WO2022067759A1 - Flight control method, aircraft, control terminal, and readable storage medium - Google Patents

Abstract

A flight control method, an aircraft, a control terminal, and a readable storage medium. The method comprises: obtaining a geo-fence, and creating a virtual aircraft cluster corresponding to the boundary of the geo-fence (S101); determining a neighbor aircraft of the aircraft in a neighbor area, the neighbor aircraft comprising a virtual aircraft and/or a real aircraft in the virtual aircraft cluster (S102); and on the basis of a collision avoidance strategy, controlling, according to the neighbor aircraft, the aircraft to fly, the collision avoidance strategy being a strategy of avoiding collision between the aircraft and the neighbor aircraft of the aircraft (S103). The method can reduce the waste of computing power of an aircraft cluster.

Description

Flight control method, aircraft, control terminal and readable storage medium technical field

The present invention relates to the technical field of aircraft control, and in particular, to a flight control method, an aircraft, a control terminal and a computer-readable storage medium.

Background technique

At present, aircraft have been widely used in different fields and scenarios, such as the strategic planning of UAV swarms in the military field and the performance of UAV formations in civilian scenarios. For larger drone formations, each drone is equipped with a collision avoidance strategy to prevent each other from colliding with each other during flight. However, individual drones or aircraft may be out of control on the ground, so the corresponding operational scope of the aircraft cluster is planned, such as the establishment of geo-fences, to limit their areas of activity.

Each aircraft will implement flight control according to the planned geo-fence, so that the aircraft needs to determine the positional relationship between the aircraft itself and the geo-fence during flight, so as to avoid the situation that the aircraft leaves the geo-fence, but for a cluster of aircraft, The applied geofences are the same, so that there are a large number of similar operations among the aircrafts during flight control, thus causing a waste of computing power of the aircrafts.

SUMMARY OF THE INVENTION

Based on this, the present application provides a flight control method, an aircraft, a control terminal and a storage medium, so as to reduce the waste of computing power of the aircraft cluster.

In a first aspect, the present application provides a flight control method, the method comprising:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

Determining the neighboring aircraft of the aircraft in the neighboring area, wherein the neighboring aircraft includes virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The flight of the aircraft is controlled according to the neighboring aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighboring aircraft of the aircraft.

In a second aspect, the present application also provides another flight control of an aircraft cluster, the method comprising:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.

In a third aspect, the present application also provides an aircraft, the aircraft comprising a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.

In a fourth aspect, the present application further provides a control terminal, and the aircraft includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.

In a fifth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor implements the above-mentioned flight control method.

The embodiments of the present application provide a flight control method, an aircraft, a control terminal and a storage medium, obtain a pre-set geofence, then create a virtual aircraft cluster corresponding to the boundary of the geofence, and then determine the current need to control The neighbor aircraft of the aircraft in the neighbor area, the neighbor aircraft includes the real aircraft and the virtual aircraft, and finally the aircraft flies according to the determined neighbor aircraft according to the collision avoidance strategy of the aircraft. In the flight control process of the aircraft, the geo-fence of the aircraft is used as part of the aircraft cluster, and then the collision avoidance strategy is used to realize the flight of the aircraft, without the need for separate flight calculation and control for the geo-fence, which effectively saves aircraft. The computing power of the cluster.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic block diagram of a flight control system provided by an embodiment of the present application;

2 is a schematic flowchart of steps of a flight control method provided by an embodiment of the present application;

Fig. 3 (a) is the area schematic diagram of the geofence provided by an embodiment of the present application;

3(b) is a schematic diagram of a construction method of a virtual aircraft provided by an embodiment of the present application;

3(c) is a schematic diagram of a construction method of a virtual aircraft provided by another embodiment of the present application;

3(d) is a schematic diagram of a construction method of a virtual aircraft provided by another embodiment of the present application;

4 is a schematic flowchart of a step of determining a real aircraft provided by an embodiment of the present application;

5 is a schematic flowchart of a step of determining a real aircraft provided by another embodiment of the present application;

6 is a schematic diagram of an area display interface of a neighbor area provided by an embodiment of the present application;

7 is a schematic flowchart of a step of determining a virtual aircraft provided by an embodiment of the present application;

8 is a schematic diagram of a coordinate system corresponding to a geofence provided by an embodiment of the present application;

9 is a schematic flowchart of a step of determining a virtual aircraft provided by another embodiment of the present application;

10 is a schematic flowchart of a step of determining a real aircraft provided by another embodiment of the present application;

Fig. 11(a) is a schematic diagram of the flight direction of an aircraft provided by an embodiment of the present application;

Fig. 11(b) is a schematic diagram of the flight direction of an aircraft provided by another embodiment of the present application;

12 is a schematic flowchart of a flight control method for an aircraft cluster provided by an embodiment of the present application;

13 is a schematic block diagram of an aircraft provided by an embodiment of the present application;

FIG. 14 is a schematic block diagram of a control terminal provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

During the flight of the drone formation, each drone is equipped with a collision avoidance strategy to prevent each other from colliding, so that each drone can fly safely. However, for the entire formation, each UAV or aircraft may be out of control on the ground. Therefore, in order to make the aircraft fly normally and safely, it is necessary to plan the corresponding operating range for the aircraft cluster, such as establishing a geo-fence to limit its activity area. .

In practical applications, after planning the corresponding geo-fence for the aircraft cluster, each aircraft will realize flight control according to the planned geo-fence, and at the same time calculate the positional relationship between the aircraft and the geo-fence in real time to ensure that the aircraft is always on the fly. When flying within the area corresponding to the geo-fence, since the number of aircraft included in the cluster of aircraft being given is very large, and the applied geo-fence is the same, there is a need to exist between the aircraft during flight control. A large number of similar operations, thus causing a waste of computing power of the aircraft.

To this end, the embodiments of the present application provide a flight control method, an aircraft, a control terminal, and a storage medium, which are used to control the safe flight of each aircraft in an aircraft cluster, and at the same time reduce the waste of computing power in the aircraft cluster.

As shown in Figure 1, Figure 1 shows the flight control system of the UAV formation, the flight control system includes a ground terminal and a plurality of aircraft, the ground terminal is used to control the flight of the aircraft or perform corresponding actions, and from the aircraft Acquire corresponding motion information, where the motion information is flight motion information of the aircraft, such as motion direction, motion attitude, motion speed, and/or position information, and the like.

Among them, the aircraft includes unmanned aerial vehicles, and the unmanned aerial vehicles include rotary-wing unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, octa-rotor unmanned aerial vehicles, or fixed-wing unmanned aerial vehicles. The combination of rotary-wing and fixed-wing UAVs is not limited here.

Exemplarily, the ground terminal may also be called a control terminal, for example, including a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, etc., and of course other devices, which are not limited herein.

Among them, the ground terminal is used to control the flight of the movable platform or perform certain actions, such as performing photography or measurement. As shown in Figure 1, one ground terminal can control multiple aircraft.

It should be noted that, in the embodiments of the present application, the flight control method provided by the present application will be introduced with the flight control system in FIG. 1 , but the corresponding manner in FIG. 1 does not constitute a limitation on the flight control system provided by the present application.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Please refer to FIG. 2 , which is a schematic flowchart of steps of a flight control method provided by an embodiment of the present application. The flight control method can be applied to the aircraft in the aircraft cluster, so as to control the flight of the aircraft during the flight of the aircraft, and avoid the aircraft from colliding and flying out of the specified flight area.

As shown in FIG. 2 , the flight control method includes steps S201 to S203.

