WO2023050385A1 - 无人机的控制方法、装置、无人机及计算机可读存储介质 - Google Patents

无人机的控制方法、装置、无人机及计算机可读存储介质 Download PDF

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Publication number
WO2023050385A1
WO2023050385A1 PCT/CN2021/122375 CN2021122375W WO2023050385A1 WO 2023050385 A1 WO2023050385 A1 WO 2023050385A1 CN 2021122375 W CN2021122375 W CN 2021122375W WO 2023050385 A1 WO2023050385 A1 WO 2023050385A1
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Prior art keywords
uav
route
calibration
uniform motion
motion
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PCT/CN2021/122375
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English (en)
French (fr)
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刘虎成
黄振昊
毛欣翔
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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 PCT/CN2021/122375 priority Critical patent/WO2023050385A1/zh
Priority to CN202180101379.3A priority patent/CN117795446A/zh
Publication of WO2023050385A1 publication Critical patent/WO2023050385A1/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
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, in particular, to a control method and device for unmanned aerial vehicles, an unmanned aerial vehicle, and a computer-readable storage medium.
  • the UAV includes a motion sensor and a power component.
  • the movement of the power component can be controlled based on the motion data sensed by the motion sensor to generate corresponding power, thereby controlling the flight of the UAV.
  • the present application provides a method and device for controlling a drone, a drone and a computer-readable storage medium, so as to solve the problem of inaccurate poses in the operation data of the drone in the related art.
  • a method for controlling an unmanned aerial vehicle comprising:
  • the third pose information of the first pose sensor and the second pose sensor are of different types
  • a method for controlling an unmanned aerial vehicle comprising:
  • the UAV is controlled to interrupt the operation operation at the target waypoint of the operation route, and the UAV is controlled to perform the calibration operation, wherein the The calibration operation includes performing a non-uniform motion, and the trajectory of the UAV performing the non-uniform motion is at least partially coincident with the operation route;
  • the unmanned aerial vehicle is controlled to start from the target waypoint and continue to perform the operation operation along the operation route.
  • a method for controlling an unmanned aerial vehicle comprising:
  • the inertial measurement unit of the UAV is controlled to collect the first pose information
  • the second pose information is used to correct the first pose information
  • the UAV is controlled to start from the target waypoint and continue to perform the operation along the operation route.
  • a control device for an unmanned aerial vehicle includes a processor, a memory, and a computer program stored on the memory that can be executed by the processor, and the processor executes The computer program implements the steps of any one of the methods in the first aspect, the second aspect, and the third aspect.
  • a drone in a fifth aspect, includes: a motion sensor for measuring motion data of the drone; a power component for providing power for the drone body; and the fourth aspect The control device of the unmanned aerial vehicle.
  • a computer-readable storage medium is provided, and several computer instructions are stored on the readable storage medium, and when the computer instructions are executed, the steps of the method described in the first aspect are implemented.
  • Fig. 1 is a schematic diagram of an aircraft performing figure-of-eight calibration at both ends of an operation route in the related art.
  • Fig. 2A is a flow chart of a method for controlling a drone according to an embodiment of the present application.
  • Fig. 2B is a flow chart of a method for controlling a drone according to an embodiment of the present application.
  • FIG. 3A is a schematic diagram of a drone performing calibration operations at the start and end of an operation route according to an embodiment of the present application.
  • Fig. 3B is a schematic diagram of the calibration operation performed by the drone during the operation route according to an embodiment of the present application.
  • FIG. 3C to FIG. 3F are schematic diagrams of the calibration operation performed by the drone during the operation route according to another embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a device for implementing the method for controlling a drone in this embodiment in the present application.
  • Fig. 5 is a block diagram of a drone according to an embodiment of the present application.
  • the motion data measured by the motion sensor during the flight of the UAV In some application scenarios, it is necessary to record the motion data measured by the motion sensor during the flight of the UAV. These recorded motion data have multiple uses.
  • the collected environmental information is post-processed such as image stitching and modeling, and the motion data sensed by the motion sensor during the flight of the UAV represents the motion state of the UAV during flight. The accuracy of these motion data will affect the data Post-processing accuracy.
  • the motion sensor includes an inertial measurement unit (Inertial Measurement Unit, IMU), and the IMU has the characteristic of drifting over time, that is, the error accumulates over time, so the motion data based on the IMU measurement will change over time getting bigger.
  • IMU Inertial Measurement Unit
  • the motion data measured by the IMU is needed to control the flight of the UAV during the flight process, and some application scenarios that require data post-processing also need to use the motion data measured by the IMU.
  • the drone needs to control the flight of the drone based on the motion data measured by the IMU, so the motion data measured by the IMU will affect whether the drone can fly at a constant speed and follow a preset route to collect Environmental information; on the other hand, in the scene where the accuracy of data post-processing is high, whether the motion data measured by the IMU is accurate will have a great impact on the data post-processing.
  • the motion data measured by the IMU represents the actual posture of the UAV when the image is collected.
  • the error of the motion data measured by the IMU will cause errors in the splicing positions of the two images, and even cause the images to fail. Stitching and more.
  • FIG. 1 is a schematic diagram of an aircraft performing 8-figure calibration at the start and end of the operation route in the related technology.
  • this kind of calibration scheme was first applied to fixed-wing aircraft. Since it is difficult for fixed-wing aircraft to achieve acceleration and deceleration and route reverse operations, and 8-figure routes are much easier to implement, most fixed-wing equipment uses 8-figure routes to perform aircraft calibration.
  • Another solution is to manually add the calibration route by the user, but this method is very cumbersome and difficult for the user to master, and for IMUs of different specifications and different accuracy thresholds, the distance to be calibrated is also different each time. Difficult to quantify and grasp.
  • this embodiment provides a UAV control scheme, which can significantly improve the UAV operation effect for the problem of poor UAV operation effect. Next, this embodiment will be described in detail.
  • a method for controlling a drone comprising:
  • the UAV is controlled to interrupt the operation operation, and the UAV is controlled to perform a calibration operation, wherein the calibration operation includes performing non-uniform motion;
  • the unmanned aerial vehicle is controlled to continue to perform the operation operation along the operation route.
  • the accuracy of the devices on the UAV can be calibrated in time by introducing the non-uniform motion of the UAV during the uniform speed operation.
  • the motion trajectory of the UAV performing the non-uniform motion at least partially coincides with the operation route.
  • the UAV is controlled to interrupt the operation operation at a target waypoint of the operation route.
  • the target waypoint can be set according to the planning task of the operation route, or the position of the target waypoint can be determined according to the task parameters of the operation operation that has been performed.
  • the UAV is controlled to start from the target waypoint and continue to perform the operation along the operation route.
  • the non-uniform motion is performed in the calibration operation of the UAV, it can provide external excitation to the motion sensor of the UAV, thereby realizing the calibration of the UAV; and, the calibration is in During the operation of the UAV along the operation route and after the operation is interrupted, because the actual operation scenarios of the UAV are various and complex and uncontrollable, for the calibration operation, the calibration operation is designed to be combined with non- The motion trajectory of the uniform motion and the non-uniform motion performed by the UAV is at least partially overlapped with the operation route; wherein, since the operation route is a planned flight route of the UAV, the motion trajectory of the non-uniform motion of the UAV coincides with the The operation routes overlap at least partially, which can reduce the risks faced by the UAVs in performing calibration operations in unknown locations, and the UAVs performing calibration operations on the operation routes can ensure the UAVs to fly safely.
  • the solution of this embodiment enables the UAV to safely perform calibration during the operation. Therefore, the solution of this embodiment provides a UAV operation plan that includes a calibration operation. Since the UAV can be calibrated during the operation, the calibration operation will not cause major interference to the UAV operation, and based on the calibration operation The operation effect of the UAV is improved, and the high accuracy of the operation results of the UAV can be guaranteed.
  • a method for controlling a drone comprising: controlling the inertial measurement unit of the drone to collect the first A posture information; controlling the UAV to interrupt the operation operation at the target waypoint of the operation route, and controlling the UAV to perform a calibration operation, wherein the calibration operation includes performing non-uniform motion, and , the motion track of the UAV performing the non-uniform motion at least partially coincides with the operation route; during the process of performing the calibration operation, the inertial measurement unit controlling the UAV collects a second bit posture information, and the second posture information is used to correct the first posture information; after the calibration operation is completed, control the UAV to start from the target waypoint and continue to execute the operation route. operation described above.
  • a method for controlling a drone comprising:
  • step 21 the UAV is controlled to move along the route, and multiple frames of environmental information are sequentially collected based on the acquisition device carried by the UAV;
  • step 22 the first pose information of the first pose sensor of the drone is obtained, and the first pose information is used to determine the sampling pose information of the acquisition device when collecting multiple frames of the environmental information;
  • step 23 the UAV is controlled to perform a non-uniform motion when it reaches the target position point of the route, and during the non-uniform motion, the second pose information and the second pose information of the first pose sensor are obtained.
  • third pose information of the second pose sensor, the types of the first pose sensor and the second pose sensor are different;
  • step 24 determine the pose measurement deviation of the first pose sensor based on the second pose information and the third pose information, and the pose measurement bias is used to correct the first pose information.
  • the trajectory of the UAV coincides with the route in whole or in part.
  • the UAV is controlled to suspend collecting the environmental information.
  • the trajectory for performing the non-uniform motion is preset, and after the non-uniform motion is completed, the UAV is controlled to continue collecting the environmental information.
  • the first pose sensor is an inertial measurement unit.
  • the second pose sensor determines the position of the UAV based on GPS information, for example, GNSS positioning, GPS positioning, RTK positioning and so on.
  • the environment information includes image information of the area below during the flight of the drone, and the first pose information is used to synthesize the multiple frames of the image information.
  • the non-uniform movement is triggered based on messages sent by other devices communicating with the UAV, and/or based on the operation status information of the UAV operating along the operation route trigger execution.
  • the UAV performs the non-uniform motion for multiple calibration operations; wherein, the interval time and/or flight distance between any two adjacent calibration operations of the non-uniform motion are equal.
  • the UAV performs multiple calibration operations on the non-uniform motion; wherein,
  • the interval time between the UAV from the starting point of the operation route to the non-uniform motion of the first calibration operation is basically the same as the interval between the non-uniform motion of two adjacent calibration operations; and/or,
  • the flight distance of the UAV from the starting point of the operation route to the non-uniform motion of the first calibration operation is basically the same as the flight distance between the non-uniform motion of two adjacent calibration operations.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are both on the operation route.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are at the same position.
  • the trajectory of the UAV performing the non-uniform motion includes:
  • a motion trajectory segment in the same direction as the heading when operating along said operating route is a motion trajectory segment in the same direction as the heading when operating along said operating route.
  • the trajectory of the UAV performing the non-uniform motion is a straight line.
  • the motion trajectory of the UAV performing the non-uniform motion is determined based on a reference route; the reference route is based on the tangential direction of the operation route, and all distances before and after the target waypoint Selected route segment on the above-mentioned operation route.
  • the UAV performs multiple calibration operations with non-uniform motion; wherein, during each calibration operation with non-uniform motion, the acceleration of the UAV performing non-uniform motion is greater than a preset acceleration value.
  • the UAV performs multiple calibration operations with non-uniform motion; wherein, any of the following flight parameters of the UAV in each calibration operation with non-uniform motion is basically the same: the shape of the running track, the flight distance, and the flight time or acceleration.
  • one or more flight parameters of the UAV are set by the user.
  • the operation route is an operation route generated in response to a user's real-time remote control operation; and/or, the operation route is a route generated by the UAV before performing a constant-speed operation along the operation route.
  • the method further includes: before the unmanned aerial vehicle performs a uniform operation along the operation route, acquiring the operation route; at least one of the target waypoints is marked in the operation route, and the target waypoint is used to indicate During the process of performing uniform-speed operation along the operation route, the UAV interrupts the uniform-speed operation when reaching the target waypoint and performs a non-uniform motion for calibration operation.
  • the method before the unmanned aerial vehicle performs a uniform speed operation operation along the operation route, the method further includes: performing a first calibration operation at a non-uniform speed movement at the starting point of the operation route, and the first calibration operation is a non-uniform speed movement. Movement includes performing non-uniform motion; and/or,
  • the method further includes: performing a second calibration operation non-uniform motion at the end point of the operation route, and the second calibration operation non-uniform motion includes performing a non-uniform motion. uniform motion.
  • the method before the step of controlling the UAV to interrupt the operation at a constant speed at the target waypoint of the operation route, the method further includes: sending a first A prompt message to remind the user to determine whether the calibration operation performed by the drone is non-uniform motion;
  • the method further includes: during the process of controlling the unmanned aerial vehicle to perform the non-uniform motion of the calibration operation, sending a second prompt message to other devices communicating with the unmanned aerial vehicle to remind the user of the The drone is moving at a non-uniform speed while performing the calibration operation.
  • FIG. 2B it is a flow chart of a method for controlling a drone provided by the present application according to an exemplary embodiment, and the method includes:
  • step 202 during the process of the UAV performing the operation operation along the operation route, the UAV is controlled to interrupt the operation operation at the target waypoint of the operation route, and the UAV is controlled to perform the calibration operation , wherein the calibration operation includes performing a non-uniform motion, and the trajectory of the UAV performing the non-uniform motion is at least partially coincident with the operation route;
  • step 204 after the calibration operation is completed, the UAV is controlled to start from the target waypoint and continue to perform the operation along the operation route.
  • the calibration operation performed by the UAV includes non-uniform motion, that is, the UAV performs variable speed motion, and the UAV can move at a certain acceleration, wherein the acceleration is a vector, which has both magnitude and direction.
  • the magnitude and/or direction of the acceleration can be flexibly configured as required, which is not limited in this embodiment.
  • the acceleration can remain unchanged.
