所述无人机和所述载人飞行器的相对高度。
在一种实施方式中，当确定的无人机的目标传感器为GNSS接收传感器时，飞行控制设备如果检测到气压传感器的工作状态为正常工作状态，则飞行控制设备可以从所述第一高度数据和所述第二高度数据中确定与所述气压传感器匹配的标准气压高度数据，并根据所述无人机中气压传感器测量得到的标准气压高度数据和所述载人飞行器中与所述气压传感器匹配的标准气压高度数据，确定所述无人机和所述载人飞行器的相对高度。
可见，通过无人机中高度传感器的优先级以及高度传感器的工作状态，可以获取到无人机和载人飞行器之间较为准确的相对高度。
在一个实施例中，飞行控制设备在根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度之后，还可以根据所述无人机和所述载人飞行器的相对高度确定碰撞参数，并根据所述碰撞参数确定所述 无人机是否执行躲避操作。
在一种实施方式中，所述飞行控制设备根据所述无人机和所述载人飞行器的相对高度确定碰撞参数时，可以直接将所述相对高度确定为碰撞参数。例如，假设所述无人机和所述载人飞行器的相对高度为2m，则飞行控制设备可以确定碰撞参数为2。
在一种实施方式中，所述飞行控制设备根据所述无人机和所述载人飞行器的相对高度确定碰撞参数时，可以根据预设的高度与碰撞参数的对应关系，确定与所述相对高度对应的碰撞参数。
在一种实施方式中，飞行控制设备根据所述碰撞参数确定所述无人机是否执行躲避操作时，可以检测所述碰撞参数是否小于预设阈值，如果所述碰撞参数小于预设阈值，则可以确定所述无人机执行躲避操作，如果所述碰撞参数大于预设阈值，则可以确定所述无人机无需执行躲避操作。
在一个实施例中，当飞行控制设备根据所述碰撞参数确定所述无人机执行躲避操作时，可以确避让路线，以控制无人机根据所述避让路线飞行。
在一个实施例中，所述飞行控制设备在确定避让路线时，可以获取所述无人机与所述载人飞行器的第一方向矢量，其中，所述第一方向矢量是指从所述无人机的头部指向所述载人飞行器的方向矢量，并将所述第一方向矢量的反方向确定为所述无人机的避让路线。
可见，通过这种实施方式，可以避免无人机与载人飞行器发生碰撞，有助于提高无人机和载人飞行器的安全。
本发明实施例中，飞行控制设备可以获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据，并对所述ADS-B报文数据进行解析获取所述载人飞行器的第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。通过确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器，并根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。通过这种实施方式，可以准确确定出无人机与载人飞行器之间的相对高度，有助于避免无人机和载人飞行器发生碰撞等危险，降低了无人机对载人飞行器飞行安全 构成的威胁，提高了无人机和载人飞行器的安全性。
请参见图3，图3是本发明实施例提供的一种飞行控制设备的结构示意图。具体地，所述飞行控制设备包括：存储器301、处理器302。
在一种实施例中，所述飞行控制设备还包括数据接口303，所述数据接口303，用于传递飞行控制设备和其他设备之间的数据信息。
所述存储器301可以包括易失性存储器(volatile memory)；存储器301也可以包括非易失性存储器(non-volatile memory)；存储器301还可以包括上述种类的存储器的组合。所述处理器302可以是中央处理器(central processing unit，CPU)。所述处理器302还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
所述存储器301用于存储程序，所述处理器302可以调用存储器301中存储的程序，用于执行如下步骤：
获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度；
对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302还用于：
检测所述GNSS接收传感器和所述气压传感器的工作状态；
所述根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度，包括：
当所述GNSS接收传感器和所述气压传感器的工作状态为正常工作状态时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定所述第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述第二相对高度。
进一步地，所述处理器302还用于：
当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，根据所述GNSS接收传感器测量得到的高度数据 和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302还用于：
当所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态时，根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器；
从所述第一高度数据和第二高度数据中确定与所述目标传感器匹配的高度数据；
根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302还用于：
检测所述GNSS接收传感器和所述气压传感器的工作状态；
所述根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
当所述目标传感器的工作状态为正常工作状态时，根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302还用于：
当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据；
根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器302还用于：
根据所述无人机和所述载人飞行器的相对高度确定碰撞参数；
根据所述碰撞参数确定所述无人机是否执行躲避操作。
本发明实施例中，飞行控制设备可以获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据，并对所述ADS-B报文数据进行解析获取所述载人飞行器的第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。通过确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器，并根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。通过这种实施方式，可以准确确定出无人机与载人飞行器之间的相对高度，有助于避免无人机和载人飞行器发生碰撞等危险，降低了无人机对载人飞行器飞行安全构成的威胁，提高了无人机和载人飞行器的安全性。
本发明实施例还提供了一种无人机，所述无人机包括高度传感器，所述无人机包括：机身；配置在机身上的动力系统，用于为所述无人机提供移动的动力；所述处理器，用于获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据 确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度；