S201. Obtain a geo-fence, and create a virtual aircraft cluster corresponding to the boundary of the geo-fence.

Geofence is an area boundary that allows aircraft to fly. In practical applications, it can be used to restrict aircraft from flying within the area included in the boundary of the geofence, or it can be used to control the aircraft outside the area included in the boundary of the geofence. flight.

Exemplarily, when the geo-fence restricts the aircraft from flying within the area corresponding to the geo-fence, then the aircraft is flying normally when the aircraft is in the area where the geo-fence is located, and is flying outside the area corresponding to the geo-fence. , which is abnormal flight. Therefore, when controlling the flight of the aircraft, it is necessary to control the aircraft to fly in the area corresponding to the geo-fence to ensure the safe flight of the aircraft. Especially for aircraft clusters, a large number of aircrafts need to be reasonably controlled for their flight. If there is no restriction on their flight area, but they are allowed to fly at will, it may cause greater flight risks.

In addition, when the geofence is to control the aircraft to fly outside its corresponding area, then when the aircraft enters the area corresponding to the geofence, it is abnormal flight. Therefore, when controlling the flight of the aircraft, it will be necessary to keep the aircraft away from the area corresponding to the geo-fence.

In order to better describe the solution in this application, the geo-fence is used as an explanation for restricting the flight of the aircraft in its corresponding area, that is, when the aircraft is flying in the area corresponding to the geo-fence, it is normal flight, Otherwise, it is abnormal flight.

Among them, the geofence is preset and can be an artificially set area. For example, an area is artificially designated as a geofence. The shape of the geofence is not limited, such as a circular fence and a polygonal fence. It is set according to the actual area. For example, the area corresponding to an aircraft place can also be set as a geo-fence. In practical applications, according to the actual flight requirements, the operator can select and set the current corresponding geofence.

In one embodiment, when the aircraft is controlled to fly, the aircraft is made to fly within the area corresponding to the preset geo-fence. Therefore, when the aircraft is controlled to fly, the preset geo-fence is acquired and created. The virtual aircraft clusters corresponding to the boundaries of the obtained geofences.

When creating a virtual aircraft cluster corresponding to the geofence boundary, the geofence boundary is materialized and the aircraft is used to replace the geofence boundary, that is, a boundary identical to the obtained geofence is formed by several aircrafts, but due to this The aircraft used is not a real operational aircraft, so virtual aircraft is used when the aircraft is used to replace the geo-fence boundary, and the set of aircraft that constitute the entire geo-fence boundary is the virtual aircraft cluster used.

Further, when creating a virtual aircraft cluster corresponding to a geo-fence boundary, it is necessary to determine how to determine the position of the virtual aircraft on the geo-fence boundary. Therefore, when creating a virtual aircraft cluster, the steps include: determining how many aircraft are based on the boundary of the geo-fence. virtual positions, and creating a virtual aircraft at each of the virtual positions, resulting in a cluster of virtual aircraft.

When creating a virtual aircraft cluster corresponding to the boundary of the geofence, the virtual position corresponding to each virtual aircraft on the boundary of the geofence is determined. Since the virtual aircraft does not actually exist, after the virtual position is determined, each virtual aircraft is The virtual position is regarded as a virtual aircraft, and after the virtual position on the boundary of the entire geofence is determined, the entire virtual aircraft cluster can be obtained, and for the obtained entire virtual aircraft cluster, it will be added to the entire real aircraft In the cluster, that is, the created virtual aircraft set is regarded as a part of the whole aircraft cluster, and then when the real aircraft is controlled to fly, since the geofence is transformed into a virtual aircraft and added to the entire aircraft cluster, collision avoidance can be used. strategy to control the flight of real aircraft.

Further, when creating a virtual aircraft cluster corresponding to the boundary of the geofence, first determine the virtual position corresponding to each virtual aircraft, and when determining the virtual position, there can be many different ways, and according to different ways The resulting creation of a virtual aircraft cluster will also vary. Taking the geofence as the area shown in Figure 3(a) as an example, when creating a virtual aircraft, the virtual aircraft is the same size as the real aircraft, and a small circle is used to represent a virtual aircraft.

When multiple virtual locations are determined according to the boundary of the geo-fence, the method includes: dividing the boundary of the geo-fence according to a preset interval distance to obtain multiple virtual locations.

The preset separation distance is used to determine the separation of each virtual aircraft. In the geo-fence shown in Figure 3(a), a position is selected as the starting position, and then the follow-up is determined once according to the set separation distance. Virtual positions corresponding to several virtual aircraft, and each virtual position corresponds to a virtual aircraft. The preset separation distance can be customized according to actual needs, but it is not suitable to set the separation distance too large.

For example, when the set separation distance is zero, the relationship between the virtual aircraft cluster and the geofence obtained at this time is shown in Figure 3(c).

For another example, when the set separation distance is L (where L is not zero), the relationship between the virtual aircraft cluster and the geofence obtained at this time is shown in Figure 3(b).

In addition, for the geofence, it can also be a circular area, so when constructing a virtual aircraft cluster corresponding to the geofence, if the boundary of the geofence is a circle, the preset distance interval can be an radian, that is The construction of virtual aircraft cluster is realized through the included angle radian formed by two adjacent virtual aircraft.

S202. Determine the neighboring aircraft of the aircraft in the neighboring area, where the neighboring aircraft includes a virtual aircraft and/or a real aircraft in a virtual aircraft cluster.

After the virtual aircraft cluster corresponding to the boundary of the geofence is created, the obtained virtual aircraft cluster will be added to the real aircraft cluster to obtain a new aircraft cluster, but the position of each virtual aircraft in the virtual aircraft cluster is will not change. For a real aircraft, it will complete its own flight according to the newly obtained aircraft cluster and flight instructions.

When the aircraft is flying, determine the neighbor aircraft in the neighbor area of the aircraft, and when determining the neighbor aircraft is for the new aircraft cluster, that is, for the neighbor aircraft of the aircraft, in addition to including the real aircraft, also A virtual aircraft may be included, ie the neighbor aircraft consists of real aircraft and/or virtual aircraft.

Since, when the aircraft perceives and determines the neighbor aircraft, the way of determining the real aircraft and the virtual aircraft is different. Therefore, when determining the neighbor aircraft, first determine the neighbor area of the aircraft, and then determine the real aircraft in the neighbor area, and Virtual aircraft in the neighbor area to obtain the current corresponding neighbor aircraft.

Further, referring to FIG. 4 , when determining the real aircraft in the neighboring area of the aircraft, it includes:

Step S401: Determine target position information of the aircraft.

When determining the real aircraft in the neighboring area of the aircraft, it is determined by determining the distance relationship between the aircraft and other aircraft. Corresponding to the neighbor area of the aircraft, the neighbor area is usually set as a circular area or other shape area, then when determining the aircraft in the neighbor area, determine the distance between each real aircraft and the currently controlled aircraft. Whether the distance is less than or equal to the area radius corresponding to the neighbor area, when the actual distance between the two is not greater than the set area radius, it is determined to be in the neighbor area, otherwise, it is determined to be outside the neighbor area.

Therefore, when determining the real aircraft in the neighbor area, first determine the target position information of the aircraft currently controlled and responding, and then determine the real aircraft in the neighbor area according to its own position.

For the target position information of the aircraft, it can be determined according to its own positioning device, such as GPS positioning device, through its own positioning, you can know the current distance position of the aircraft itself, such as specific latitude and longitude values, in world space, a latitude and longitude The value can represent a position, but for the aircraft, an altitude value is also required, because all aircraft can exist under one longitude and latitude, that is, the same longitude and latitude but different altitudes. Therefore, when determining the aircraft's own position, in addition to determining the aircraft itself In addition to the latitude and longitude, the altitude value of the aircraft can also be determined.