  • the constant here can be that the magnitude and direction of the acceleration remain unchanged, that is, the process of the UAV performing non-uniform motion , the magnitude and direction of the acceleration are the same.
  • the acceleration may also vary, that is, the magnitude and/or direction of the acceleration may be different; for example, during the non-uniform motion of the UAV, the direction of the acceleration may be remain the same, but the magnitude of the acceleration varies; or the magnitude of the acceleration can remain the same, but the direction of the acceleration varies.
  • the acceleration can be set to a larger acceleration value according to the needs, that is, the UAV uses a larger acceleration to perform non-uniform movement, which can give the UAV
  • the motion sensor has a larger external excitation, thereby more accurately calibrating the error of the motion sensor.
  • the acceleration can be greater than the preset acceleration value; wherein, the preset acceleration value can be configured according to needs, for example, it can be a preset fixed value; it can also be It is determined based on the flight parameters of the UAV itself, for example, based on the maximum speed parameter of the UAV; or, it can also be determined based on the operation status information of the UAV performing operations along the operation route, for example, based on the unmanned The speed at which the UAV executes the operation along the operation route and/or the distance of the operation route can be determined, etc. The greater the acceleration of uniform motion, etc.
  • the calibration operation includes performing non-uniform motion, and the trajectory of the UAV performing the non-uniform motion is at least partially coincident with the operation route; wherein, the UAV performs the The motion trajectory of the non-uniform motion is at least partially coincident with the operation route, which may mean that all or part of the motion trajectory segment in the motion trajectory of the UAV performing the non-uniform motion coincides with the operation route; that is, When the UAV performs the calibration operation, the UAV can perform the non-uniform motion along the operation route; or, when the UAV performs the calibration operation, part of the trajectory of the non-uniform motion coincides with the operation route, and other parts The trajectory of the aircraft does not coincide with the operating route.
  • the coincidence in this embodiment does not mean that the trajectory of the non-uniform motion is absolutely the same as the operation route, and it is allowed that the motion trajectory of the non-uniform motion is slightly different from the operation route, that is, the motion of the non-uniform motion There is a small difference between the trajectory and the operation route, which also belongs to the scope of the overlap in this embodiment.
  • the operation route represents the geographical coordinate information of the UAV when operating along the operation route and the flight height of the UAV, etc.
  • the overlap in this embodiment refers to the motion track of the UAV performing the non-uniform motion
  • the geographical coordinate information and the flying height of the UAV are consistent with the geographic coordinate information and the flying height of the UAV when the UAV is operating along the operation route.
  • the two are absolutely the same, and the difference between the two is within a certain threshold, and both belong to the overlapping range described in this embodiment.
  • the UAV is controlled to interrupt the operation operation at the target waypoint of the operation route, and the UAV is controlled to perform calibration.
  • the calibration operation includes performing a non-uniform motion, and the trajectory of the UAV performing the non-uniform motion is at least partially coincident with the operation route; after the calibration operation is completed, control the The unmanned aerial vehicle starts from the target waypoint and continues to perform the operation along the operation route.
  • the non-uniform motion is performed in the calibration operation of the UAV, it can provide external excitation to the motion sensor of the UAV, thereby realizing the calibration of the UAV;
  • the calibration operation is designed to combine non-uniform motion and unmanned
  • the motion trajectory of the non-uniform motion of the UAV and the operation route are at least partially coincident; wherein, since the operation route is the planned flight route of the UAV, the motion trajectory of the non-uniform motion of the UAV and the operation route are at least partially coincident , can reduce the risk faced by UAVs performing calibration operations in unknown locations, and UAVs performing calibration operations on operating routes can ensure safe flight of UAVs.
  • the solution of this embodiment enables the UAV to safely perform calibration during the operation. Therefore, the solution of this embodiment provides a UAV operation plan that includes a calibration operation. Since the UAV can be calibrated during the operation, the calibration operation will not cause major interference to the UAV operation, and based on the calibration operation The operation effect of the UAV is improved, and the high accuracy of the operation results of the UAV can be guaranteed.
  • the working operation may be a uniform speed working operation or a non-uniform speed working operation.
  • the operation route may be an operation route generated in response to a user's real-time remote control operation.
  • the user remotely controls the drone in real time through a control device communicating with the drone, and the drone responds to the operation route generated by the user's real-time remote control operation.
  • the operation route may be a route generated by the UAV before performing operations along the operation route. Therefore, in the solution of this embodiment, the UAV first obtains the operation route, and then based on the acquired The operation route, and the operation operation is performed along the operation route.
  • the operation route can be automatically generated by the UAV. For example, the UAV automatically generates the operation route based on factors such as actual scene information or user settings.
  • the UAV receives the operation route data sent by other equipment communicating with the UAV, and the UAV determines the operation route based on the received operation route data; for example, it may be that the user passes the other device Set the operation route, and other devices generate operation route data based on the user's settings and send it to the drone.
  • the UAV during the process of the UAV performing the operation operation along the operation route, the UAV will interrupt the operation operation at the target waypoint of the operation route, and control the UAV to perform the calibration operation.
  • the target waypoint can be pre-marked in the operation route.
  • the method further includes: before the UAV performs the operation along the operation route, obtaining the operation route; the operation route is marked with at least one The target waypoint, the target waypoint is used to instruct the UAV to interrupt the operation operation and perform a calibration operation when it reaches the target waypoint during the process of performing operation operations along the operation route.
  • the UAV can quickly determine the number of UAVs using less computing resources during the process of performing operations along the operation route. Reach the target waypoint.
  • how to mark the target waypoint on the operation route can also have a variety of different implementation methods. For example, it can be marked by the UAV based on the operation route, or it can be marked by the user. For example, the user communicates with the UAV through other The device sets the position information of the target waypoint, and the other device sends it to the drone. Combining the different implementation methods of the above-mentioned operation routes, there are many ways to realize the operation routes and the target waypoints marked on the operation routes.
  • the UAV can generate the operation route, and the user can mark the target on the operation route generated by the UAV waypoint; it can also be that the user sets the operation route, and the UAV marks the target waypoint on the operation route; or the UAV generates the operation route and marks the target waypoint, or the user sets the operation route and marks the target waypoint point and so on.
  • controlling the timing of the UAV interrupting the operation operation at the target waypoint of the operation route can be implemented in various ways according to actual business needs.
  • the drone performs a calibration operation, which may be triggered based on a message sent by another device communicating with the drone. For example, the drone receives a message sent by the other device, and triggers a calibration operation based on the message.
  • the message may be received by the UAV during the process of performing the operation along the operation route. It can also be received before that, for example, the UAV receives a message sent by other equipment communicating with the UAV, after that, the UAV performs the operation along the operation route, and the UAV executes the operation along the operation route During the operation operation, the operation operation is interrupted at the target waypoint, and the calibration operation is performed.
  • the message may be set by the user through the other device; optionally, the message carries information instructing the UAV to interrupt the operation operation at the target waypoint and perform a calibration operation.
  • the The message may also carry other more information, which is not limited in this embodiment.
  • one or more flight parameters of the drone may be set by the user.
  • the flight parameters of the drone may include: flight speed, acceleration, flight time, flight distance, flight path shape, etc.
  • the setting function may be provided by other devices communicating with the UAV, through which the user sets one or more flight parameters, and the other device sends these flight parameters to the UAV.
  • the calibration operation performed by the UAV may be triggered based on the operation status information of the UAV operating along the operation route.
  • the UAV can automatically determine the target waypoint during the operation process, and automatically determine the timing of performing the calibration operation, and the determination method is determined based on the state of the UAV along the operation route.
  • the job status information includes one or more of the following information: job time, job duration, job accuracy, job completion degree, and the like. In practical applications, it may be determined automatically by using one or more of the above information as required.
  • the errors of motion sensors such as IMU will accumulate over time; the error accumulation of different motion sensors is different.
  • the motion sensor may be tested in advance to determine the accumulated error data of the motion sensor.
  • the motion sensor can be placed in a static state or a constant speed state to test the error accumulation, so as to calibrate the error of the motion sensor over time, for example, a function of the error over time can be fitted. Based on this, the function can be used to determine at what time and to what extent the error of the motion sensor accumulates, and it is also possible to determine the timing of calibrating the motion sensor during the operation of the UAV according to different actual needs.
  • the maximum error information Dt of the motion sensor that can be set in practical applications, based on the function of the error changing with time, can determine the time length T required for the motion sensor to reach the maximum error information Dt. Therefore, when the flight of the UAV operation When the accumulated time reaches the duration T, a calibration operation needs to be performed.
  • the calibration operation needs to be performed. Since the UAV is flying at a constant speed during the operation, the flight time of the UAV operation can also be determined.
  • the cumulative distance is the distance S (S is the product of T and the speed of the UAV during operation), it is necessary to perform a calibration operation.
  • the UAV can perform the calibration operation according to the set interval time; the interval time in this embodiment includes: the interval from the starting point of the operation route to the first calibration operation Time can also include the interval between two calibration operations, that is, the flight time can be determined during the operation of the UAV along the operation route, and when the set interval time is reached, the UAV will stop the operation at the target waypoint And start to perform the calibration operation.
  • the UAV continues to perform the original operation; the UAV continues to determine the flight time, and when it reaches the set interval time again, the UAV interrupts the operation again at another target waypoint operation and start the calibration operation again.
  • the UAV can perform the calibration operation according to the set flight distance; the flight distance in this embodiment includes: from the starting point of the operation route to the first calibration operation
  • the flight distance can also include the interval time between two calibration operations, that is, the flight distance can be determined during the operation of the UAV along the operation route, and the UAV will stop at the target waypoint when the set flight distance is reached.
  • the UAV continues to perform the original operation; the UAV continues to determine the flight distance, and when it reaches the set flight distance again, the UAV stops again at another target waypoint. Interrupt the work operation and start the calibration operation again.
  • the UAV can perform one or more calibration operations during the process of performing operations along the operation route.
  • the drone performs multiple calibration operations; wherein, the interval time between the drone's starting point of the operation route and the first calibration operation, and the interval time between two adjacent calibration operations substantially the same; and/or, the flight distance of the UAV from the starting point of the operation route to the first calibration operation is basically the same as the flight distance between two adjacent calibration operations.
  • the time point (or distance point) of the first calibration operation of the drone is A
  • the time point (or distance point) of the second calibration operation is B
  • the time point (or distance point) of the third calibration operation is If the time point (or distance point) is C
  • the interval time (or flight distance) of the drone from point O to point A is basically the same as the interval time (or flight distance) of the drone from point A to point B.
  • the two adjacent calibration operations in this embodiment refer to any two calibration operations, for example, the interval time (or flight distance) of the UAV from point O to point A, and the distance between the UAV from point B to point C
  • the interval time (or flight distance) is also basically the same.
  • the UAV performs multiple calibration operations; wherein, the interval time and/or flight distance between any two adjacent calibration operations are equal; for example, the interval between the UAV from point A to point B
  • the time (or flight distance) is basically the same as the interval time (or flight distance) of the UAV from point B to point C.
  • adjacent calibration operations refer to that no other calibration operations are performed between the previous and subsequent calibration operations.
  • the starting point of the motion trajectory of the UAV performing non-uniform motion can be implemented in multiple ways.
  • the target waypoint may be the starting point of the movement trajectory of the UAV performing non-uniform motion, that is, after the UAV interrupts the operation operation at the target waypoint, it starts to perform the calibration operation at the target waypoint.
  • the UAV after the UAV interrupts the operation operation at the target waypoint, it may start to perform the calibration operation at a position different from the target waypoint as the starting point. For example, after the UAV interrupts the operation operation from the target waypoint, The UAV flies to another location, which may or may not be on the operating path, and the UAV performs calibration operations from this location.
  • the end point of the motion trajectory of the UAV performing non-uniform motion can be implemented in multiple ways.
  • the end point may not be on the operating route, that is, after the UAV performs calibration operations and performs non-uniform motion to reach the end point, it flies from the end point to the target waypoint, and continues the original operation along the operation route from the target waypoint .
  • the end point of the movement track can also be on the operation route, so that after the drone performs the calibration operation and reaches the end point, the original operation can be resumed more quickly because the end point is on the operation route.
  • the end point of the motion trajectory can also be implemented in multiple ways on the operation route.
  • the end point of the motion trajectory can be the target waypoint, that is, the end point reached by the UAV to perform the calibration operation is just the UAV
  • the target waypoint of the original operation is interrupted, so that the UAV just reaches the target waypoint when the calibration operation is finished and then continues the original operation from the target waypoint.
  • the starting point and the end point of the motion trajectory of the UAV performing the non-uniform motion are both on the operation route; wherein, the starting point and the end point of the motion trajectory of the UAV performing the non-uniform motion Both may be at the same position, that is, the starting point and the ending point are the same; of course, the starting point and the ending point may not be at the same position in practical applications, which is not limited in this embodiment.
  • the UAV can interrupt the operation operation at the target waypoint of the operation route, and start to perform the calibration operation with the target waypoint as the starting point, and the end point of the calibration operation performed by the UAV is the target waypoint , that is, the target waypoint is the interruption position of the UAV on the operation route, and it is also the starting point and end point of the calibration operation. Therefore, the UAV starts to perform the calibration operation after interrupting the operation operation from the target waypoint, and arrives at the end of the calibration operation.
  • the target waypoint continues the original operation, so the calibration scheme of this embodiment will not cause major interference and interruption to the original operation, and can quickly resume the operation.
  • the motion trajectory of the UAV performing the non-uniform motion includes: a motion trajectory segment in the same direction as when operating along the operation route; The motion trajectory segment with the opposite heading, that is, when the UAV performs the calibration operation, it performs non-uniform motion along the operation route.
  • the motion trajectory can be a motion trajectory segment in the same direction as the course when operating along the operation route.