对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器还用于：
检测所述GNSS接收传感器和所述气压传感器的工作状态；
所述根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度，包括：
当所述GNSS接收传感器和所述气压传感器的工作状态为正常工作状态时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定所述第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述第二相对高度。
进一步地，所述处理器还用于：
当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，当所述GNSS接收传感器和所述气压传感器中仅所述气压传感 器的工作状态为正常工作状态时，根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器；
从所述第一高度数据和第二高度数据中确定与所述目标传感器匹配的高度数据；
根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器还用于：
检测所述GNSS接收传感器和所述气压传感器的工作状态；
所述根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
当所述目标传感器的工作状态为正常工作状态时，根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器还用于：
当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据；
根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
进一步地，所述处理器还用于：
根据所述无人机和所述载人飞行器的相对高度确定碰撞参数；
根据所述碰撞参数确定所述无人机是否执行躲避操作。
本发明实施例中，无人机可以获取无人机搭载的ADS-B接收机接收到的 载人飞行器发送的ADS-B报文数据，并对所述ADS-B报文数据进行解析获取所述载人飞行器的第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面。通过确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器，并根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。通过这种实施方式，可以准确确定出无人机与载人飞行器之间的相对高度，有助于避免无人机和载人飞行器发生碰撞等危险，降低了无人机对载人飞行器飞行安全构成的威胁，提高了无人机和载人飞行器的安全性。
本发明的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图2所对应实施例中描述的方法，也可实现图3所述本发明所对应实施例的设备，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (34)

  1. 一种无人机的飞行控制方法，其特征在于，所述无人机包括高度传感器，包括：
    获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
    对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
    确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
    根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  2. 根据权利要求1所述的方法，其特征在于，所述根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度；
    对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度，包括：
    当所述GNSS接收传感器和所述气压传感器的工作状态为正常工作状态时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定所述第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述第二相对高度。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  7. 根据权利要求5或6所述的方法，其特征在于，所述方法还包括：
    当所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态时，根据所述气压传感器测量得到的高度数据和所述第二 高度数据确定所述无人机和所述载人飞行器的相对高度。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器；
    从所述第一高度数据和第二高度数据中确定与所述目标传感器匹配的高度数据；
    根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当所述目标传感器的工作状态为正常工作状态时，根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据；
    根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述方法还包括：
    根据所述无人机和所述载人飞行器的相对高度确定碰撞参数；
    根据所述碰撞参数确定所述无人机是否执行躲避操作。
  12. 一种飞行控制设备，其特征在于，应用于无人机，所述无人机包括高度传感器，所述设备包括存储器和处理器；
    所述存储器，用于存储程序；
    所述处理器，用于调用所述程序，当所述程序被执行时，用于执行以下操作：
    获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
    对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
    确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
    根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  13. 根据权利要求12所述的设备，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  14. 根据权利要求12或13所述的设备，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
  15. 根据权利要求12-14任一项所述的设备，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度；
    对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
  16. 根据权利要求15所述的设备，其特征在于，所述处理器还用于：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度，包括：