Specifically, when determining the target position information of the aircraft, it can be expressed in the form of coordinates, such as only including longitude and latitude (114°00'E, 22°35'N) and flight altitude (114°00E) ', north latitude 22°35', 150m), wherein, east longitude 114°00' and north latitude 22°35' represent the longitude and latitude of the aircraft, and 150m represents the flight altitude of the aircraft.

Step S402: Receive real location information sent by each real aircraft within the geo-fence.

For each real aircraft, its own position information will be acquired, and when the real aircraft in the neighbor area is determined, the position of all aircrafts will be acquired to realize the determination of the neighbor aircraft.

In practical applications, information can be exchanged between aircraft through broadcasting. Therefore, after the aircraft completes the acquisition of its own position information, it can broadcast its own position information to other real aircraft. The aircraft will send corresponding broadcasts at regular intervals or in real time, and carry its own location information in the broadcasts. At the same time, it will also receive broadcasts from other aircraft, and parse and read the information contained and carried in the broadcasts.

Of course, the aircraft can also actively obtain the position information of other real aircraft around it. For example, the aircraft actively sends a request for obtaining position information to the outside world. After receiving the request, the real aircraft can feed back its own position information to the aircraft. Alternatively, the aircraft can also actively detect the position information of other real aircraft through other means, such as detectors.

It should be noted that the real position information is used to perform the area with the virtual position information described below, wherein the real position information is the position information corresponding to the real aircraft, and the virtual position information is the virtual aircraft created based on the geo-fence. The location information corresponding to the virtual aircraft in the cluster.

Step S403 , according to the real position information, the target position information and the area information corresponding to the neighbor area, determine the real aircraft in the neighbor area.

When the current target position information corresponding to the aircraft and the real position information corresponding to other real aircraft are obtained, the real aircraft in the neighbor area at this time will be determined.

In one embodiment, when the real aircraft is determined, the obtained target position information and the real position information are combined with the area information corresponding to the set neighbor area to determine the real aircraft currently in the neighbor area.

It can be seen from the above description that when determining the neighbor aircraft, first determine the area corresponding to the neighbor area, then determine the actual distance between other real aircraft and the current aircraft, and then determine whether it is in the neighbor area by comparing the two. real aircraft.

Therefore, referring to FIG. 5, when determining the real aircraft in the neighborhood area, including:

Step S501, according to the real position information and the target position information, determine the first distance between the real aircraft and the aircraft;

Step S502: Read the area information corresponding to the neighbor area, and determine the real aircraft in the neighbor area according to the first distance and the area information.

When determining the real aircraft in the neighbor aircraft, it is determined by distance comparison. Therefore, when the target position information and the real position information corresponding to each real aircraft are obtained, the first distance between each real aircraft and the aircraft is determined, and the neighbors are read at the same time. area information corresponding to the area, so as to determine whether it is a real aircraft in a neighboring area according to the first distance and the area information.

The position information of the aircraft can be determined by adding altitude and latitude. For example, (114°00'E, 22°35'N, 150m) is the position information of an aircraft. When the aircraft receives the real position sent by other real aircraft After the information is obtained, the distance value between each real aircraft and the aircraft can be obtained through distance calculation.

For the calculation of distance using latitude and longitude, the calculation formula is:

Among them, latitude is the latitude, longitude is the longitude, a=latitude1-latitude2 is the difference between the latitudes of two points, b=longitude1-longitude2 is the difference between the longitudes of the two points; R is the radius of the earth 6378.137 (km), and the unit of the calculation result is km .

In addition, since there will be a difference in height between the two aircraft, after calculating the difference S between the two aircraft based on latitude and longitude, the height value can also be added to determine the distance between the two aircraft considering the height difference. The formula for calculating the time distance is:

Among them, L is the distance between the aircraft, H ₁ is the height of the aircraft, and H ₂ is the height of the real aircraft in the neighbor area.

It should be noted that when calculating the distance between two real aircraft, due to the difference in the flying height between the aircraft, but not all cases need to consider the flying height between the aircraft, so in the actual application process In , you can choose whether to consider the flying height of the aircraft according to the actual demand. When the flying height between the aircrafts does not need to be considered, you can directly use the above formula (1) to obtain the actual distance between the two aircraft, and When the flying height between the aircraft needs to be considered, it will be possible to use a combination of equations (1) and (2) to determine the actual distance between the two aircraft.

For the area information of the neighbor area, it can be the area radius of the neighbor area. Since the position information of each aircraft is different, the corresponding neighbor area for each aircraft is also different, as shown in the figure 6, for aircraft 1, its corresponding neighbor area is area A, for aircraft 2, its corresponding neighbor area is area B, and for aircraft 3, its corresponding neighbor area is area C.

It can be seen from Figure 6 that the neighbor areas corresponding to each aircraft may have overlapping areas, such as the neighbor areas corresponding to aircraft 1 and 2, or there may be no overlapping areas, such as the neighbor areas corresponding to aircraft 1 and 3. .

The area information of the neighbor area is pre-stored and recorded in the aircraft, so after the first distance between the aircraft and the real aircraft is calculated, the pre-recorded and stored area information will be read, and then the obtained first distance will be read. The distance is compared with the area information, wherein the area information specifically includes a preset actual distance.

Therefore, after obtaining the first distance and the area information, the first distance is compared with the preset actual distance in the area information, and it is determined whether the current corresponding real aircraft is a real aircraft in a neighbor aircraft according to the actual comparison result. Wherein, when it is determined that the first distance is less than or equal to the preset actual distance, it is determined that the real aircraft corresponding to the currently compared first distance is a real aircraft in the neighbor area, otherwise it is determined not to be a real aircraft in the neighbor area .

For example, if the preset actual distance is 5m, then only the real aircraft whose first distance does not exceed 5m are the real aircraft in the processing neighbor area. Of course, the preset actual distance is set according to actual application scenarios and requirements, and there is no specific limitation.

In one embodiment, after the real aircraft in the neighbor area is determined, the virtual aircraft in the neighbor area also needs to be determined. Since the position of the virtual aircraft is fixed, referring to FIG. 7 , after determining that the aircraft is in the neighbor area When the virtual aircraft inside, including:

Step S701, constructing a coordinate system corresponding to the geo-fence.

Since the position of the virtual aircraft is fixed and the virtual aircraft cannot send out broadcasts, the above method of determining the real aircraft by broadcasting cannot be used when determining the virtual aircraft in the neighboring area. Its own position can be acquired in real time, so when determining the virtual aircraft, it can be determined by means of coordinates.

In one embodiment, a coordinate system corresponding to the geo-fence is first constructed, that is, a coordinate system is reconstructed based on the pre-built geo-fence, and then the virtual aircraft in the neighbor area is determined by means of coordinates.

When constructing the coordinate system corresponding to the geofence, the geofence is pre-selected, and the coordinates of the boundary of the geofence in the world coordinate system are known, that is, the latitude and longitude coordinates corresponding to the boundary of the geofence are Known, so when the coordinate system corresponding to the geofence is constructed, the real latitude and longitude coordinates corresponding to the geofence can be retained, that is, the coordinates are represented by the real latitude and longitude, and a new coordinate can be reconstructed, that is, the The latitude and longitude are converted to obtain new coordinates in the constructed coordinate system.