  • the UAV can be interrupted at the target waypoint of the operation route. Quickly continue to perform non-uniform motion along the operation route, so that the operation process and calibration operation can be quickly switched, thereby improving operation efficiency.
  • the motion trajectory can be a motion trajectory segment opposite to the heading when operating along the operation route. Based on this, the UAV can interrupt the operation operation at the target waypoint of the operation route, and quickly fly in the opposite direction. Continue to perform non-uniform motion along the operation route, so that the operation process and calibration operation can be switched quickly, thereby improving operation efficiency.
  • the motion trajectory may include a motion trajectory segment that is in the same direction as the heading when working along the working route and a motion trajectory segment that is opposite to the heading when working along the working route.
  • the UAV when the UAV interrupts the operation at the target waypoint, it can quickly perform non-uniform motion along the operation route from the target waypoint to form a motion trajectory segment, and the direction of the other trajectory segment is opposite, that is, the UAV moves along the operation route.
  • the reverse movement of the route forms another trajectory segment, so that the UAV can approach or return to the target waypoint more quickly, so as to quickly resume operations from the target waypoint.
  • the trajectory of the UAV performing the non-uniform motion may be a straight line, Under straight flight, the UAV can accelerate and decelerate more stably, so that it can perform non-uniform motion more stably.
  • the trajectory of the UAV performing the non-uniform motion may also be in other trajectory shapes, such as curves, "Z", "L” and so on.
  • the trajectory of the UAV performing the non-uniform motion may be partly straight, partly non-linear, and so on.
  • the trajectory of the UAV performing the non-uniform motion can be set by the user, or it can be automatically determined by the UAV, wherein the UAV can be pre-determined before operating along the operation route.
  • the actual operation routes may be varied, and the trajectory of the non-uniform motion may also be determined by the UAV during the operation along the operation routes.
  • the trajectory of the UAV performing the non-uniform motion is determined based on a reference route; the reference route is based on the tangential direction of the operation route, and the The route segment selected on the operating route.
  • the UAV can determine in real time the motion trajectory for performing the non-uniform motion based on the reference route, so that the determined motion trajectory can be consistent with the actual operation, so that the UAV can better perform the non-uniform motion.
  • the operation route of the UAV may have multiple trajectory forms.
  • the route segment selected on the above-mentioned operation route is used as a reference route to determine the trajectory of non-uniform motion, which can enable the UAV to perform calibration operations better, thereby improving the operation effect.
  • the tangential direction refers to the tangential direction of the operation route. If the route segment on the operation route before and after the target waypoint is a straight line, the UAV can perform calibration operations along the route segment on the operation route before and after the marked waypoint. In this calibration operation The motion trajectory of the non-uniform motion is a straight line, which can enable the UAV to perform non-uniform motion better, so as to obtain accurate motion data.
  • the UAV can be based on the tangential direction of the operating route before and after the target waypoint.
  • the route segment selected on the operation route is used as a reference route, so as to determine the motion trajectory of non-uniform motion.
  • the route segments selected on the operation route before and after the target waypoint are used as reference routes, and these reference routes are non-linear, and the UAV can flexibly determine non-linear routes based on this.
  • the operation routes before and after the target waypoint include arcs, right-angle turns, wavy lines, or 180-degree U-turns, etc.
  • the motion trajectory of the UAV performing non-uniform motion is ideally a straight line, and the non-uniform motion can be flexibly determined based on this.
  • the trajectory of uniform motion is ideally a straight line, and the non-uniform motion can be flexibly determined based on this.
  • the route segment on the operation route before the target waypoint is non-linear
  • the route segment on the operation route after the target waypoint is a straight line
  • no one The aircraft may perform non-uniform motion with reference to a route segment on the operational route after the target waypoint.
  • the route segment on the operation route after the turn is a straight line
  • the unmanned aerial vehicle uses the route segment on the operating route after turning as a reference route to perform non-uniform motion, for example, after turning, execute non-uniform motion along the route segment on the operating route after turning.
  • the route segments on the operation route before and after the target waypoint are non-linear, and the UAV can perform non-uniform motion along the operation route, thereby ensuring that the UAV flight safety.
  • the drone performs multiple calibration operations; wherein, in each calibration operation, the acceleration of the drone performing non-uniform motion is greater than a preset acceleration value.
  • the acceleration of performing non-uniform motion is greater than the preset acceleration value, so each time during the operation Calibration operations can provide greater incentives to the motion sensor, so that the motion sensor can obtain accurate data in each calibration operation, so that the overall coordination of each calibration operation can improve the overall operation effect of the entire operation process.
  • the acceleration of the UAV performing non-uniform motion can be greater than the preset acceleration value, and the acceleration of the UAV performing non-uniform motion in each calibration operation can be the same or different. , which is not limited in this embodiment.
  • the UAV performs multiple calibration operations; wherein, any of the following flight parameters of the UAV in each calibration operation is basically the same: shape of running trajectory, flight distance, flight time or acceleration.
  • any of the following flight parameters of the UAV in each calibration operation is basically the same: shape of running trajectory, flight distance, flight time or acceleration.
  • one or more flight parameters of the drone in each calibration operation are basically the same, so that the processing efficiency can be improved in subsequent processing , to improve the operation effect of the drone as a whole.
  • the drone may also perform calibrations at the beginning and/or end of operations on the job line, thereby increasing the accuracy of the job.
  • the method before the UAV performs the operation operation along the operation route, the method further includes: performing a first calibration operation at the starting point of the operation route, the first calibration operation including performing a non-uniform motion; and Or, after the drone performs the operation operation along the operation route, the method further includes: performing a second calibration operation at an end point of the operation route, where the second calibration operation includes performing a non-uniform motion.
  • the calibration operation performed by the UAV at the starting point of the operation route is referred to as the first calibration operation
  • the calibration operation performed by the UAV at the end of the operation route is referred to as the second calibration Operation
  • the first calibration operation and the second calibration operation can be the same or different; the same or different here can include multiple dimensions such as calibration duration, flight distance, acceleration, and flight path shape.
  • This embodiment does not limit whether the first calibration operation and/or the second calibration operation are related to the operation route, for example, in the first calibration operation and/or the second calibration operation, the motion track of the non-uniform motion of the drone It can be the word "8"; in the first calibration operation and/or the second calibration operation, the trajectory of the UAV's non-uniform motion can be a straight line; or, in the first calibration operation and/or the second calibration operation, there is no The trajectory of the non-uniform motion of the man-machine can also coincide with the operation route.
  • the method before the step of controlling the UAV to interrupt the work operation at the target waypoint of the work route, the method further includes: sending a first A prompt message to remind the user to determine whether the calibration operation is to be performed by the drone. Based on this, when the UAV performs the operation along the operation route, it can automatically determine the opportunity to interrupt the operation operation at the target waypoint.
  • the UAV can send a first prompt message to other devices to remind The user determines whether to perform the calibration operation by the UAV, wherein the first prompt message can be realized in various ways according to needs, for example, the first prompt message can carry the position information of the target waypoint and/or interrupt the The time information of the operation operation, etc., so that after other devices receive the first prompt message, they can remind the user based on the information carried in the first prompt message, for example, they can output relevant prompts in the user interface, such as prompting the target navigation The location of the point and/or the time when the operation was interrupted, etc.
  • the user can determine whether the calibration operation is performed by the drone through the other device, and the other device determines whether the user agrees to be performed by the drone based on the user's operation.
  • the drone performs the calibration operation, and sends the determined result to the drone, and the drone determines whether to perform the calibration operation based on the message sent by the other device.
  • the method further includes: during the process of controlling the UAV to perform a calibration operation, sending a second prompt message to other devices communicating with the UAV to remind the user that the UAV The HMI is performing the calibration operation.
  • the second prompt message can be implemented in multiple ways according to needs, for example, the second prompt message can be sent to the other device before the drone performs the calibration operation, or when it starts to perform the calibration operation; optional , the second prompt message carries the execution duration and/or etc.
  • the user interface can Output relevant prompts in the system, such as prompting the position of the target waypoint and/or the time to interrupt the operation operation, etc.
  • the user can determine whether the calibration operation is performed by the drone through this other device, while the other device Determine whether the user agrees to perform the calibration operation by the drone based on the user's operation, and send the determined result to the drone, and the drone determines whether to perform the calibration operation based on the message sent by the other device.
  • the calibration operation is used to calibrate data collected by an inertial measurement unit.
  • the basis for IMU calibration is that the output deviation generated by the IMU error integration can be measured. Since the UAV’s own motion acceleration is zero when the UAV is stationary or moving in a straight line at a uniform speed, no value can be obtained by comparing the acceleration values. Attitude error of man-machine.
  • the calibration operation of the UAV during the operation includes non-uniform motion, so the error of the IMU can be measured to realize the calibration of the IMU.
  • the method further includes: acquiring motion data collected by an inertial measurement unit during the calibration operation performed by the drone; and combining the motion data with the calibration operation performed by the drone comparing the reference motion data in the system to obtain error information of the inertial measurement unit; and calibrating the data collected by the inertial measurement unit based on the error information.
  • the IMU when the UAV is operating, the IMU will continuously measure the motion acceleration and angular rate of the UAV, and obtain the attitude, velocity and position of the UAV through integral calculation.
  • the attitude error of the UAV will increase with the integration time, especially the heading error.
  • the UAV can obtain reference motion data, which can be preset or measured by the built-in positioning sensor of the UAV.
  • the positioning sensor can obtain reference satellites.
  • the velocity change (velocity difference) and the current attitude are obtained, so as to effectively calculate the real acceleration of the UAV, and compare it with the acceleration value measured by the IMU.
  • the current heading angle error can be corrected.
  • the attitude error can be reversed to obtain the residual error of the IMU, and then the calibration of the IMU can be realized.
  • the method may further include: storing the movement data collected during the calibration operation; and storing the collected environmental information while the UAV continues to perform the operation along the operation route; Based on this, the stored motion data can be used to process the collected environmental information.
  • the stored motion data can be used to determine the attitude of the UAV, so that the collected environmental information can be processed based on the posture of the UAV. Processing, such as accurate image stitching or 3D modeling can be achieved.
  • the embodiment of the control method of the UAV in this embodiment is used to provide an embodiment of the operation of the UAV including a calibration operation.
  • this embodiment can be used to improve the operation effect.
  • the motion sensor uses an IMU as an example, and the calibration operation of the drone during operation can be used to calibrate the IMU.
  • the route can be automatically generated according to the characteristics of the IMU and the threshold required by the user's operation.
  • the IMU can be tested in advance, and the error characteristics of the IMU can be measured when the IMU is in a static state or a uniform motion state.
  • the error in this embodiment uses the drift amount as an example, and the drift amount of the IMU over time can be calibrated through the test.
  • the amount of drift is usually represented by one variance of the drift of the device, assuming that it is shown in Table 1:
  • the drift curve q(t) can be fitted as a function of time.
  • the operation time of the trajectory of non-uniform motion is T cali
  • the length of the motion trajectory of the UAV is S cali .
  • the acceptable accuracy threshold is Dt in the user's operation scenario, it is necessary to keep the drift of the IMU less than Dt during the operation of the UAV. Therefore, it is possible to estimate the drift d cali1 obtained after the UAV performs the calibration operation flight S cali1 during the first calibration operation, and then estimate the value from the first calibration operation according to the drift curve determined during the previous test. The time Tt1 required for the drift d cali1 to continue deteriorating to the threshold Dt.
  • the drift of the IMU reaches the threshold Dt again, and then the calibration operation needs to be performed again.
  • the flight distance of the UAV performing non-uniform motion is still S cali , and continue after calibration. Carry out normal flight operations.
  • the calibration route S cali can be added at the end of the route, as the calibration operation is also performed at the end, and at the same time, it can be used as the initial calibration data for reverse filtering in the post-processing process.
  • FIG. 3A shows a schematic diagram of the unmanned aerial vehicle performing calibration operations at the starting point and the ending point of the operation route respectively.
  • the user can remotely control the UAV to fly.
  • the length S cali of the calibration route can also be calculated, and then the user is reminded to perform the calibration operation.
  • the user can perform non-uniform motion through one-key setting.
  • the time Tt1 required for the drift d cali1 to continue to deteriorate to the threshold Dt after the first calibration can be obtained.
  • the UAV can continue to be manually controlled by the user for the flight operation; optionally, when it is determined that the user ends the flight operation, the user can control the UAV to perform the calibration operation at the end of the operation route through manual settings.
  • the distance Scali there are many ways to calculate the distance Scali, for example, it can be the acceleration of the distance Scali when accelerating ⁇ acceleration time 2 + acceleration during deceleration ⁇ deceleration time 2 , etc. Based on this, the magnitude of the acceleration and the acceleration time can be determined The amount of correction to the IMU and the attitude of the drone by the calibration operation of the drone.
  • the user can easily obtain a set of route data that can guarantee the accuracy of the IMU, without the need for additional settings or manual addition of calibration routes; for different specifications of IMU devices and different operating requirements, it can be intelligently acquired When to perform calibration, how long is the calibration route and other parameters.
  • the calibration operation designed in this embodiment during the operation can avoid the requirement for the openness of the surrounding environment in the figure-of-eight calibration.
  • the foregoing method embodiments may be implemented by software, or by hardware or a combination of software and hardware.
  • software implementation as an example, as a device in a logical sense, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory for operation by the image processing processor where it is located.
  • Figure 4 it is a hardware structural diagram of a control device 400 of a drone implementing the control method of a drone in this embodiment, except for the processor 401 and memory shown in Figure 4
  • the UAV used to implement the image processing method in the embodiment may also include other hardware generally according to the actual function of the UAV, which will not be repeated here.