    当所述GNSS接收传感器和所述气压传感器的工作状态为正常工作状态时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定所述第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述第二相对高度。
  17. 根据权利要求16所述的设备，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  18. 根据权利要求16或17所述的设备，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态时，根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述无人机和所述载人飞行器的相对高度。
  19. 根据权利要求12-18任一项所述的设备，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器；
    从所述第一高度数据和第二高度数据中确定与所述目标传感器匹配的高度数据；
    根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  20. 根据权利要求19所述的设备，其特征在于，所述处理器还用于：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当所述目标传感器的工作状态为正常工作状态时，根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  21. 根据权利要求20所述的设备，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据；
    根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  22. 根据权利要求12-21任一项所述的设备，其特征在于，所述处理器还用于：
    根据所述无人机和所述载人飞行器的相对高度确定碰撞参数；
    根据所述碰撞参数确定所述无人机是否执行躲避操作。
  23. 一种无人机，其特征在于，所述无人机包括高度传感器，所述无人机包括：
    机身；
    配置在机身上的动力系统，用于为所述无人机提供移动的动力；
    所述处理器，用于:
    获取无人机搭载的ADS-B接收机接收到的载人飞行器发送的ADS-B报文数据；
    对所述ADS-B报文数据进行解析获取所述载人飞行器的高度数据，其中，所述载人飞行器的高度数据包括第一高度数据和第二高度数据，所述第一高度数据以WGS84椭球面或平均海水面为基准面，所述第二高度数据以标准气压平面为基准面；
    确定所述高度传感器是否包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器；
    根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  24. 根据权利要求23所述的无人机，其特征在于，所述处理器根据确定 包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器仅包括与所述第一高度数据匹配的GNSS接收传感器时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  25. 根据权利要求23或24所述的无人机，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器仅包括与所述第二高度数据匹配的气压传感器时，根据所述气压传感器测量得到的高度数据和所述第二高度数据，确定所述无人机和所述载人飞行器的相对高度。
  26. 根据权利要求23-25任一项所述的无人机，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定第二相对高度；
    对所述第一相对高度和所述第二相对高度进行融合，以确定所述无人机和所述载人飞行器的相对高度。
  27. 根据权利要求26所述的无人机，其特征在于，所述处理器还用于：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度 数据确定第二相对高度，包括：
    当所述GNSS接收传感器和所述气压传感器的工作状态为正常工作状态时，根据所述GNSS接收器测量得到的高度数据和所述第一高度数据确定所述第一相对高度，并根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述第二相对高度。
  28. 根据权利要求27所述的无人机，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和所述气压传感器中仅所述GNSS接收传感器的工作状态为正常工作状态时，根据所述GNSS接收传感器测量得到的高度数据和所述第一高度数据确定所述无人机和所述载人飞行器的相对高度。
  29. 根据权利要求27或28所述的无人机，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和所述气压传感器中仅所述气压传感器的工作状态为正常工作状态时，根据所述气压传感器测量得到的高度数据和所述第二高度数据确定所述无人机和所述载人飞行器的相对高度。
  30. 根据权利要求23-29任一项所述的无人机，其特征在于，所述处理器根据确定包括的传感器测量得到的高度数据和所述载人飞行器的高度数据中与所述确定包括的传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度时，具体用于：
    当确定所述高度传感器包括与所述第一高度数据匹配的GNSS接收传感器和与所述第二高度数据匹配的气压传感器时，根据预设的优先级从所述GNSS传感器和所述气压传感器中确定一个目标传感器；
    从所述第一高度数据和第二高度数据中确定与所述目标传感器匹配的高度数据；
    根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度。
  31. 根据权利要求30所述的无人机，其特征在于，所述处理器还用于：
    检测所述GNSS接收传感器和所述气压传感器的工作状态；
    所述根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据，确定所述无人机和所述载人飞行器的相对高度，包括：
    当所述目标传感器的工作状态为正常工作状态时，根据所述目标传感器测量得到的高度数据和与所述目标传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  32. 根据权利要求31所述的无人机，其特征在于，所述处理器还用于：
    当所述GNSS接收传感器和气压传感器中仅不同于所述目标传感器的传感器的工作状态为正常工作状态时，从所述第一高度数据和所述第二高度数据中确定与所述不同于所述目标传感器的传感器匹配的高度数据；
    根据不同于所述目标传感器的传感器测量得到的高度数据和与所述不同于所述目标传感器的传感器匹配的高度数据确定所述无人机和所述载人飞行器的相对高度。
  33. 根据权利要求23-32任一项所述的无人机，其特征在于，所述处理器还用于：
    根据所述无人机和所述载人飞行器的相对高度确定碰撞参数；
    根据所述碰撞参数确定所述无人机是否执行躲避操作。
  34. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至11任一项所述方法。
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