Step S702: Determine the virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system, so as to determine the neighbor aircraft of the aircraft in the neighbor area according to the virtual coordinates.

After the construction of the coordinate system corresponding to the geofence is completed, the virtual positions corresponding to each virtual aircraft in the virtual aircraft cluster corresponding to the geofence need to be fused into the constructed coordinate system.

When using the real latitude and longitude to represent the coordinates, you can directly use the latitude and longitude corresponding to each virtual aircraft to directly represent the coordinates, and when reconstructing the coordinates to describe with a new coordinate representation, you need to perform corresponding transformations to convert the latitude and longitude. is the coordinates in the new coordinates. Taking the geofence shown in Fig. 3(a) as an example, the coordinate system constructed at this time can be as shown in Fig. 8 .

In Fig. 8, a point of the geo-fence is used as the origin of the new coordinates, and the virtual positions of the virtual aircraft corresponding to the boundary of the geo-fence are co-ordinated. Since the geo-fence constructed at this time is a polygon (a rectangle in the figure) ), the latitude and longitude corresponding to the four vertices can be obtained by positioning, so after determining the latitude and longitude corresponding to each vertex, the lengths of oa and ob can be calculated, and then the new coordinates of a, b and c The coordinates of the three vertices.

For example, when oa=2000m and ob=1000m, the coordinates of point o are (0, 0), the coordinates of point a are (2000, 0), the coordinates of point b are (0, 1000) and the coordinates of point c are (2000, 1000) , and the coordinates of each virtual aircraft can be determined according to the distance between two adjacent virtual aircraft. For example, on the horizontal axis, the coordinates of a virtual aircraft adjacent to point o are (d, 0), where d is the distance between two adjacent virtual aircrafts, and can be (2d, 0), (3d, 0)...until (2000, 0) in sequence on the horizontal axis.

Similarly, when the boundary of the geofence is a circle, a new coordinate system corresponding to the geofence can be constructed with the center of the circle as the origin of the constructed coordinate system, and the coordinates corresponding to the virtual aircraft can be fused into the new coordinate system. middle.

After determining the corresponding virtual coordinates of each virtual aircraft in the constructed coordinate system, the virtual aircraft in the neighboring area of the currently controlled aircraft will be determined according to the coordinate system after fusing the coordinate positions of all virtual aircraft.

Referring to FIG. 9 , when determining the virtual aircraft in the neighbor area according to the constructed coordinate system, it includes:

Step S901, determining the target coordinates of the aircraft in the coordinate system;

Step S902: Determine a virtual aircraft in the neighbor area according to the target coordinates and the virtual coordinates.

After the position of the virtual aircraft is fused into the constructed coordinate system, the coordinate position of the real aircraft in the constructed coordinate system will be determined. Corresponding to each aircraft in the real aircraft cluster, it will exist in the coordinate system. It has its own corresponding coordinates. Therefore, when completing the construction of the coordinate system, determine the target coordinates of the aircraft in the coordinate system. The target coordinates are the position of the currently controlled aircraft in the coordinate system. After determining the target coordinates, it will be According to the target coordinates and the pre-determined virtual coordinates of the virtual aircraft, the virtual aircraft in the neighbor area is determined.

When determining the target coordinates of the aircraft in the coordinate system, the latitude and longitude corresponding to a virtual aircraft can be selected. At the same time, since the virtual aircraft has corresponding coordinates in the coordinate system, the distance between the aircraft and the virtual aircraft can be calculated by calculating the latitude and longitude. The distance and azimuth of the aircraft are then converted to obtain the target coordinates of the aircraft in the coordinate system.

Specifically, when determining the target position of the aircraft, it includes: determining a first relative position between the target position information and the geo-fence; determining a target of the aircraft in the coordinate system according to the first relative position coordinate.

When determining the target coordinates of the aircraft, the first relative position of the aircraft in the world coordinates and the geo-fence is determined, wherein the first relative position includes the distance and the azimuth in the horizontal direction, and then the determined first relative position is The positional relationship determines the target coordinates corresponding to the aircraft in the coordinate system.

Alternatively, the coordinate system constructed for the geofence is the NED coordinate system, the data of the geofence includes GPS data, such as GPS data including boundary points, and the coordinate system corresponding to the GPS data is the world coordinate system, which can be selected from the data set of the geofence The GPS of a certain point is used as the coordinate origin under the NED coordinate system, and the GPS data of other boundary points are mapped to the NED coordinate system. Therefore, when calculating the target coordinates corresponding to the aircraft in the coordinate system, the position of the aircraft can also be mapped to the NED coordinate system according to the GPS data of the aircraft and the GPS data of the origin under the NED coordinate system.

In addition, when determining the first relative position, it includes: selecting at least one fence position in the geo-fence; determining the target position information and the at least one fence according to the target position information and the at least one fence position The positional relationship of the positions to determine the first relative position of the target position information and the geo-fence.

For example, when the coordinates of the selected virtual aircraft in the coordinate system are (0, 0) and correspond to its own latitude and longitude, the distance between the aircraft and the virtual aircraft is determined by calculation as

And the orientation is in the northeast direction, then the target coordinates corresponding to the aircraft at this time are (30, 30).

When determining the virtual aircraft in the neighbor area according to the target coordinates and the obtained virtual coordinates, it is determined whether the currently calculated virtual aircraft is in the neighbor area by calculating the coordinate distance between the two.

Specifically, when determining the virtual aircraft in the neighbor area, the steps include: determining a first coordinate distance between the virtual aircraft and the aircraft according to the target coordinates and the virtual coordinates; reading the neighbors The preset coordinate distance corresponding to the area is determined, and the virtual aircraft in the neighbor area is determined according to the first coordinate distance and the preset coordinate distance.

After obtaining the target coordinates, you can calculate the first coordinate distance between the target coordinates and the obtained virtual coordinates, that is, the obtained coordinate distance between the aircraft and each virtual aircraft, and then read the set preset coordinates distance, and then determine the virtual aircraft in the neighbor area according to the obtained first coordinate distance and the preset coordinate distance.

Corresponding to the preset coordinate distance, when the distance is not proportionally reduced, it can be the same as the preset actual distance described above, and at the same time, it can be reduced proportionally so that the preset coordinate distance is not equal to the preset actual distance, but no matter what the operation and Does not affect the actual judgment process.

During comparison, when the first coordinate distance is less than or equal to the preset coordinate distance, it is determined that the virtual aircraft corresponding to the first coordinate distance is a virtual aircraft in a neighbor area, and otherwise, it is determined not to be a virtual aircraft in a neighbor area.

In addition, when determining the virtual aircraft in the neighbor area, the coordinate distance between the target coordinate and the virtual coordinate may not be calculated, but the judgment may be implemented in other ways.

For example, after the target coordinates are determined, the distance between the target coordinates and the boundary corresponding to the geo-fence in the coordinates is calculated, and then further determination is performed according to the obtained distance. During the determination process, if the minimum value of the distance between the target coordinates of the aircraft and the area boundary is greater than the preset coordinate distance, then obviously there will be no virtual aircraft in the neighbor area on the boundary of the area, which can reduce invalidation. comparison calculation. Similarly, if the maximum value of the distance between the target coordinate corresponding to the aircraft and the area boundary is less than or equal to the preset coordinate distance, it is determined that all virtual aircraft in the changing contact area are virtual aircraft in the neighboring area.

Therefore, when calculating the first coordinate distance, you can first calculate the minimum coordinate distance and the maximum coordinate distance between the target coordinate and the boundary of each area, which can reduce the calculation process to a certain extent, and can more quickly determine the neighbor area. virtual aircraft.