  • the processor 401 implements the following steps when executing the computer program:
  • the UAV is controlled to interrupt the operation operation at the target waypoint of the operation route, and the UAV is controlled to perform the calibration operation, wherein the The calibration operation includes performing a non-uniform motion, and the trajectory of the UAV performing the non-uniform motion is at least partially coincident with the operation route;
  • the UAV is controlled to start from the target waypoint and continue to perform the operation along the operation route.
  • the calibration operation performed by the UAV is triggered based on messages sent by other devices communicating with the UAV, and/or based on the UAV operating along the operation route
  • the job status information triggers the execution.
  • the drone performs multiple calibration operations; wherein, the interval time and/or flight distance between any two adjacent calibration operations are equal.
  • the drone performs multiple calibration operations; wherein, the interval time between the drone's starting point of the operation route and the first calibration operation, and the interval time between two adjacent calibration operations substantially the same; and/or, the flight distance of the UAV from the starting point of the operation route to the first calibration operation is basically the same as the flight distance between two adjacent calibration operations.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are both on the operation route.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are at the same position.
  • the motion trajectory of the UAV performing the non-uniform motion includes: a motion trajectory segment in the same direction as when operating along the operation route; The motion trajectory segment when the heading is reversed.
  • the trajectory of the UAV performing the non-uniform motion is a straight line.
  • the trajectory of the UAV performing the non-uniform motion is determined based on a reference route; the reference route is based on the tangential direction of the operation route, before and after the target waypoint The route segment selected on the operating route.
  • the drone performs multiple calibration operations; wherein, in each calibration operation, the acceleration of the drone performing non-uniform motion is greater than a preset acceleration value.
  • the UAV performs multiple calibration operations; wherein, any of the following flight parameters of the UAV in each calibration operation is basically the same: shape of running trajectory, flight distance, flight time or acceleration.
  • one or more flight parameters of the drone are set by a user.
  • the operation route is an operation route generated in response to a user's real-time remote control operation; and/or, the operation route is a route generated by the UAV before performing an operation along the operation route.
  • it also includes: before the UAV performs the operation along the operation route, obtaining the operation route; at least one of the target waypoints is marked in the operation route, and the target waypoint is used to indicate the When the man-machine is performing the operation along the operation route, when it reaches the target waypoint, it interrupts the operation and performs a calibration operation.
  • the UAV before the UAV performs the operation operation along the operation route, it also includes: performing a first calibration operation at the starting point of the operation route, the first calibration operation including performing non-uniform movement; and/ Or, after the drone performs the operation operation along the operation route, it further includes: performing a second calibration operation at the end point of the operation route, where the second calibration operation includes performing a non-uniform motion.
  • the step of controlling the UAV to interrupt the operation operation at the target waypoint of the operation route it also includes: sending a first prompt message to other devices communicating with the UAV, to remind the user to determine whether to perform the calibration operation by the drone; and/or, further comprising: during the process of controlling the drone to perform the calibration operation, sending a message to other devices communicating with the drone The second prompt message is used to remind the user that the drone is performing the calibration operation.
  • the calibration operation is used to calibrate data collected by an inertial measurement unit.
  • it also includes:
  • processor 401 implements the following steps when executing the computer program:
  • the third pose information of the first pose sensor and the second pose sensor are of different types
  • the trajectory of the UAV coincides with the route in whole or in part.
  • the UAV when the non-uniform motion is performed, the UAV is controlled to suspend collecting the environmental information.
  • the trajectory for performing the non-uniform motion is preset, and after the non-uniform motion is completed, the UAV is controlled to continue collecting the environmental information.
  • the first pose sensor is an inertial measurement unit
  • the second pose sensor determines the position of the drone based on GPS information.
  • the environment information includes image information of the area below during the flight of the drone, and the first pose information is used to synthesize the multiple frames of the image information.
  • the non-uniform movement is triggered based on messages sent by other devices communicating with the UAV, and/or based on the operation status of the UAV along the operation route Information triggers execution.
  • the UAV performs the non-uniform motion for multiple calibration operations; wherein, the interval time and/or flight distance between any two adjacent calibration operations of the non-uniform motion are equal.
  • the UAV performs multiple calibration operations of the non-uniform motion; wherein, the interval time between the UAV from the starting point of the operation route to the first calibration operation of the non-uniform motion is the same as The interval time between the non-uniform motions of two adjacent calibration operations is substantially the same; and/or,
  • the flight distance of the UAV from the starting point of the operation route to the non-uniform motion of the first calibration operation is basically the same as the flight distance between the non-uniform motion of two adjacent calibration operations.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are both on the operation route.
  • the starting point and the ending point of the motion trajectory of the UAV performing the non-uniform motion are at the same position.
  • the motion trajectory of the UAV performing the non-uniform motion includes: a motion trajectory segment in the same direction as the heading when operating the operation route; and/or a heading when operating along the operation route Reverse motion profile segment.
  • the trajectory of the UAV performing the non-uniform motion is a straight line.
  • the trajectory of the UAV performing the non-uniform motion is determined based on a reference route; the reference route is based on the tangential direction of the operation route, before and after the target waypoint The route segment selected on the operating route.
  • the UAV performs multiple calibration operations at a non-uniform speed; wherein, during each execution of the calibration operation at a non-uniform speed, the acceleration of the UAV performing the non-uniform motion is greater than a preset acceleration value.
  • the UAV performs multiple calibration operations at non-uniform speed; wherein, any of the following flight parameters of the UAV in each calibration operation non-uniform motion is basically the same: the shape of the running track, the flight distance, the flight time or acceleration.