In one embodiment, due to the function and nature of the geofence itself, when determining a virtual aircraft in a neighboring area, it is necessary to ensure that the aircraft will not fly away from the area included in the geofence, but due to the way and the existence of the geofence. Different states result in different determination methods when determining the virtual aircraft in the neighboring area.

Exemplarily, when the geofence is a two-dimensional plane figure, such as the geofence shown in FIG. 3( a ), by default, the aircraft may need to be controlled to fly within the latitude and longitude area corresponding to the geofence. In practical applications, taking a two-dimensional geofence as an example, when the aircraft needs to be controlled to fly in the area where the two-dimensional geofence is located, the latitude and longitude corresponding to the aircraft during the flight cannot be within the boundaries of the geofence. outside the corresponding latitude and longitude range. Therefore, at this time, when controlling the flight of the aircraft, it is not necessary to consider the height difference between the aircraft and the virtual aircraft corresponding to the geo-fence.

In addition, when the geofence is a three-dimensional figure, it is necessary to ensure that the aircraft flies within the area enclosed by the boundary of the geofence, so at this time, it is not only necessary to consider the distance in the horizontal direction, that is, not only according to the Longitude and latitude are used to determine the distance between the aircraft and the virtual aircraft, and the height difference between the aircraft and the virtual aircraft also needs to be considered. For example, when the area formed by the geofence is a sphere, the aircraft needs to be controlled to fly within the formed sphere. Therefore, when determining the virtual aircraft in the neighboring aircraft, it is also necessary to calculate the difference between the virtual aircraft and the currently controlled aircraft. height difference between. Similarly, when the area formed by the geofence is a three-dimensional space of other shapes, the actual height difference also needs to be considered to determine the virtual aircraft in the neighboring aircraft. Referring to Fig. 3(d), taking the geofence as a cube as an example, it is necessary to lay virtual icons on the six faces of the cube according to the size of the virtual aircraft to indicate that the six faces are provided with virtual aircraft. The situation is different from Figure 3(b) or Figure 3(c), that is, the boundary of the geofence not only includes the edge position of a certain plane, but also needs to include the position within the plane, that is to say, in this case, six All the positions of each plane are the boundaries of the spatial three-dimensional geo-fence. Therefore, virtual aircraft need to be set on the six planes, so as to ensure that the real aircraft will not fly out of the range delineated by the three-dimensional geo-fence.

It can be seen from the above description that the real aircraft that is determined to be in the neighbor area uses the broadcast between the aircraft to determine its own position, thereby realizing the determination of the real aircraft in the neighbor area, while the virtual aircraft in the neighbor area is determined. When the coordinates are transformed, the boundary of the geo-fence and the position of the virtual aircraft are co-ordinated, and then the virtual aircraft in the neighbor area is determined through coordinate comparison.

In the actual application process, the real aircraft in the neighbor area can also be determined by means of coordinates. Referring to Figure 10, the real aircraft in the neighbor area of the aircraft can be determined, including:

Step S1001, determining the real coordinates corresponding to each real aircraft in the coordinate system;

Step S1002: Determine a real aircraft in the neighbor area according to the real coordinates and the target coordinates.

When determining the real aircraft in the neighbor area by using the method of determining the virtual aircraft in the neighbor area, it is necessary to determine the real coordinates corresponding to each real aircraft in the constructed coordinate system, and then pass the real coordinates corresponding to each real aircraft. And the pre-obtained target coordinates determine the real aircraft in the neighbor area.

When determining the real coordinates corresponding to each real aircraft in the coordinate system, since the aircraft corresponding to the target coordinates belongs to one of the real aircraft, when determining the real coordinates corresponding to each real aircraft in the coordinate system, the same It is realized by means of target coordinates, which specifically includes: determining the second relative position of each real aircraft and the aircraft according to the real position information and target position information; according to the target coordinates and the second relative position, The corresponding real coordinates of each real aircraft in the coordinate system are determined.

The real position information is the latitude and longitude in the world space corresponding to each real aircraft, and the target position information is the latitude and longitude in the world space corresponding to the currently controlled aircraft.

After obtaining the real position information and target position information corresponding to each real aircraft, the second relative position between each real aircraft and the currently controlled aircraft is determined. After the second relative position between the controlled aircrafts, the real coordinates corresponding to each real aircraft can be determined in the constructed coordinate system.

For example, if the target coordinates are (150, 200), the second relative position is due east, and the distance is 25m, then the real coordinates corresponding to the real aircraft determined at this time are (175, 200).

In one embodiment, after the real coordinates corresponding to each real aircraft are determined, it will be determined which real aircraft are in the neighbors of the currently controlled aircraft according to the obtained real coordinates and the target coordinates corresponding to the currently controlled aircraft. within the area. Specifically, the method includes: determining the second coordinate distance between the real aircraft and the aircraft according to the target coordinates and the real coordinates; reading the preset coordinate distance corresponding to the neighbor area, according to the The second coordinate distance and the preset coordinate distance determine the real aircraft in the neighbor area.

After the real coordinates of each real aircraft are obtained, the coordinate distance between the real coordinates and the target coordinates will be calculated to obtain the second coordinate distance, where the second coordinate distance includes the distance between all real aircraft and the currently controlled aircraft. Coordinate distance, and then compare and filter to determine which real aircraft are in the neighbor area of the currently controlled aircraft.

Exemplarily, the second coordinate distance is compared with the preset coordinate distance included in the area information corresponding to the read neighbor area, and it is determined that the real aircraft whose second coordinate distance is less than the preset coordinate distance is located in the neighbor area. The real aircraft, otherwise it is determined to be outside the neighbor area.

Step S203 , controlling the flight of the aircraft according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.

After the neighbor aircraft of the currently controlled aircraft is determined, the flight of the aircraft will be controlled based on the determined neighbor aircraft according to the collision avoidance strategy.

The collision avoidance strategy is a strategy to avoid the collision between the aircraft and other aircraft during flight. For example, when an obstacle appears on the flight path of the aircraft, it needs to be avoided in time to avoid the collision between the aircraft and the obstacle. During the flight, all objects except its own aircraft are obstacles. For example, in the aircraft cluster, when aircraft 1 is flying, all aircraft except aircraft 1 are obstacles, then during the flight of aircraft 1 , it is necessary to avoid other aircraft in a timely and effective manner.

Since the entire processing process is implemented on the processor of the aircraft itself, after determining the neighbor aircraft, it will control its own flight according to the collision avoidance strategy. In the actual collision avoidance flight, the general collision avoidance strategy may be that when there are other aircraft in front of the aircraft, it will not fly forward. Fly in the direction, and the aircraft can also perform hovering operations at this time.

In addition, when the aircraft is controlled to fly based on the collision avoidance strategy, a secondary judgment process can be added to the collision avoidance of the aircraft to avoid mis-control. During the time period, the boundary between the aircraft and the geo-fence will be smaller than the preset actual distance. If you control the aircraft to stay away from the geo-fence during this time period, if you are performing an art display at this time, the display effect of the aircraft will be poor. It occurs because the aircraft is based on the collision avoidance strategy. In order to avoid this situation, a secondary judgment can be added under the condition of ensuring flight safety to reduce the occurrence of flight control misoperations.

Exemplarily, when the aircraft is controlled to fly based on the collision avoidance strategy, when the aircraft in the adjacent area of the aircraft is determined, the aircraft is not controlled to perform collision avoidance, such as turning or flying in the opposite direction, but continues to detect the aircraft and the aircraft in the adjacent area. The distance between the aircraft, and when the detected distance is less than or equal to the safe distance, control the aircraft to perform collision avoidance.

Among them, for a certain aircraft in the neighbor aircraft, the safety distance can be a preset value, and the preset value can be smaller than the distance information corresponding to the neighbor range. For example, the distance of the neighbor range is 10m, then the safety distance can be set to 7m , that is, when the distance between the aircraft and other aircraft is less than or equal to 7m, the aircraft will be controlled to perform collision avoidance, such as controlling the aircraft to steer or fly in the opposite direction, or control the aircraft to hover in the air.

It should be noted that the distance and safety distance for the preset neighbor area/neighbor range are determined according to actual conditions, such as actual flight scenarios and flight tasks, and are not limited here.

Exemplarily, when the determined actual flight scene is shown in FIG. 11(a), the neighbor aircraft in the neighbor area of the aircraft can be obtained from the figure, which only contains virtual aircraft, then the flight direction of the aircraft at this time cannot be The direction toward the neighboring aircraft, the direction that can fly at this time is the direction corresponding to the angle α, that is, the flying direction of the aircraft at this time can follow the direction indicated by the arrow in the figure.

In addition, when the determined actual flight scene is shown in Figure 11(b), the neighboring aircraft of the aircraft include virtual aircraft and real aircraft, and the direction that can be flown at this time is the direction corresponding to the angle β, then at this time The flight direction of the flight should avoid the virtual aircraft and the real aircraft, and you can fly in the direction indicated by the arrow in the figure.

In the above-described aircraft control method, all data processing processes are carried out on the processor of the aircraft itself. In practical applications, other control terminals can also be used to realize data processing, and the The corresponding control instructions are generated based on the result information of the data, so as to send the generated control instructions to the corresponding aircraft, so that the aircraft can fly through the corresponding control instructions.

Referring to FIG. 12 , FIG. 12 is a schematic flowchart of a flight control method for an aircraft cluster according to an embodiment of the present application.

Among them, the method includes:

Step S1201, obtaining a geo-fence, and creating a virtual aircraft cluster corresponding to the boundary of the geo-fence;

Step S1202, determining the neighboring aircraft of the aircraft in the neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

Step S1203, sending the neighbor aircraft to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is to avoid collision between the aircraft and the neighbor aircraft of the aircraft strategy.

In the flight control method of the aircraft cluster, a communication connection is established between the control terminal and the controlled aircraft, which can realize the exchange of data and information. For example, the aircraft sends the data information obtained by itself to the control terminal, and the control terminal, after performing data processing based on the received data information, feeds back the result information obtained from the processing to the corresponding aircraft, so that the aircraft responds. For example, flight control is performed based on the result information.

The control terminal acquires the pre-stored geo-fences related to the aircraft, then creates a virtual aircraft cluster corresponding to the boundaries of the read geo-fences, and then determines the neighbor aircraft in the neighbor area of the aircraft. Similarly, the neighbor aircraft contains The real aircraft and the virtual aircraft finally send the determined neighbor aircraft to the associated aircraft, so that the associated aircraft flies based on the collision avoidance strategy.

In one embodiment, since the process of determining the neighbor aircraft is performed on the control terminal, and the location information of the real aircraft needs to be used when determining the real aircraft included in the neighbor aircraft, the control terminal will also receive the county association at all times. The position information sent by each real aircraft, and then determine the real aircraft in the neighbor area according to the received position information.

When determining the virtual aircraft included in the neighbor aircraft, it may be implemented in the manner described in the embodiments from steps S701 to S702, but the entire processing process is performed on the control terminal.

In the above-described flight control method, a pre-set geofence is obtained, then a virtual aircraft cluster corresponding to the boundary of the geofence is created, and the neighbor aircraft in the neighbor area of the aircraft currently to be controlled is determined, including There are real aircraft and virtual aircraft, and finally, according to the collision avoidance strategy of the aircraft, the flight is carried out according to the determined neighbor aircraft. In the flight control process of the aircraft, the geo-fence of the aircraft is used as part of the aircraft cluster, and then the collision avoidance strategy is used to realize the flight of the aircraft, without the need for separate flight calculation and control for the geo-fence, which effectively saves the aircraft. The computing power of the cluster.

Please refer to FIG. 13 , which is a schematic block diagram of an aircraft provided by an embodiment of the present application. The aircraft 1300 includes a processor 1301 and a memory 1302 , and the processor 1301 and the memory 1302 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus 1303 .

Specifically, the processor 1301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 1302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.

Wherein, the processor 1301 is used for running the computer program stored in the memory, and implements the following steps when executing the computer program:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the geofence;

Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The flight of the aircraft is controlled according to the neighboring aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighboring aircraft of the aircraft.

In some embodiments, when the processor 1301 implements the creation of the virtual aircraft cluster corresponding to the boundary of the geofence, it specifically implements:

A plurality of virtual positions are determined according to the boundaries of the geo-fence, and a virtual aircraft is created at each of the virtual positions to obtain a virtual aircraft cluster.

In some embodiments, the virtual location is located on the boundary of the geofence.

In some embodiments, when implementing the determining of multiple virtual locations according to the geo-fence, the processor 1301 specifically implements:

The geo-fences are divided according to a preset interval distance to obtain a plurality of virtual positions.

In some embodiments, when the processor 1301 implements the determining of a neighboring aircraft in a neighboring area of the aircraft, the processor 1301 specifically implements:

Determine the real aircraft in the neighbor area of the aircraft, and determine the virtual aircraft in the neighbor area of the aircraft to obtain the corresponding neighbor aircraft.

In some embodiments, the processor 1301 specifically implements:

determining the target position information of the aircraft;

receiving the real location information sent by each real aircraft in the geo-fence;

According to the real position information, the target position information and the area information corresponding to the neighbor area, the real aircraft in the neighbor area is determined.

In some embodiments, when the processor 1301 determines the real aircraft in the neighbor area according to the real location information, the target location information, and the area information corresponding to the neighbor area, the processor 1301 specifically implements:

determining the first distance between the real aircraft and the aircraft according to the real position information and the target position information;

The area information corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the first distance and the area information.

In some embodiments, the area information includes a preset actual distance, and when the processor 1301 determines the real aircraft in the neighbor area according to the first distance and the area information, the processor 1301 specifically implements:

If the first distance is less than or equal to the preset actual distance, it is determined that the real aircraft corresponding to the first distance is a real aircraft located in the neighbor area.

In some embodiments, the processor 1301 specifically implements:

constructing a coordinate system corresponding to the geofence;

The virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system are determined, so as to determine the neighbor aircraft of the aircraft in the neighbor area according to the virtual coordinates.

In some embodiments, the processor 1301 is implementing the determining according to the virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system, so as to determine the neighbors of the aircraft according to the virtual coordinates. When the neighbor aircraft in the area is used, the specific implementation is as follows:

determining the target coordinates of the aircraft in the coordinate system;

According to the target coordinates and the virtual coordinates, a virtual aircraft in the neighbor area is determined.

In some embodiments, when the processor 1301 determines the virtual aircraft in the neighbor area according to the target coordinates and the virtual coordinates, it specifically implements:

determining a first coordinate distance between each virtual aircraft and the aircraft according to the target coordinates and the virtual coordinates;

The preset coordinate distance corresponding to the neighbor area is read, and the virtual aircraft in the neighbor area is determined according to the first coordinate distance and the preset coordinate distance.