  • one or more flight parameters of the drone are set by the user.
  • the operation route is an operation route generated in response to a user's real-time remote control operation; and/or, the operation route is a route generated by the UAV before performing a constant-speed operation along the operation route.
  • the UAV interrupts the uniform-speed operation and performs a calibration operation when it reaches the target waypoint, and performs non-uniform motion.
  • the unmanned aerial vehicle before the unmanned aerial vehicle performs the operation operation at a constant speed along the operation route, it also includes: performing a first calibration operation at a non-uniform speed movement at the starting point of the operation route, and the first calibration operation non-uniform speed movement includes Executing non-uniform motion; and/or, after the UAV performs uniform-speed operation along the operation route, it also includes: performing a second calibration operation non-uniform motion at the end of the operation route, the second calibration operation Non-uniform motion involves performing non-uniform motion.
  • the step of controlling the UAV to stop the operation at a constant speed at the target waypoint of the operation route it may further include:
  • the method further includes: during the process of controlling the UAV to perform a calibration operation at a non-uniform speed, sending a second prompt message to other devices communicating with the UAV to remind the user that the UAV The man-machine moves at a non-uniform speed while performing the calibration operation.
  • processor 401 implements the following steps when executing the computer program:
  • the inertial measurement unit of the UAV is controlled to collect the first pose information
  • the second pose information is used to correct the first pose information
  • the UAV is controlled to start from the target waypoint and continue to perform the operation along the operation route.
  • this embodiment also provides a drone 500, including:
  • Motion sensor 510 for measuring the motion data of drone
  • the power assembly 520 is used to provide power for the drone body
  • control device 400 of the drone described in the foregoing embodiments.
  • the embodiment of this specification also provides a computer-readable storage medium, on which several computer instructions are stored, and when the computer instructions are executed, the steps of the method for controlling the drone described in any embodiment are implemented.
  • Embodiments of the present description may take the form of a computer program product embodied on one or more storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) having program code embodied therein.
  • Computer usable storage media includes both volatile and non-permanent, removable and non-removable media, and may be implemented by any method or technology for information storage.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of storage media for computers include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • Flash memory or other memory technology
  • CD-ROM Compact Disc Read-Only Memory
  • DVD Digital Versatile Disc
  • Magnetic tape cartridge tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to
  • the device embodiment since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

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Abstract

一种无人机的控制方法、装置、无人机及可读存储介质，方法包括：控制无人机沿着航线运动，基于无人机搭载的采集装置依次采集多帧环境信息(21)；获取无人机的第一位姿传感器的第一位姿信息，第一位姿信息用于确定采集装置在采集多帧环境信息时的采样位姿信息(22)；控制无人机到达航线的目标位置点时执行非匀速运动，并在非匀速运动过程中，获取第一位姿传感器的第二位姿信息和第二位姿传感器的第三位姿信息，第一位姿传感器和第二位姿传感器的类型不同(23)；基于第二位姿信息和第三位姿信息确定第一位姿传感器的位姿测量偏差，位姿测量偏差用于修正第一位姿信息(24)。

Description

无人机的控制方法、装置、无人机及计算机可读存储介质 技术领域
本申请涉及无人机技术领域，具体而言，涉及一种无人机的控制方法、装置、无人机及计算机可读存储介质。
背景技术
无人机包括运动传感器和动力组件，无人机飞行过程中，可以基于运动传感器的感测的运动数据，来控制动力组件的运动以产生相应的动力，从而控制无人机的飞行。
发明内容
有鉴于此，本申请提供一种无人机的控制方法、装置、无人机及计算机可读存储介质，以解决相关技术中无人机作业数据中位姿不够准确的问题。
第一方面，提供一种无人机的控制方法，所述方法包括：
控制所述无人机沿着航线运动，基于无人机搭载的采集装置依次采集多帧环境信息；
获取无人机的第一位姿传感器的第一位姿信息，所述第一位姿信息用于确定采集装置在采集多帧所述环境信息时的采样位姿信息；
控制所述无人机到达所述航线的目标位置点时执行非匀速运动，并在所述非匀速运动过程中，获取所述第一位姿传感器的第二位姿信息和第二位姿传感器的第三位姿信息，所述第一位姿传感器和所述第二位姿传感器的类型不同；
基于所述第二位姿信息和所述第三位姿信息确定所述第一位姿传感器的位姿测量偏差，所述位姿测量偏差用于修正所述第一位姿信息。
第二方面，提供一种无人机的控制方法，所述方法包括：
在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继 续执行所述作业操作。
第三方面，提供一种无人机的控制方法，所述方法包括：
在无人机沿作业航线沿作业航线执行作业操作的过程中，控制所述无人机的惯性测量单元采集第一位姿信息；
控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
在执行所述校准操作的过程中，控制所述无人机的所述惯性测量单元采集第二位姿信息，所述第二位姿信息用于矫正所述第一位姿信息；
在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
第四方面，提供一种无人机的控制装置，所述无人机的控制装置包括处理器、存储器、存储在所述存储器上可被所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现第一方面、第二方面、第三方面中任一所述方法的步骤。
第五方面，提供一种无人机，所述无人机包括：运动传感器，用于测量无人机的运动数据；动力组件，用于为所述无人机本体提供动力；以及第四方面所述的无人机的控制装置。
第六方面，提供一种计算机可读存储介质，所述可读存储介质上存储有若干计算机指令，所述计算机指令被执行时实现第一方面所述方法的步骤。
应用本申请提供的方案，能够在沿着航线执行信息采集作业时触发无人机执行非匀速运动，并基于该非匀速运动过程中采集的不同的位姿传感器的数据，对信息采集作业时单一的位姿传感器的采样位姿信息做纠正，从而提升了信息采集作业时采样位姿信息的精准度。
附图说明
为了更清楚地说明本实施例中的技术方案，下面将对实施例描述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申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是相关技术中一种飞机在作业航线起始两端进行8字校准的示意图。
图2A是本申请一个实施例的无人机的控制方法的流程图。
图2B是本申请一个实施例的无人机的控制方法的流程图。
图3A是本申请一个实施例的无人机在作业航线的起点与终点分别执行校准操作的示意图。
图3B是本申请一个实施例的无人机在作业航线过程中执行校准操作的示意图。
图3C至图3F分别是本申请另一个实施例的无人机在作业航线过程中执行校准操作的示意图。
图4是本申请中用于实施本实施例的无人机的控制方法的一种装置的结构示意图。
图5是本申请一个实施例的无人机的框图。
具体实施方式
下面将结合本实施例中的附图，对本实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。
在一些应用场景中，需要记录无人机飞行过程中运动传感器测量的运动数据，这些记录的运动数据具有多种用途，例如，在测绘或建模等领域，需要对无人机飞行过程中所采集的环境信息做图像拼接、建模等数据后处理，而无人机飞行过程中运动传感器感测的运动数据表征了无人机飞行时的运动状态，这些运动数据的准确性将影响到数据后处理的准确度。
作为例子，运动传感器中包括惯性测量单元(Inertial Measurement Unit，IMU)，IMU具有随着时间延长精度发生漂移的特性，即误差随时间而累积，从而基于IMU测量得到的运动数据会随时间而误差越来越大。而无人机飞行过程中需要基于IMU测量的运动数据来控制无人机的飞行，而一些需要数据后处理的应用场景中也需要利用到IMU测量的运动数据。
例如，在测绘、空间规划、三维建模或自然资源采集等场景中，需要控制无人机对目标场景进行大量的环境信息的采集，采集到的环境信息需要做图像拼接、建模等数据后处理，而这些场景中对于数据后处理的精度具有较高的要求，因此在对目标场景进行环境信息的采集的过程中，往往需要控制无人机在匀速飞行状态下并按照预设航线飞行以采集环境信息。因此，一方面，无人机需要基于IMU测量的运动数据来控制无人机的飞行，因此IMU测量的运动数据会影响到无人机是否能够在匀速飞行状态下并按照预设航线飞行以采集环境信息；而另一方面，在数据后处理的精度要求较高的场景中，IMU测量的运动数据是否准确将对数据后处理具有较大的影响，例如若数 据后处理的过程中需要拼接无人机所采集的两张图像，IMU测量的运动数据表征了无人机采集图像时的实际姿态，IMU测量的运动数据的误差，将会导致两张图像出现拼接位置的差错，甚至导致图像无法拼接等等。
基于此，无人机作业过程中，如何保证无人机作业效果，是亟待解决的技术问题。相关技术中的一种解决思路是，在作业航线起始两端增加8字校准，如图1所示，是相关技术中一种飞机在作业航线起始两端进行8字校准的示意图。然而，此种校准方案最先是应用于固定翼飞机，由于固定翼飞机难以实现加减速以及航线倒退操作，而8字航线比较容易实现的多，因此固定翼设备上大多使用8字航线对飞机进行校准，若采用此种方案应用于无人机，对于作业航线较长的情况，只在首尾进行标定，无法对中间段航线部分所采集的数据进行有效校准，导致中间部分数据质量较差，进而导致无人机的作业效果较差。另外，“8字标定”中，校准过程中航线本身比较难以操作，对于周围环境的空旷性有较高要求，在实际作业中较难选取。
另一些解决方案是由用户手动加入标定航线，但此种方式作业非常麻烦，并且用户较难掌握，且对于不同规格的IMU，以及不同精度阈值的需求，每次需要校准的距离也不同，用户很难量化与掌握。
基于此，本实施例提供了一种无人机的控制方案，针对无人机作业效果较差的问题，该方案能够显著地提升无人机的作业效果。接下来对本实施例进行详细说明。
在一实施例中，提供一种无人机的控制方法，所述方法包括：
在无人机沿作业航线执行作业操作的过程中，控制所述无人机中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动；
在完成所述校准操作后，控制所述无人机沿所述作业航线继续执行所述作业操作。
这样，匀速作业过程中可以及时的通过引入无人机的非匀速运动对无人机上的器件精度做校准处理。
可选的，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合。
可选的，在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的目标航点中断所述作业操作。示例的，所述目标航点可以根据所述作业航线的规划任务设定，也可以根据已经执行的所述作业操作的任务参数确定所述目标航点的位置。
可选的，在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
应用本申请提供的方案，由于无人机的校准操作中执行了非匀速运动，因此能够给无人机的运动传感器提供外界的激励，从而实现对无人机的校准；并且，该校准是在无人机沿作业航线执行作业操作的过程中且中断作业后执行的，由于无人机实际作业场景多种多样且具有复杂不可控等情况，因此针对校准操作，设计了该校准操作要结合非匀速运动以及无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；其中，由于作业航线是规划好的无人机飞行的航线，无人机非匀速运动的运动轨迹与作业航线至少部分重合，能够减少无人机在未知位置上执行校准操作所面临的风险，无人机在作业航线上执行校准操作能够保证无人机安全地飞行。进一步的，无人机在校准操作完成后从所述目标航点出发沿所述作业航线继续执行所述作业操作，因此本实施例方案能使无人机能够在作业过程中安全地进行校准。因此本实施例方案提供了一种包含有校准操作的无人机作业方案，由于无人机在作业过程中能够校准，该校准操作不会对无人机作业产生较大干扰，而基于校准操作使得无人机的作业效果得到提升，能够保证无人机作业结果的高度准确。
在一实施例中，提供一种无人机的控制方法，所述方法包括：在无人机沿作业航线沿作业航线执行作业操作的过程中，控制所述无人机的惯性测量单元采集第一位姿信息；控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；在执行所述校准操作的过程中，控制所述无人机的所述惯性测量单元采集第二位姿信息，所述第二位姿信息用于矫正所述第一位姿信息；在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
在一实施例中，如图2A所示，提供一种无人机的控制方法，所述方法包括：
在步骤21中，控制所述无人机沿着航线运动，基于无人机搭载的采集装置依次采集多帧环境信息；
在步骤22中，获取无人机的第一位姿传感器的第一位姿信息，所述第一位姿信息用于确定采集装置在采集多帧所述环境信息时的采样位姿信息；
在步骤23中，控制所述无人机到达所述航线的目标位置点时执行非匀速运动，并在所述非匀速运动过程中，获取所述第一位姿传感器的第二位姿信息和第二位姿传感器的第三位姿信息，所述第一位姿传感器和所述第二位姿传感器的类型不同；
在步骤24中，基于所述第二位姿信息和所述第三位姿信息确定所述第一位姿传感器的位姿测量偏差，所述位姿测量偏差用于修正所述第一位姿信息。
应用本申请提供的方案，能够在沿着航线执行信息采集作业时触发无人机执行非匀速运动，并基于该非匀速运动过程中采集的不同的位姿传感器的数据，对信息采集作业时单一的位姿传感器的采样位姿信息做纠正，从而提升了信息采集作业时采样位姿信息的精准度。
可选的，执行所述非匀速运动时所述无人机的轨迹与所述航线全部或者部分重合。
可选的，在所述执行所述非匀速运动时，控制所述无人机暂停采集所述环境信息。
可选的，所述执行所述非匀速运动的轨迹是预先设置的，在完成所述非匀速运动后，控制所述无人机继续采集所述环境信息。
可选的，所述第一位姿传感器为惯性测量单元。可选的，所述第二位姿传感器基于GPS信息确定所述无人机的位置，例如，GNSS定位、GPS定位、RTK定位等等。
可选的，所述环境信息包括所述无人机飞行过程中下方区域的影像信息，所述第一位姿信息用于将所述多帧所述影像信息进行合成处理。
可选的，所述非匀速运动，是基于与所述无人机通信的其他设备发送的消息触发执行的，和/或，是基于所述无人机沿所述作业航线作业的作业状态信息触发执行的。
可选的，所述无人机执行多次校准操作所述非匀速运动；其中，任意两组相邻校准操作所述非匀速运动之间的间隔时间和/或飞行距离相等。
可选的，所述无人机执行多次校准操作所述非匀速运动；其中，
无人机从所述作业航线的起点至首次校准操作所述非匀速运动之间的间隔时间，与相邻两次校准操作所述非匀速运动之间的间隔时间基本相同；和/或，
无人机从所述作业航线的起点至首次校准操作所述非匀速运动之间的飞行距离，与相邻两次校准操作所述非匀速运动之间的飞行距离基本相同。
可选的，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述作业航线上。
可选的，所述无人机执行所述非匀速运动的运动轨迹的起点与终点均在同一位置。
可选的，所述无人机执行所述非匀速运动的运动轨迹，包括：
与沿所述作业航线作业时的航向同向的运动轨迹段；和/或
与沿所述作业航线作业时的航向反向的运动轨迹段。
可选的，所述无人机执行所述非匀速运动的运动轨迹是直线。
可选的，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段。
可选的，所述无人机执行多次校准操作非匀速运动；其中，在每次执行校准操作非匀速运动中，所述无人机执行非匀速运动的加速度均大于预设加速度值。
可选的，所述无人机执行多次校准操作非匀速运动；其中，各次校准操作非匀速运动中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。
可选的，所述无人机执行所述校准操作非匀速运动时，所述无人机的一个或多个飞行参数，是用户设置的。
可选的，所述作业航线是响应于用户实时遥控操作而产生的作业航线；和/或，所述作业航线是所述无人机在沿作业航线执行匀速作业操作之前生成的航线。
可选的，所述方法还包括：在无人机沿作业航线执行匀速作业操作之前，获取作业航线；所述作业航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿作业航线执行匀速作业操作的过程中，在到达所述目标航点时中断所述匀速作业操作并执行校准操作非匀速运动。
可选的，在无人机沿所述作业航线执行匀速作业操作之前，所述方法还包括：在所述作业航线的起点处执行第一校准操作非匀速运动，所述第一校准操作非匀速运动包括执行非匀速运动；和/或，
在无人机沿所述作业航线执行匀速作业操作之后，所述方法还包括：在所述作业航线的终点处执行第二校准操作非匀速运动，所述第二校准操作非匀速运动包括执行非匀速运动。
可选的，在控制所述无人机在所述作业航线的目标航点中断所述匀速作业操作的步骤之前，所述方法还包括：向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述校准操作非匀速运动；
可选的，所述方法还包括：在所述控制所述无人机执行校准操作非匀速运动的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述校准操作非匀速运动。
如图2B所示，是本申请根据一示例性实施例提供的一种无人机的控制方法的流程图，所述方法包括：
在步骤202中，在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
在步骤204中，在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
本实施例方案中，无人机执行的校准操作包括执行非匀速运动，即无人机执行变速运动，无人机可以以一定的加速度运动，其中，加速度为矢量，既有大小又有方向。实际应用中，可以根据需要灵活配置加速度的大小和/或方向，本实施例对此不进行限定。
在一些例子中，无人机执行非匀速运动的过程中，加速度可以保持不变，此处的保持不变可以是加速度的大小和方向均保持不变，即无人机执行非匀速运动的过程中，加速度的大小和方向均相同。
在其他例子中，无人机执行非匀速运动的过程中，加速度也可以具有变化，即加速度的大小和/或方向可以不同；例如，无人机执行非匀速运动的过程中，加速度的方向可以保持相同，但加速度的大小具有变化；或者是加速度的大小可以保持相同，但加速度的方向具有变化。
在一些例子中，无人机执行非匀速运动的过程中，加速度的大小根据需要可以设置为较大的加速度值，即无人机采用较大的加速度执行非匀速运动，可以给无人机的运动传感器较大的外界激励，从而更准确地校准运动传感器的误差。基于此，无人机执行非匀速运动的过程中，加速度的大小可以大于预设加速度值；其中，该预设加速度值可以根据需要进行配置，例如可以是预先设定的固定值；也可以是基于无人机自身的飞行参数来确定，例如基于无人机的最大速度参数来确定；或者，还可以基于无人机执行沿作业航线执行作业操作的作业状态信息而确定，例如，基于无人机执行沿作业航线执行作业操作的速度和/或作业航线的距离来确定等等，例如，基于无人机执行沿作业航线执行作业操作的速度越大，无人机校正操作的过程中，非匀速运动的加速度越大等。
本实施例方案中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；其中，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合，可以是指无人机执行所述非匀速运动的运动轨迹中全部或部分运动轨迹段，与所述作业航线重合；也即是，无人机执行校准操作时，无人机可以沿着作业航线执行所述非匀速运动；或者是，无人机执行校准操作时，执行非匀速运动的轨迹有部分是与作业航线重合，其他部分的轨迹未与作业航线重合。
其中，本实施例的重合，并非是指非匀速运动的运动轨迹与所述作业航线绝对的 相同，可以允许非匀速运动的运动轨迹与所述作业航线有稍许的差异，即非匀速运动的运动轨迹与所述作业航线有较小差异，也属于本实施例的所述重合的范围。作为例子，作业航线中表征了无人机在沿作业航线作业时的地理坐标信息和无人机的飞行高度等，本实施例的重合，是指无人机执行所述非匀速运动的运动轨迹时，无人机的地理坐标信息和无人机的飞行高度等，与无人机在沿作业航线作业时的地理坐标信息和无人机的飞行高度等具有较大程度的一致，允许两者有细微的差别，而并非限定两者绝对相同，两者的差异在一定阈值内，都属于本实施例所述的重合的范围内。
由上述实施例可见，在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。其中，由于无人机的校准操作中执行了非匀速运动，因此能够给无人机的运动传感器提供外界的激励，从而实现对无人机的校准；并且，该校准是在无人机沿作业航线执行作业操作的过程中且中断作业后执行的，由于无人机实际作业场景多种多样且具有复杂不可控等情况，因此针对校准操作，设计了该校准操作要结合非匀速运动以及无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；其中，由于作业航线是规划好的无人机飞行的航线，无人机非匀速运动的运动轨迹与作业航线至少部分重合，能够减少无人机在未知位置上执行校准操作所面临的风险，无人机在作业航线上执行校准操作能够保证无人机安全地飞行。进一步的，无人机在校准操作完成后从所述目标航点出发沿所述作业航线继续执行所述作业操作，因此本实施例方案能使无人机能够在作业过程中安全地进行校准。因此本实施例方案提供了一种包含有校准操作的无人机作业方案，由于无人机在作业过程中能够校准，该校准操作不会对无人机作业产生较大干扰，而基于校准操作使得无人机的作业效果得到提升，能够保证无人机作业结果的高度准确。
在一些例子中，所述作业操作，可以是匀速作业操作，也可以是非匀速作业操作。
在一些例子中，所述作业航线可以是响应于用户实时遥控操作而产生的作业航线。例如，用户通过与无人机通信的控制设备实时遥控无人机，无人机响应于用户实时遥控操作而产生的作业航线。
在另一些例子中，所述作业航线可以是所述无人机在沿作业航线执行作业操作之前生成的航线，因此，本实施例方案中，无人机先获取到作业航线，之后基于获取到的作业航线，沿作业航线执行作业操作。在一些场景中，作业航线可以是无人机自动 生成的，例如，无人机根据实际场景信息或用户的设置等因素自动生成作业航线。在其他例子中，也可以是无人机接收到与无人机通信的其他设备发送的作业航线数据，无人机基于接收到的作业航线数据确定作业航线；例如，可以是用户通过该其他设备设置作业航线，其他设备基于用户的设置生成作业航线数据并发送给无人机。
本实施例方案中，在无人机沿作业航线执行作业操作的过程中，无人机会在所述作业航线的目标航点中断所述作业操作，并控制无人机执行校准操作。
其中，针对目标航点，可以有多种实现方式。在一些例子中，目标航点可以预先标记在作业航线中，作为例子，所述方法还包括：在无人机沿作业航线执行作业操作之前，获取作业航线；所述作业航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿作业航线执行作业操作的过程中，在到达所述目标航点时中断所述作业操作并执行校准操作。本实施例中，通过预先在作业航线中标记目标航点，可以使得无人机在沿作业航线执行作业操作的过程中，可以使无人机利用较少的计算资源并快速地确定无人机达到目标航点。其中，目标航点如何标记在作业航线也可以有多种不同的实现方式，例如可以是无人机基于作业航线标记的，也可以是由用户标记的，例如用户通过与无人机通信的其他设备设置目标航点的位置信息，并由该其他设备发送给无人机。结合前述作业航线的不同实现方式，作业航线及作业航线上标记的目标航点可以有多种实现方式，例如可以是无人机生成作业航线，由用户在无人机生成的作业航线上标记目标航点；也可以是用户设置作业航线，由无人机在作业航线上标记目标航点；或者是无人机生成作业航线及标记目标航点，还可以是由用户设置作业航线及标记目标航点等等。
实际应用中，控制无人机在所述作业航线的目标航点中断所述作业操作的时机，根据实际业务需要可以有多种实现方式。
在一些例子中，所述无人机执行校准操作，可以是基于与所述无人机通信的其他设备发送的消息触发执行的。例如，无人机接收到所述其他设备发送的消息，基于该消息触发执行校准操作。其中，该消息可以是无人机在沿作业航线执行作业操作的过程中接收到的。也可以是在此之前接收到的，例如，无人机接收到与所述无人机通信的其他设备发送的消息，之后，无人机沿作业航线执行作业操作，无人机沿作业航线执行作业操作的过程中，在目标航点中断作业操作，并执行校准操作。作为例子，所述消息可以是用户通过所述其他设备设置的；可选的，所述消息中携带有指示无人机在目标航点中断作业操作并执行校准操作的信息，可选的，该消息还可以携带其他更多的信息，本实施例对此不进行限定。可选的，在一些例子中，所述无人机执行所述 校准操作时，所述无人机的一个或多个飞行参数，可以是用户设置的。例如，无人机执行所述校准操作时无人机的飞行参数可以包括：飞行速度、加速度、飞行时间、飞行距离、飞行轨迹的形态等等多种参数，这些参数均可由用户设置，例如，可以是由与无人机通信的其他设备提供设置的功能，用户通过该其他设备提供设置的功能设置一个或多个飞行参数，由该其他设备将这些飞行参数发送给无人机。
在另一些例子中，所述无人机执行校准操作，可以是基于所述无人机沿所述作业航线作业的作业状态信息触发执行的。本实施例中，可以是无人机在作业过程中自动确定目标航点，自动确定执行校准操作的时机，确定的方式基于无人机沿作业航线作业的状态而确定。在一些例子中，所述作业状态信息包括以下一种或者多种信息：作业时间、作业时长、作业的准确度、作业成果的完成度等。实际应用中，可以根据需要，采用上述的一种或多种信息自动确定。
作为例子，如IMU等运动传感器，其误差会随时间而累积；不同运动传感器的误差累积情况不同，基于此，为了更精确地实现无人机的校准以提升无人机的作业效果，可以预先确定运动传感器的误差累积数据，例如，可以预先对运动传感器进行测试，以确定运动传感器的误差累积数据。可选的，可以将运动传感器置于静止状态或匀速状态下进行误差累积的测试，从而标定出该运动传感器随时间的误差，例如可以拟合出误差随时间变化的函数。基于此，通过该函数可以确定运动传感器在什么时间下误差累积到何种程度，也可以根据不同实际需要确定无人机作业过程中校准运动传感器的时机。例如，实际应用中可以设置的运动传感器的最大误差信息Dt，基于该误差随时间变化的函数，可以确定运动传感器达到该最大误差信息Dt所需的时长T，因此，当无人机作业的飞行时间累计为时长T时，即需要执行一次校准操作。
可选的，若确定无人机作业的飞行时间累计为时长T时，即需要执行校准操作，由于无人机在作业过程中是处于匀速飞行状态，因此也可以确定出无人机作业的飞行距离累计为距离S(S为T与无人机作业时速度的乘积)时，即需要执行一次校准操作。
作为例子，在无人机沿作业航线执行作业操作的过程中，无人机可以按照设定的间隔时间执行校准操作；本实施例的间隔时间包括：从作业航线的起点至首次校准操作的间隔时间，还可以包括两次校准操作之间的间隔时间，即无人机沿作业航线执行作业操作的过程中可以确定飞行时间，当到达设置的间隔时间时无人机在目标航点中断作业操作并开始执行校准操作，在本次校准操作完成后无人机继续执行原有作业；无人机继续确定飞行时间，并再次到达设置的间隔时间时无人机在另一目标航点再次 中断作业操作并再次开始执行校准操作。
在其他例子中，在无人机沿作业航线执行作业操作的过程中，无人机可以按照设定的飞行距离执行校准操作；本实施例的飞行距离包括：从作业航线的起点至首次校准操作的飞行距离，还可以包括两次校准操作之间的间隔时间，即无人机沿作业航线执行作业操作的过程中可以确定飞行距离，当到达设置的飞行距离时无人机在目标航点中断作业操作并开始执行校准操作，在本次校准操作完成后无人机继续执行原有作业；无人机继续确定飞行距离，并再次到达设置的飞行距离时无人机在另一目标航点再次中断作业操作并再次开始执行校准操作。
实际应用中，根据不同作业航线的飞行时间或飞行距离，以及基于校准操作的多种设定，无人机沿作业航线执行作业操作的过程中，无人机可以执行一次或多次校准操作。
在一些例子中，所述无人机执行多次校准操作；其中，无人机从所述作业航线的起点至首次校准操作之间的间隔时间，与相邻两次校准操作之间的间隔时间基本相同；和/或，无人机从所述作业航线的起点至首次校准操作之间的飞行距离，与相邻两次校准操作之间的飞行距离基本相同。作为例子，假设作业航线的起点为O，无人机首次校准操作的时间点(或距离点)为A，第二次校准操作的时间点(或距离点)为B，第三次校准操作的时间点(或距离点)为C，则无人机从O点至A点的间隔时间(或飞行距离)，与无人机从A点至B点的间隔时间(或飞行距离)基本相同。本实施例的相邻两次校准操作是指任意的两次校准操作，例如，无人机从O点至A点的间隔时间(或飞行距离)，与无人机从B点至C点的间隔时间(或飞行距离)也是基本相同的。
在一些例子中，所述无人机执行多次校准操作；其中，任意两组相邻校准操作之间的间隔时间和/或飞行距离相等；例如，无人机从A点至B点的间隔时间(或飞行距离)，与无人机从B点至C点的间隔时间(或飞行距离)也是基本相同的。其中，相邻的校准操作是指前后两次校准操作中间未执行其他校准操作。
本实施例方案中，无人机执行非匀速运动的运动轨迹的起点可以有多种实现方式。在一些例子中，目标航点可以是无人机执行非匀速运动的运动轨迹的起点，即无人机在目标航点中断作业操作后，在目标航点开始执行校准操作。在其他例子中，也可以是无人机在在目标航点中断作业操作后，在与目标航点不同的位置作为起点开始执行校准操作，例如，无人机从目标航点中断作业操作后，无人机飞行至其他位置，该位置可以在作业航线上，也可以不在作业航线上，无人机从该位置开始执行校准操作。
本实施例方案中，无人机执行非匀速运动的运动轨迹的终点可以有多种实现方式。在一些例子中，该终点可以不在作业航线上，即无人机执行校准操作，执行非匀速运动到达终点后，从该终点飞行至目标航点，从目标航点继续原有的沿作业航线作业。在其他例子中，该运动轨迹的终点也可以在作业航线上，这样无人机执行校准操作到达终点后，由于终点在作业航线上，可以更快地恢复原有的作业。可选的，该运动轨迹的终点也可以在作业航线上也有多种实现方式，例如，该运动轨迹的终点可以是目标航点，即无人机执行校准操作所到达的终点刚好是无人机中断原有作业的目标航点，从而，无人机在结束校准操作时刚好达到目标航点并随即从目标航点继续原有作业。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述作业航线上；其中，无人机执行所述非匀速运动的运动轨迹的起点与终点可以均在同一位置，即起点与终点相同；当然，实际应用中该起点与终点也可以不在同一位置，本实施例对此不进行限定。