In some embodiments, when the processor 1301 implements the determining of the virtual aircraft in the neighbor area according to the first coordinate distance and the preset coordinate distance, the processor 1301 specifically implements:

If the first coordinate distance is less than or equal to the preset coordinate distance, it is determined that the virtual aircraft corresponding to the first coordinate distance is a virtual aircraft located in the neighbor area.

In some embodiments, when the processor 1301 implements the determining of the target coordinates of the aircraft in the coordinate system, the processor 1301 specifically implements:

determining a first relative position of the target location information and the geo-fence;

According to the first relative position, the target coordinates of the aircraft in the coordinate system are determined.

In some embodiments, when implementing the determining of the first relative position between the target location information and the geo-fence, the processor 1301 specifically implements:

selecting at least one fence location within the geofence;

According to the target position information and the at least one fence position, a positional relationship between the target position information and the at least one fence position is determined to determine a first relative position of the target position information and the geo-fence.

In some embodiments, the processor 1301 specifically implements:

determining the corresponding real coordinates of each real aircraft in the coordinate system;

According to the real coordinates and the target coordinates, the real aircraft in the neighbor area is determined.

In some embodiments, when the processor 1301 determines the real aircraft in the neighbor area according to the real coordinates and the target coordinates, it specifically implements:

According to the target coordinates and the real coordinates, determine the second coordinate distance between the real aircraft and the aircraft;

The preset coordinate distance corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the second coordinate distance and the preset coordinate distance.

In some embodiments, when the processor 1301 implements the determining of the real aircraft in the neighbor area according to the second coordinate distance and the preset coordinate distance, the processor 1301 specifically implements:

If the second coordinate distance is less than or equal to the preset coordinate distance, it is determined that the real aircraft corresponding to the second coordinate distance is a real aircraft located in the neighbor area.

In some embodiments, when the processor 1301 implements the determining of the real coordinates corresponding to the real aircraft in the coordinate system, the processor 1301 specifically implements:

determining the second relative positions of the real aircraft and the aircraft according to the real position information and the target position information;

According to the target coordinates and the second relative position, the corresponding real coordinates of each real aircraft in the coordinate system are determined.

Please refer to FIG. 14. FIG. 14 is a schematic block diagram of a control terminal provided by an embodiment of the present application. The control terminal 1400 includes a processor 1401 and a memory 1402, and the processor 1401 and the memory 1402 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus 1403.

Specifically, the processor 1401 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 1402 may be a smartphone, a tablet computer, a PTZ, or the like.

Wherein, the processor 1401 is used for running the computer program stored in the memory, and implements the following steps when executing the computer program:

Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy to avoid collisions between the aircraft and the aircraft's neighbor aircraft.

The embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above implementation The steps of the flight control method described in any one of the examples provided.

Wherein, the computer-readable storage medium may be the internal storage unit of the removable platform or the control terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the removable platform. The computer-readable storage medium can also be an external storage device of the removable platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) equipped on the removable platform , SD) card, flash memory card (Flash Card), etc.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (39)

1. A flight control method, characterized in that it is applied to an aircraft in an aircraft cluster, the method comprising:

   Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

   Determining the neighboring aircraft of the aircraft in the neighboring area, wherein the neighboring aircraft includes virtual aircraft and/or real aircraft in the virtual aircraft cluster;

   The flight of the aircraft is controlled according to the neighboring aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighboring aircraft of the aircraft.
2. The flight control method according to claim 1, wherein the creating a virtual aircraft cluster corresponding to the boundary of the geofence comprises:

   A plurality of virtual positions are determined according to the boundaries of the geo-fence, and a virtual aircraft is created at each of the virtual positions to obtain a virtual aircraft cluster.
3. The flight control method according to claim 2, wherein the virtual location is located on the boundary of the geo-fence.
4. The flight control method according to claim 2, wherein the determining a plurality of virtual positions according to the boundary of the geo-fence comprises:

   The boundary of the geo-fence is divided according to a preset interval distance to obtain a plurality of virtual positions.
5. The flight control method according to claim 1, wherein the determining a neighbor aircraft in a neighbor area of the aircraft comprises:

   Determine the real aircraft in the neighbor area of the aircraft, and determine the virtual aircraft in the neighbor area of the aircraft to obtain the corresponding neighbor aircraft.
6. The flight control method according to claim 5, wherein the determining a real aircraft in a neighboring area of the aircraft comprises:

   determining the target position information of the aircraft;

   receiving the real location information sent by each real aircraft in the geo-fence;

   According to the real position information, the target position information and the area information corresponding to the neighbor area, the real aircraft in the neighbor area is determined.
7. flight control method according to claim 6, is characterized in that, described according to described real position information, described target position information and the area information corresponding to described neighbor area, determine the real aircraft that is in neighbor area, comprise:

   determining the first distance between the real aircraft and the aircraft according to the real position information and the target position information;

   The area information corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the first distance and the area information.
8. The flight control method according to claim 7, wherein the area information includes a preset actual distance, and the determining the real aircraft in the neighbor area according to the first distance and the area information includes:

   If the first distance is less than or equal to the preset actual distance, it is determined that the real aircraft corresponding to the first distance is a real aircraft located in the neighbor area.
9. The flight control method according to claim 5, wherein the determining a virtual aircraft in a neighboring area of the aircraft comprises:

   constructing a coordinate system corresponding to the geofence;

   The virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system are determined, so as to determine the neighbor aircraft of the aircraft in the neighbor area according to the virtual coordinates.
10. The flight control method according to claim 9, wherein the virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system are determined, so as to determine whether the aircraft is in a neighbor area according to the virtual coordinates neighbor aircraft, including:

    determining the target coordinates of the aircraft in the coordinate system;

    According to the target coordinates and the virtual coordinates, a virtual aircraft in the neighbor area is determined.
11. The flight control method according to claim 10, wherein the determining the virtual aircraft in the neighbor area according to the target coordinates and the virtual coordinates comprises:

    determining a first coordinate distance between each virtual aircraft and the aircraft according to the target coordinates and the virtual coordinates;

    The preset coordinate distance corresponding to the neighbor area is read, and the virtual aircraft in the neighbor area is determined according to the first coordinate distance and the preset coordinate distance.
12. The flight control method according to claim 11, wherein the determining the virtual aircraft in the neighbor area according to the first coordinate distance and the preset coordinate distance comprises:

    If the first coordinate distance is less than or equal to the preset coordinate distance, it is determined that the virtual aircraft corresponding to the first coordinate distance is a virtual aircraft located in the neighbor area.
13. The flight control method according to claim 10, wherein the determining the target coordinates of the aircraft in the coordinate system comprises:

    determining a first relative position of the target location information and the geo-fence;

    According to the first relative position, the target coordinates of the aircraft in the coordinate system are determined.
14. The flight control method according to claim 13, wherein the determining the first relative position between the target position information and the geo-fence comprises:

    selecting at least one fence location within the geofence;

    According to the target position information and the at least one fence position, a positional relationship between the target position information and the at least one fence position is determined to determine a first relative position of the target position information and the geo-fence.
15. The flight control method according to any one of claims 9 to 14, wherein the determining a real aircraft in a neighboring area of the aircraft further comprises:

    determining the corresponding real coordinates of each real aircraft in the coordinate system;

    According to the real coordinates and the target coordinates, the real aircraft in the neighbor area is determined.
16. The flight control method according to claim 15, wherein the determining, according to the real coordinates and the target coordinates, the real aircraft in the neighbor area comprises:

    According to the target coordinates and the real coordinates, determine the second coordinate distance between the real aircraft and the aircraft;