在一个例子中，可以是无人机在所述作业航线的目标航点中断所述作业操作，并以目标航点为起点开始执行校准操作，并且无人机执行校准操作的终点为目标航点，即目标航点即是无人机在作业航线的中断位置，同时还是校准操作的起点和终点，因此无人机从目标航点中断作业操作后开始执行校准操作，在校准操作结束时刚好到达目标航点继续原有的作业操作，因此本实施例的标定方案不会对原有作业造成较大的干扰和中断，能快速地恢复作业。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹，包括：与沿所述作业航线作业时的航向同向的运动轨迹段；和/或与沿所述作业航线作业时的航向反向的运动轨迹段，也即是，无人机执行校准操作时，沿作业航线执行非匀速运动。
可选的，该运动轨迹可以与沿所述作业航线作业时的航向同向的运动轨迹段，基于此，可以使得无人机在作业航线的目标航点中断所述作业操作，以相同的航向快速地继续沿作业航线执行非匀速运动，使得作业过程与校准操作能够快速地切换，从而提高作业效率。
或者，该运动轨迹可以与沿所述作业航线作业时的航向反向的运动轨迹段，基于此，可以使得无人机在作业航线的目标航点中断所述作业操作，以相反的航向快速地继续沿作业航线执行非匀速运动，使得作业过程与校准操作能够快速地切换，从而提高作业效率。
可选的，该运动轨迹可以包括与沿所述作业航线作业时的航向同向的运动轨迹段以及与沿所述作业航线作业时的航向反向的运动轨迹段。基于此，无人机在目标航点 中断作业操作时，可以从目标航点快速地沿作业航线执行非匀速运动形成一个运动轨迹段，并且另一轨迹段的方向相反，即无人机沿作业航线反向运动形成另一轨迹段，使得无人机能够更快速地接近或回到目标航点，以快速地从目标航点出发恢复作业。
本实施例方案中，无人机执行所述非匀速运动的运动轨迹可以有多种实现方式，例如，在一些例子中，所述无人机执行所述非匀速运动的运动轨迹可以是直线，无人机在直线飞行下，可以更稳定地进行加减速，从而可更稳定地执行非匀速运动。在其他例子中，无人机执行所述非匀速运动的运动轨迹也可以是其他的轨迹形态，例如曲线、“Z”字、“L”字等等。或者，所述无人机执行所述非匀速运动的运动轨迹，可以是部分为直线，部分为非直线等等。
本实施例方案中，无人机执行所述非匀速运动的运动轨迹可以是用户设置的，也可以是无人机自动确定的，其中，可以是无人机在沿作业航线作业之前预先确定好。在另一些例子中，实际的作业航线可能多种多样，所述非匀速运动的运动轨迹也可以是无人机在沿作业航线作业的过程中确定的。
作为例子，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段。实际应用中，在需要无人机中断作业操作执行校准操作时，作业航线的形态可能有多种，作业航线的形态可能影响到无人机的校准操作。基于此，无人机可以基于参考航线实时地确定执行所述非匀速运动的运动轨迹，使得确定的运动轨迹能够与实际作业相符，从而使无人机能更好地执行非匀速运动。
作为例子，实际作业中，无人机沿作业航线执行作业操作时，无人机的作业航线可能有多种轨迹形态，因此，基于所述作业航线的切向在所述目标航点前后的所述作业航线上选取的航线段作为参考航线，以此来确定非匀速运动的运动轨迹，可以使无人机更好地执行校准操作，从而提高作业效果。
其中，切向是指作业航线的切线方向，目标航点前后的作业航线上的航线段若是直线，无人机可以沿标航点前后的作业航线上的航线段执行校准操作，该校准操作中非匀速运动的运动轨迹是直线，可以使无人机较好地执行非匀速运动，以此获取到准确的运动数据。
若目标航点前后的作业航线的航线段为非直线，即目标航点前后的作业航线的航线段具有切向，无人机可以基于所述作业航线的切向在所述目标航点前后的所述作业航线上选取的航线段作为参考航线，以此来确定非匀速运动的运动轨迹。例如，基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段作为参考 航线，而这些参考航线为非直线，无人机可以基于此灵活地确定非匀速运动的运动轨迹。例如目标航点前后的所述作业航线包括弧线、直角转弯、波浪线或180度掉头等等，而无人机执行非匀速运动的运动轨迹理想状态下是直线，可以基于此灵活地确定非匀速运动的运动轨迹。
在一些例子中，沿目标作业航线的航向，在所述目标航点之前的作业航线上的航线段为非直线，并且在所述目标航点之后的作业航线上的航线段为直线，无人机可以参考在所述目标航点之后的作业航线上的航线段来执行非匀速运动。
在另一些例子中，沿目标作业航线的航向，在所述目标航点之前的作业航线上的航线段为非直线内存在直角转弯，并且在转弯后的作业航线上的航线段为直线，所述无人机采用在转弯后的作业航线上的航线段作为参考航线来执行非匀速运动，例如在转弯后，沿转弯后的作业航线上的航线段执行非匀速运动。
在其他例子中，沿目标作业航线的航向，在所述目标航点之前和之后的作业航线上的航线段均为非直线，无人机可以沿作业航线执行非匀速运动，从而保证无人机的飞行安全。
在一些例子中，所述无人机执行多次校准操作；其中，在每次执行校准操作中，所述无人机执行非匀速运动的加速度均大于预设加速度值。本实施例中，针对无人机的作业过程中执行多次校准操作的情况，无人机每一次校准操作中，执行非匀速运动的加速度均大于预设加速度值，因此作业过程中的各次校准操作，都可给运动传感器提供较大的激励，使得各次校准操作中运动传感器都能够获得准确的数据，从而各次校准操作整体配合，整体提升整个作业过程的作业效果。其中，在各次执行校准操作中，所述无人机执行非匀速运动的加速度均大于预设加速度值即可，各次校准操作中无人机执行非匀速运动的加速度可以相同，也可以不同，本实施例对此不进行限定。
在一些例子中，所述无人机执行多次校准操作；其中，各次校准操作中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。本实施例中，针对无人机的作业过程中执行多次校准操作的情况，每一次校准操作中无人机的一种或多种飞行参数基本相同，从而可以在后续处理中可以提升处理效率，整体提升无人机的作业效果。
在一些例子中，无人机还可以在作业航线的作业的开始和/或结束时执行校准，从而提高作业的准确度。作为例子，在无人机沿所述作业航线执行作业操作之前，所述方法还包括：在所述作业航线的起点处执行第一校准操作，所述第一校准操作包括执行非匀速运动；和/或，在无人机沿所述作业航线执行作业操作之后，所述方法还包括： 在所述作业航线的终点处执行第二校准操作，所述第二校准操作包括执行非匀速运动。
本实施例中将无人机在所述作业航线的起点处执行的校准操作称之为第一校准操作，将无人机在所述作业航线的终点处执行的校准操作称之为第二校准操作；其中，第一校准操作和第二校准操作可以相同，也可以不同；此处的相同或不同，可以包括校准时长、飞行距离、加速度的大小、飞行轨迹的形态等多种维度。本实施例中并不限定第一校准操作和/或第二校准操作与作业航线是否有关联，例如，第一校准操作和/或第二校准操作中，无人机的非匀速运动的运动轨迹可为“8”字；第一校准操作和/或第二校准操作中，无人机的非匀速运动的运动轨迹可为直线；或者，第一校准操作和/或第二校准操作中，无人机的非匀速运动的运动轨迹也可以与作业航线重合。
在一些例子中，在控制所述无人机在所述作业航线的目标航点中断所述作业操作的步骤之前，所述方法还包括：向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述校准操作。基于此，无人机在沿所述作业航线执行作业操作时，可以自动确定出在目标航点中断所述作业操作的时机，基于此，无人机可以向其他设备发送第一提示消息以提醒用户确定是否由无人机执行所述校准操作，其中，该第一提示消息根据需要可以有多种实现方式，例如，该第一提示消息可以携带目标航点的位置信息和/或中断所述作业操作的时间信息等，从而其他设备接收到该第一提示消息后，可以基于第一提示消息中携带的信息，向用户进行提醒，例如可以在用户界面中输出相关的提示，如提示目标航点的位置和/或中断所述作业操作的时间等，基于此，用户可以通过该其他设备确定是否由无人机执行所述校准操作，而该其他设备基于用户的操作确定出用户是否同意由无人机执行所述校准操作，并将确定出的结果发送给无人机，无人机基于该其他设备发送的消息确定是否执行校准操作。
在一些例子中，所述方法还包括：在所述控制所述无人机执行校准操作的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述校准操作。其中，该第二提示消息根据需要可以有多种实现方式，例如，该第二提示消息可以是无人机在执行校准操作之前，或者是开始执行校准操作时发送给该其他设备；可选的，该第二提示消息携带校准操作的执行时长和/或等，从而其他设备接收到该第一提示消息后，可以基于第一提示消息中携带的信息，向用户进行提醒，例如可以在用户界面中输出相关的提示，如提示目标航点的位置和/或中断所述作业操作的时间等，基于此，用户可以通过该其他设备确定是否由无人机执行所述校准操作，而该其他设备基于用户的操作确定出用户是否同意由无人机执行所述校准操作，并将确定出的结果发送给无人机，无人机基于该其他设备发送的消息确定是否执行校准操作。
在一些例子中，所述校准操作用于对惯性测量单元采集的数据进行校准。IMU校准的实现基础是IMU误差积分产生的输出偏差可以被测量出来，其中由于无人机在静止或匀速直线运动时，无人机自身的运动加速度为零，无法通过加速度值的比较测量得到无人机的姿态误差。本实施例中，无人机在作业过程中的校准操作包括非匀速运动，因此可以测量出IMU的误差，实现对IMU的校准。
在一些例子中，所述方法还包括：获取惯性测量单元在所述无人机执行所述校准操作的过程中采集的运动数据；将所述运动数据与所述无人机执行所述校准操作中的基准运动数据进行比较，得到所述惯性测量单元的误差信息；基于所述误差信息校准所述惯性测量单元采集的数据。本实施例中，无人机在作业时，IMU会连续测量无人机的运动加速度和角速率，通过积分运算获得无人机姿态、速度和位置。当IMU存在误差或者误差校正后仍有残余时，无人机的姿态误差会随着积分时间而增加，尤其是航向误差。当进行校准飞行时，无人机可以获取到基准运动数据，该基准运动数据可以是预设的，也可以是通过无人机内置的定位传感器测量的数据，如定位传感器可以获取到参考卫星给出的速度变化(速度差分)和当前姿态，从而有效计算出无人机真实的加速度，并与IMU测量得到的加速度值进行对比，一方面可以修正当前航向角度误差，另一方面根据计算得到的姿态误差可以反推得到IMU的残余误差，进而实现IMU的校准。
在其他例子中，所述方法还可包括：存储所述校准操作过程中采集的运动数据；无人机在沿所述作业航线继续执行所述作业操作的过程中，存储采集到的环境信息；基于此，可以利用该存储的运动数据对采集到的环境信息进行处理，例如，利用该存储的运动数据可以确定无人机的姿态，从而基于无人机的姿态可以对采集到的环境信息进行处理，例如可以实现准确的图像拼接或三维建模等。
接下来再通过一实施例对本申请的无人机的控制方法进行说明。
本实施例的无人机的控制方法实施例，用于提供一种包括校准操作的无人机作业实施例，该无人机在作业时，可以利用本实施例提升作业效果。本实施例中，运动传感器以IMU为例，无人机在作业过程中的校准操作，可以用于校准IMU。
可选的，本实施例可以通过IMU的特性以及用户作业所需的阈值自动生成航线。作为例子，可以预先对IMU进行测试，可以在IMU处于静止状态或者匀速运动状态下测量IMU的误差特性，本实施例的误差采用漂移量为例，通过测试可以标定出IMU随时间的漂移量，漂移量多用器件漂移的一倍方差表示，假定如表1中所示：
时间 漂移
T0 D0
T1 D1
T2 D2
… …
TN DN
表1
通过表1中的数据可以拟合出漂移的曲线q(t)为时间的函数。
假设无人机内置的定位传感器每秒可获取h次的定位(GNSS，Global Navigation Satellite System，全球导航卫星系统)观测值，并对IMU进行校准。若每次校准需要N组GNSS观测值，则需要花费的校准时间为T cali＝N/h秒，而出于尽量减小校准操作中无人机执行非匀速运动的运动轨迹在作业航线中占比，并且通过较大加速度进行有效校准的考虑，无人机执行非匀速运动的运动轨迹中，可以采用适当加速度a cali进行加减速，并采用来回加减速飞行的方式进行校准操作，无人机执行非匀速运动的运动轨迹的作业时间为T cali，无人机执行非匀速运动的运动轨迹的长度为S cali。
若用户作业场景下能够接受的精度阈值为Dt，则在无人机在作业过程中，需要在使得IMU的漂移始终小于Dt。因此，可以估算出在第一次校准操作时，无人机执行校准操作飞行S cali1之后可得的漂移d cali1，之后根据在前述测试时确定的漂移曲线，估算出从第一次校准操作后漂移d cali1持续恶化到阈值Dt所需的时间Tt1。
无人机基于作业航线作业时，可以基于上述时间Tt1，以及设定的飞行速度V 航线，计算出每次校准后可持续飞行的距离S＝V 航线*Tt1，假定校准操作采用加减速模式，长度为S cali，则从航线起始点开始，首先在本段航线进行加减速初始校准操作，之后进行正常航线飞行。
当完成第一段长度为S的校准操作之后，IMU的漂移重新达到阈值Dt，之后需要再次执行校准操作，校准操作中无人机执行非匀速运动的飞行距离仍为S cali，在校准后继续进行正常航线作业。
可选的，可以在航线最后添加标定航线S cali，作为结束时也执行校准操作，同时在后处理过程中，可作为反向滤波的起始标定数据。
如图3A所示，示出了无人机在作业航线的起点与终点分别执行校准操作的示意图。
在无人机作业过程中，若遇到转弯处时，如果自A点起，后续距离S cali内有转弯 时，可优先检索已经飞过的航迹，看A点前方是否有S cali的直线可以进行加减速的校准操作，如果可以，如图3B和图3C所示，可以自A点进行反向，沿着已经飞过的作业航线执行非匀速运动。如果没有，可搜索过弯后的B点之后是否有长度超过S cali的直线可执行非匀速运动，如果有，如图3D所示，可以在B点之后进行加减速作业。如果在A点之前和B点之后的S cali距离范围内都找不到可进行直线的执行非匀速运动，如图3E所示，可以在转弯处选取S cali距离执行非匀速运动。
在其他例子中，可以是用户遥控无人机飞行，本实施例中，也可以计算出校准航线的长度S cali，之后提醒用户需要进行校准操作，用户可通过一键设置执行非匀速运动。同时，可以得出从第一次校准后漂移d cali1持续恶化到阈值Dt所需的时间Tt1。之后从校准操作结束后开始计时，直到快到达到恶化阈值的时间Tt1时，再次执行校准操作，如图3F所示，可以沿已经飞过的作业航线执行非匀速运动，如进行长度为S cali的非匀速运动
在完成校准操作后，无人机可以继续由用户手动控制飞行作业；可选的，在确定用户结束飞行作业时，用户可以通过手动设置，控制无人机在作业航线的终点处执行校准操作。
本实施例中，计算距离Scali的方式可以有多种，例如可以是距离Scali加速时的加速度×加速时间 2+减速时的加速度×减速时间 2等，基于此，加速度的大小和加速时间可以确定无人机的校准操作对IMU和无人机姿态的修正量。
本实施例方法中，可以让用户十分便捷地获得一套能够保证IMU精度的航线数据，不需要进行额外设定或手动添加标定航线；针对不同规格的IMU器件以及不同的作业需求，可以智能获取在什么时候进行校准，校准航线多长等参数。本实施例在作业过程中设计的校准操作，能避免8字标定中对于周围环境的空旷程度的要求。
上述方法实施例可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为例，作为一个逻辑意义上的装置，是通过其所在图像处理的处理器将非易失性存储器中对应的计算机程序指令读取到内存中运行形成的。从硬件层面而言，如图4所示，为实施本实施例无人机的控制方法的无人机的控制装置400的一种硬件结构图，除了图4所示的处理器401、以及存储器402之外，实施例中用于实施本图像处理方法的无人机，通常根据该无人机的实际功能，还可以包括其他硬件，对此不再赘述。
本实施例中，所述处理器401执行所述计算机程序时实现以下步骤：
在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的 目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
在一些例子中，所述无人机执行校准操作，是基于与所述无人机通信的其他设备发送的消息触发执行的，和/或，是基于所述无人机沿所述作业航线作业的作业状态信息触发执行的。
在一些例子中，所述无人机执行多次校准操作；其中，任意两组相邻校准操作之间的间隔时间和/或飞行距离相等。
在一些例子中，所述无人机执行多次校准操作；其中，无人机从所述作业航线的起点至首次校准操作之间的间隔时间，与相邻两次校准操作之间的间隔时间基本相同；和/或，无人机从所述作业航线的起点至首次校准操作之间的飞行距离，与相邻两次校准操作之间的飞行距离基本相同。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述作业航线上。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹的起点与终点均在同一位置。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹，包括：与沿所述作业航线作业时的航向同向的运动轨迹段；和/或，与沿所述作业航线作业时的航向反向的运动轨迹段。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹是直线。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段。
在一些例子中，所述无人机执行多次校准操作；其中，在每次执行校准操作中，所述无人机执行非匀速运动的加速度均大于预设加速度值。
在一些例子中，所述无人机执行多次校准操作；其中，各次校准操作中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。
在一些例子中，所述无人机执行所述校准操作时，所述无人机的一个或多个飞行参数，是用户设置的。
在一些例子中，所述作业航线是响应于用户实时遥控操作而产生的作业航线；和/或，所述作业航线是所述无人机在沿作业航线执行作业操作之前生成的航线。
在一些例子中，还包括：在无人机沿作业航线执行作业操作之前，获取作业航线；所述作业航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿作业航线执行作业操作的过程中，在到达所述目标航点时中断所述作业操作并执行校准操作。
在一些例子中，在无人机沿所述作业航线执行作业操作之前，还包括：在所述作业航线的起点处执行第一校准操作，所述第一校准操作包括执行非匀速运；和/或，在无人机沿所述作业航线执行作业操作之后，还包括：在所述作业航线的终点处执行第二校准操作，所述第二校准操作包括执行非匀速运动。
在一些例子中，在控制所述无人机在所述作业航线的目标航点中断所述作业操作的步骤之前，还包括：向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述校准操作；和/或，还包括：在所述控制所述无人机执行校准操作的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述校准操作。
在一些例子中，所述校准操作用于对惯性测量单元采集的数据进行校准。
在一些例子中，还包括：
获取惯性测量单元在所述无人机执行所述校准操作的过程中采集的运动数据；
将所述运动数据与所述无人机执行所述校准操作中的基准运动数据进行比较，得到所述惯性测量单元的误差信息；
基于所述误差信息校准所述惯性测量单元采集的数据。
在另一实施例中，所述处理器401执行所述计算机程序时实现以下步骤：
控制所述无人机沿着航线运动，基于无人机搭载的采集装置依次采集多帧环境信息；
获取无人机的第一位姿传感器的第一位姿信息，所述第一位姿信息用于确定采集装置在采集多帧所述环境信息时的采样位姿信息；
控制所述无人机到达所述航线的目标位置点时执行非匀速运动，并在所述非匀速运动过程中，获取所述第一位姿传感器的第二位姿信息和第二位姿传感器的第三位姿信息，所述第一位姿传感器和所述第二位姿传感器的类型不同；
基于所述第二位姿信息和所述第三位姿信息确定所述第一位姿传感器的位姿测量偏差，所述位姿测量偏差用于修正所述第一位姿信息。
在一些例子中，执行所述非匀速运动时所述无人机的轨迹与所述航线全部或者部分重合。
在一些例子中，在所述执行所述非匀速运动时，控制所述无人机暂停采集所述环境信息。
在一些例子中，所述执行所述非匀速运动的轨迹是预先设置的，在完成所述非匀速运动后，控制所述无人机继续采集所述环境信息。
在一些例子中，所述第一位姿传感器为惯性测量单元，所述第二位姿传感器基于GPS信息确定所述无人机的位置。
在一些例子中，所述环境信息包括所述无人机飞行过程中下方区域的影像信息，所述第一位姿信息用于将所述多帧所述影像信息进行合成处理。
在一些例子中，所述非匀速运动，是基于与所述无人机通信的其他设备发送的消息触发执行的，和/或，是基于所述无人机沿所述作业航线作业的作业状态信息触发执行的。
在一些例子中，所述无人机执行多次校准操作所述非匀速运动；其中，任意两组相邻校准操作所述非匀速运动之间的间隔时间和/或飞行距离相等。
在一些例子中，所述无人机执行多次校准操作所述非匀速运动；其中，无人机从所述作业航线的起点至首次校准操作所述非匀速运动之间的间隔时间，与相邻两次校准操作所述非匀速运动之间的间隔时间基本相同；和/或，
无人机从所述作业航线的起点至首次校准操作所述非匀速运动之间的飞行距离，与相邻两次校准操作所述非匀速运动之间的飞行距离基本相同。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述作业航线上。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹的起点与终点均在同一位置。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹，包括：所述作业航线作业时的航向同向的运动轨迹段；和/或与沿所述作业航线作业时的航向反向的运动轨迹段。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹是直线。
在一些例子中，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段。
在一些例子中，所述无人机执行多次校准操作非匀速运动；其中，在每次执行校准操作非匀速运动中，所述无人机执行非匀速运动的加速度均大于预设加速度值。
在一些例子中，所述无人机执行多次校准操作非匀速运动；其中，各次校准操作非匀速运动中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。
在一些例子中，所述无人机执行所述校准操作非匀速运动时，所述无人机的一个或多个飞行参数，是用户设置的。
在一些例子中，所述作业航线是响应于用户实时遥控操作而产生的作业航线；和/或，所述作业航线是所述无人机在沿作业航线执行匀速作业操作之前生成的航线。
在一些例子中，还包括：在无人机沿作业航线执行匀速作业操作之前，获取作业航线；所述作业航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿作业航线执行匀速作业操作的过程中，在到达所述目标航点时中断所述匀速作业操作并执行校准操作非匀速运动。
在一些例子中，在无人机沿所述作业航线执行匀速作业操作之前，还包括：在所述作业航线的起点处执行第一校准操作非匀速运动，所述第一校准操作非匀速运动包括执行非匀速运动；和/或，在无人机沿所述作业航线执行匀速作业操作之后，还包括：在所述作业航线的终点处执行第二校准操作非匀速运动，所述第二校准操作非匀速运动包括执行非匀速运动。
在一些例子中，在控制所述无人机在所述作业航线的目标航点中断所述匀速作业操作的步骤之前，还包括：
向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述校准操作非匀速运动；
在一些例子中，还包括：在所述控制所述无人机执行校准操作非匀速运动的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述校准操作非匀速运动。
在另一实施例中，所述处理器401执行所述计算机程序时实现以下步骤：
在无人机沿作业航线沿作业航线执行作业操作的过程中，控制所述无人机的惯性测量单元采集第一位姿信息；
控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
在执行所述校准操作的过程中，控制所述无人机的所述惯性测量单元采集第二位姿信息，所述第二位姿信息用于矫正所述第一位姿信息；
在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
如图5所示，本实施例还提供一种无人机500，包括：
运动传感器510，用于测量无人机的运动数据；
动力组件520，用于为所述无人机本体提供动力；
以及前述实施例所述的无人机的控制装置400。
本说明书实施例还提供一种计算机可读存储介质，所述可读存储介质上存储有若干计算机指令，所述计算机指令被执行时实任一实施例所述无人机的控制方法的步骤。
本说明书实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……” 限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (43)

  1. 一种无人机的控制方法，其特征在于，所述方法包括：
    控制所述无人机沿着航线运动，基于无人机搭载的采集装置依次采集多帧环境信息；
    获取无人机的第一位姿传感器的第一位姿信息，所述第一位姿信息用于确定采集装置在采集多帧所述环境信息时的采样位姿信息；
    控制所述无人机到达所述航线的目标位置点时执行非匀速运动，并在所述非匀速运动过程中，获取所述第一位姿传感器的第二位姿信息和第二位姿传感器的第三位姿信息，所述第一位姿传感器和所述第二位姿传感器的类型不同；
    基于所述第二位姿信息和所述第三位姿信息确定所述第一位姿传感器的位姿测量偏差，所述位姿测量偏差用于修正所述第一位姿信息。
  2. 根据权利要求1所述的方法，其特征在于，执行所述非匀速运动时所述无人机的轨迹与所述航线全部或者部分重合。
  3. 根据权利要求1所述的方法，其特征在于，在所述执行所述非匀速运动时，控制所述无人机暂停采集所述环境信息。
  4. 根据权利要求3所述的方法，其特征在于，所述执行所述非匀速运动的轨迹是预先设置的，在完成所述非匀速运动后，控制所述无人机继续采集所述环境信息。
  5. 根据权利要求1所述的方法，其特征在于，所述第一位姿传感器为惯性测量单元，所述第二位姿传感器基于GPS信息确定所述无人机的位置。
  6. 根据权利要求1所述的方法，其特征在于，所述环境信息包括所述无人机飞行过程中下方区域的影像信息，所述第一位姿信息用于将所述多帧所述影像信息进行合成处理。
  7. 根据权利要求1所述的方法，其特征在于，所述非匀速运动，是基于与所述无人机通信的其他设备发送的消息触发执行的，和/或，是基于所述无人机沿所述航线作业的作业状态信息触发执行的。
  8. 根据权利要求1所述的方法，其特征在于，所述无人机执行多次所述非匀速运动；其中，任意两组相邻所述非匀速运动之间的间隔时间和/或飞行距离相等。
  9. 根据权利要求1所述的方法，其特征在于，所述无人机执行多次所述非匀速运动；其中，
    无人机从所述航线的起点至首次所述非匀速运动之间的间隔时间，与相邻两次所 述非匀速运动之间的间隔时间基本相同；和/或，
    无人机从所述航线的起点至首次所述非匀速运动之间的飞行距离，与相邻两次所述非匀速运动之间的飞行距离基本相同。
  10. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述航线上。
  11. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹的起点与终点均在同一位置。
  12. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹，包括：
    与沿所述航线作业时的航向同向的运动轨迹段；和/或
    与沿所述航线作业时的航向反向的运动轨迹段。
  13. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹是直线。
  14. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述航线的切向，在所述目标航点前后的所述航线上选取的航线段。
  15. 根据权利要求1所述的方法，其特征在于，所述无人机执行多次非匀速运动；其中，在每次执行非匀速运动中，所述无人机执行非匀速运动的加速度均大于预设加速度值。
  16. 根据权利要求1所述的方法，其特征在于，所述无人机执行多次非匀速运动；其中，各次非匀速运动中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。
  17. 根据权利要求1所述的方法，其特征在于，所述无人机执行所述非匀速运动时，所述无人机的一个或多个飞行参数，是用户设置的。
  18. 根据权利要求1所述的方法，其特征在于，所述航线是响应于用户实时遥控操作而产生的航线；和/或，所述航线是所述无人机在沿航线执行作业操作之前生成的航线。
  19. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在无人机沿航线执行作业操作之前，获取航线；所述航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿航线执行作业操作的过程中，在到达所述目标航点时中断所述作业操作并执行非匀速运动。
  20. 根据权利要求1所述的方法，其特征在于，
    在无人机沿所述航线执行作业操作之前，所述方法还包括：在所述航线的起点处执行第一非匀速运动，所述第一非匀速运动包括执行非匀速运动；和/或，
    在无人机沿所述航线执行作业操作之后，所述方法还包括：在所述航线的终点处执行第二非匀速运动，所述第二非匀速运动包括执行非匀速运动。
  21. 根据权利要求19所述的方法，其特征在于，在控制所述无人机在所述航线的目标航点中断所述作业操作的步骤之前，所述方法还包括：
    向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述非匀速运动；
    和/或，
    所述方法还包括：
    在所述控制所述无人机执行非匀速运动的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述非匀速运动。
  22. 一种无人机的控制方法，其特征在于，所述方法包括：
    在无人机沿作业航线执行作业操作的过程中，控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
    在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
  23. 根据权利要求22所述的方法，其特征在于，所述无人机执行校准操作，是基于与所述无人机通信的其他设备发送的消息触发执行的，和/或，是基于所述无人机沿所述作业航线作业的作业状态信息触发执行的。
  24. 根据权利要求22所述的方法，其特征在于，所述无人机执行多次校准操作；其中，任意两组相邻校准操作之间的间隔时间和/或飞行距离相等。
  25. 根据权利要求22所述的方法，其特征在于，所述无人机执行多次校准操作；其中，
    无人机从所述作业航线的起点至首次校准操作之间的间隔时间，与相邻两次校准操作之间的间隔时间基本相同；和/或，
    无人机从所述作业航线的起点至首次校准操作之间的飞行距离，与相邻两次校准操作之间的飞行距离基本相同。
  26. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹的起点与终点，均处于所述作业航线上。
  27. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹的起点与终点均在同一位置。
  28. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹，包括：
    与沿所述作业航线作业时的航向同向的运动轨迹段；和/或
    与沿所述作业航线作业时的航向反向的运动轨迹段。
  29. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹是直线。
  30. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述非匀速运动的运动轨迹，是基于参考航线确定的；所述参考航线，是基于所述作业航线的切向，在所述目标航点前后的所述作业航线上选取的航线段。
  31. 根据权利要求22所述的方法，其特征在于，所述无人机执行多次校准操作；其中，在每次执行校准操作中，所述无人机执行非匀速运动的加速度均大于预设加速度值。
  32. 根据权利要求22所述的方法，其特征在于，所述无人机执行多次校准操作；其中，各次校准操作中无人机的如下任一飞行参数基本相同：运行轨迹的形态、飞行距离、飞行时间或加速度。
  33. 根据权利要求22所述的方法，其特征在于，所述无人机执行所述校准操作时，所述无人机的一个或多个飞行参数，是用户设置的。
  34. 根据权利要求22所述的方法，其特征在于，所述作业航线是响应于用户实时遥控操作而产生的作业航线；和/或，所述作业航线是所述无人机在沿作业航线执行作业操作之前生成的航线。
  35. 根据权利要求22所述的方法，其特征在于，所述方法还包括：
    在无人机沿作业航线执行作业操作之前，获取作业航线；所述作业航线中标记有至少一个所述目标航点，所述目标航点用于指示所述无人机在沿作业航线执行作业操作的过程中，在到达所述目标航点时中断所述作业操作并执行校准操作。
  36. 根据权利要求22所述的方法，其特征在于，
    在无人机沿所述作业航线执行作业操作之前，所述方法还包括：在所述作业航线的起点处执行第一校准操作，所述第一校准操作包括执行非匀速运动；和/或，
    在无人机沿所述作业航线执行作业操作之后，所述方法还包括：在所述作业航线的终点处执行第二校准操作，所述第二校准操作包括执行非匀速运动。
  37. 根据权利要求22所述的方法，其特征在于，在控制所述无人机在所述作业航线的目标航点中断所述作业操作的步骤之前，所述方法还包括：
    向与所述无人机通信的其他设备发送第一提示消息，以提醒用户确定是否由无人机执行所述校准操作；
    和/或，
    所述方法还包括：
    在所述控制所述无人机执行校准操作的过程中，向与所述无人机通信的其他设备发送第二提示消息，以提醒用户所述无人机在执行所述校准操作。
  38. 根据权利要求22所述的方法，其特征在于，所述校准操作用于对惯性测量单元采集的数据进行校准。
  39. 根据权利要求38所述的方法，其特征在于，所述方法还包括：
    获取惯性测量单元在所述无人机执行所述校准操作的过程中采集的运动数据；
    将所述运动数据与所述无人机执行所述校准操作中的基准运动数据进行比较，得到所述惯性测量单元的误差信息；
    基于所述误差信息校准所述惯性测量单元采集的数据。
  40. 一种无人机的控制方法，其特征在于，所述方法包括：
    在无人机沿作业航线沿作业航线执行作业操作的过程中，控制所述无人机的惯性测量单元采集第一位姿信息；
    控制所述无人机在所述作业航线的目标航点中断所述作业操作，并控制所述无人机执行校准操作，其中，所述校准操作包括执行非匀速运动，且，所述无人机执行所述非匀速运动的运动轨迹与所述作业航线至少部分重合；
    在执行所述校准操作的过程中，控制所述无人机的所述惯性测量单元采集第二位姿信息，所述第二位姿信息用于矫正所述第一位姿信息；
    在完成所述校准操作后，控制所述无人机从所述目标航点出发沿所述作业航线继续执行所述作业操作。
  41. 一种无人机的控制装置，其特征在于，所述无人机的控制装置包括处理器、存储器、存储在所述存储器上可被所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现权利要求1至40任一所述方法的步骤。
  42. 一种无人机，其特征在于，所述无人机包括：
    运动传感器，用于测量无人机的运动数据；
    动力组件，用于为所述无人机本体提供动力；
    以及权利要求41所述的无人机的控制装置。
  43. 一种计算机可读存储介质，其特征在于，所述可读存储介质上存储有若干计算机指令，所述计算机指令被执行时实现权利要求1至40任一项所述方法的步骤。
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