    The preset coordinate distance corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the second coordinate distance and the preset coordinate distance.
17. The flight control method according to claim 16, wherein the determining the real aircraft in the neighbor area according to the second coordinate distance and the preset coordinate distance comprises:

    If the second coordinate distance is less than or equal to the preset coordinate distance, it is determined that the real aircraft corresponding to the second coordinate distance is a real aircraft located in the neighbor area.
18. The flight control method according to claim 15, wherein the determining the real coordinates corresponding to each real aircraft in the coordinate system comprises:

    determining the second relative positions of the real aircraft and the aircraft according to the real position information and the target position information;

    According to the target coordinates and the second relative position, the corresponding real coordinates of each real aircraft in the coordinate system are determined.
19. A flight control method for an aircraft cluster, comprising:

    Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

    Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

    The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.
20. An aircraft, characterized in that the aircraft includes a memory and a processor;

    the memory is used to store computer programs;

    The processor is configured to execute the computer program and implement the following steps when executing the computer program:

    Obtain a geofence, and create a virtual aircraft cluster corresponding to the geofence;

    Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

    The flight of the aircraft is controlled according to the neighboring aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighboring aircraft of the aircraft.
21. The aircraft according to claim 20, wherein when the processor implements the creation of the virtual aircraft cluster corresponding to the boundary of the geofence, the processor is further configured to implement:

    A plurality of virtual positions are determined according to the boundaries of the geo-fence, and a virtual aircraft is created at each of the virtual positions to obtain a virtual aircraft cluster.
22. 21. The aircraft of claim 21, wherein the virtual location is located on a boundary of the geofence.
23. The aircraft according to claim 21, wherein when implementing the determining of the plurality of virtual locations according to the geo-fence, the processor is further configured to:

    The geo-fences are divided according to a preset interval distance to obtain a plurality of virtual positions.
24. The aircraft according to claim 20, wherein, when the processor implements the determining of a neighbor aircraft in a neighbor area of the aircraft, the processor is further configured to:

    Determine the real aircraft in the neighbor area of the aircraft, and determine the virtual aircraft in the neighbor area of the aircraft to obtain the corresponding neighbor aircraft.
25. The aircraft according to claim 24, wherein, when the processor implements the determining of a real aircraft located in a neighborhood area of the aircraft, the processor is further configured to:

    determining the target position information of the aircraft;

    receiving the real location information sent by each real aircraft in the geo-fence;

    According to the real position information, the target position information and the area information corresponding to the neighbor area, determine the real aircraft in the neighbor area.
26. The aircraft according to claim 25, wherein the processor is implementing the determining of the real aircraft in the neighbor area according to the real position information, the target position information and the area information corresponding to the neighbor area is also used to implement:

    determining the first distance between the real aircraft and the aircraft according to the real position information and the target position information;

    The area information corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the first distance and the area information.
27. The aircraft according to claim 26, wherein the area information includes a preset actual distance, and the processor is performing the determining of the actual distance in the neighbor area according to the first distance and the area information. When the aircraft is used, it is also used to realize:

    If the first distance is less than or equal to the preset actual distance, it is determined that the real aircraft corresponding to the first distance is a real aircraft located in the neighbor area.
28. The aircraft according to claim 24, wherein, when the processor implements the determining of the virtual aircraft located in the neighbor area of the aircraft, the processor is further configured to:

    constructing a coordinate system corresponding to the geofence;

    The virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system are determined, so as to determine the neighbor aircraft of the aircraft in the neighbor area according to the virtual coordinates.
29. The aircraft according to claim 28, wherein the processor determines the virtual coordinates corresponding to each virtual aircraft in the virtual aircraft cluster in the coordinate system, so as to determine the virtual coordinates according to the virtual coordinates When the aircraft is in the neighboring area of the neighboring aircraft, it is also used to implement:

    determining the target coordinates of the aircraft in the coordinate system;

    According to the target coordinates and the virtual coordinates, a virtual aircraft in the neighbor area is determined.
30. The aircraft according to claim 29, wherein when the processor determines the virtual aircraft in the neighbor area according to the target coordinates and the virtual coordinates, the processor is further configured to:

    determining a first coordinate distance between each virtual aircraft and the aircraft according to the target coordinates and the virtual coordinates;

    The preset coordinate distance corresponding to the neighbor area is read, and the virtual aircraft in the neighbor area is determined according to the first coordinate distance and the preset coordinate distance.
31. The aircraft according to claim 30, wherein when implementing the determining of the virtual aircraft in the neighbor area according to the first coordinate distance and the preset coordinate distance, the processor is further configured to implement :

    If the first coordinate distance is less than or equal to the preset coordinate distance, it is determined that the virtual aircraft corresponding to the first coordinate distance is a virtual aircraft located in the neighbor area.
32. The aircraft according to claim 29, wherein when the processor realizes the determining of the target coordinates of the aircraft in the coordinate system, the processor is further configured to:

    determining a first relative position of the target location information and the geo-fence;

    According to the first relative position, the target coordinates of the aircraft in the coordinate system are determined.
33. The aircraft according to claim 32, wherein, when the processor realizes the determining of the first relative position between the target location information and the geo-fence, the processor is further configured to:

    selecting at least one fence location within the geofence;

    According to the target position information and the at least one fence position, a positional relationship between the target position information and the at least one fence position is determined to determine a first relative position of the target position information and the geo-fence.
34. The aircraft according to any one of claims 28 to 33, wherein, when the processor implements the determining of a real aircraft in a neighboring area of the aircraft, the processor is further configured to:

    determining the corresponding real coordinates of each real aircraft in the coordinate system;

    According to the real coordinates and the target coordinates, the real aircraft in the neighbor area is determined.
35. The aircraft according to claim 34, wherein when the processor determines the real aircraft in the neighbor area according to the real coordinates and the target coordinates, the processor is further configured to:

    According to the target coordinates and the real coordinates, determine the second coordinate distance between the real aircraft and the aircraft;

    The preset coordinate distance corresponding to the neighbor area is read, and the real aircraft in the neighbor area is determined according to the second coordinate distance and the preset coordinate distance.
36. The aircraft according to claim 35, wherein when implementing the determining of the real aircraft in the neighbor area according to the second coordinate distance and the preset coordinate distance, the processor is further configured to: :

    If the second coordinate distance is less than or equal to the preset coordinate distance, it is determined that the real aircraft corresponding to the second coordinate distance is a real aircraft located in the neighbor area.
37. aircraft according to claim 36, it is characterized in that, when described processor realizes described determining the real coordinates corresponding to each real aircraft in described coordinate system, also is used for realizing:

    determining the second relative positions of the real aircraft and the aircraft according to the real position information and the target position information;

    According to the target coordinates and the second relative position, the corresponding real coordinates of each real aircraft in the coordinate system are determined.
38. A control terminal, wherein the aircraft includes a memory and a processor;

    the memory is used to store computer programs;

    The processor is configured to execute the computer program and implement the following steps when executing the computer program:

    Obtain a geofence, and create a virtual aircraft cluster corresponding to the boundary of the geofence;

    Determining a neighboring aircraft of an aircraft in a neighboring area, wherein the neighboring aircraft includes several virtual aircraft and/or real aircraft in the virtual aircraft cluster;

    The neighbor aircraft is sent to the aircraft, so that the aircraft flies according to the neighbor aircraft based on a collision avoidance strategy, wherein the collision avoidance strategy is a strategy for avoiding collision between the aircraft and the neighbor aircraft of the aircraft.
39. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the flight control according to any one of claims 1 to 18 is implemented method, and/or implementing a flight control method as claimed in claim 19 .

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