CN117724505A - Flight control method, aircraft and computer-readable storage medium - Google Patents
Flight control method, aircraft and computer-readable storage medium Download PDFInfo
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Abstract
本申请公开了一种飞行控制方法、飞行器及计算机可读存储介质，其中，法包括：获取飞行器的航线对应的多个航点信息；若检测到飞行器对应的到达航点发生变化，获取所述飞行器当前的航点数据；基于所述航点信息更新所述航点数据，以获得目标航点数据；基于所述目标航点数据调节所述飞行器的飞行。本申请能够及时更新飞行器的航点数据，并根据更新后的航点数据调节飞行器的飞行，以避免飞行器持续偏离预定的航线，提高飞行器的飞行效率以及安全性。
This application discloses a flight control method, an aircraft and a computer-readable storage medium. The method includes: obtaining multiple waypoint information corresponding to the aircraft's route; if it is detected that the arrival waypoint corresponding to the aircraft changes, obtaining the said Current waypoint data of the aircraft; updating the waypoint data based on the waypoint information to obtain target waypoint data; and adjusting the flight of the aircraft based on the target waypoint data. This application can update the aircraft's waypoint data in a timely manner and adjust the flight of the aircraft based on the updated waypoint data to prevent the aircraft from continuing to deviate from the scheduled route and improve the flight efficiency and safety of the aircraft.
Description
Technical Field
The present disclosure relates to the field of aircraft technologies, and in particular, to a flight control method, an aircraft, and a computer readable storage medium.
Background
The waypoints are a destination for the flight of the aircraft, and the flight of the aircraft is controlled to reach a plurality of waypoints to finish one flight task. At present, the method for controlling the flying direction of the aircraft to the waypoint by the flight control system is that after the position information of the waypoint is determined, the flight control system controls the aircraft to fly to the waypoint, if the aircraft is interfered in the flight process and deviates from the route, the waypoint cannot be updated in time, so that the deviation from the preset route is larger, and the execution flight efficiency and the safety of the aircraft are affected.
The foregoing is merely provided to facilitate an understanding of the principles of the present application and is not admitted to be prior art.
Disclosure of Invention
The main purpose of the application is to provide a flight control method, an aircraft and a computer readable storage medium, and aims to solve the technical problems that the flight efficiency and the safety of the aircraft execution are affected due to the fact that the waypoints cannot be updated in time in the flight process of the existing aircraft.
To achieve the above object, the present application provides a flight control method including the steps of:
acquiring a plurality of waypoint information corresponding to a route of an aircraft;
if the change of the arrival waypoint corresponding to the aircraft is detected, acquiring current waypoint data of the aircraft;
updating the waypoint data based on the waypoint information to obtain a target waypoint data;
and adjusting the flight of the aircraft based on the target waypoint data.
Further, the step of updating the waypoint data based on the waypoint information to obtain a target waypoint data comprises:
acquiring current position information corresponding to the aircraft;
and updating the waypoint data based on the waypoint information and the current position information to obtain target waypoint data.
Further, the waypoint data includes a previous waypoint, a target waypoint, and a next waypoint, and the step of updating the waypoint data based on the waypoint information and the current location information to obtain the target waypoint data includes:
acquiring a first direction vector between the previous waypoint and the target waypoint and a second direction vector between the previous waypoint and the current position information;
if the aircraft meets a first preset condition based on the first direction vector and the second direction vector, acquiring a first distance between the previous waypoint and the target waypoint;
and if the first distance is greater than a first preset threshold, taking the target navigation point as a next navigation point of the target navigation point data, taking the last navigation point as the target navigation point of the target navigation point data, and taking the current position information as the position information of the last navigation point of the target navigation point data.
Further, the waypoint data includes a previous waypoint, a target waypoint, and a next waypoint, and the step of updating the waypoint data based on the waypoint information and the current location information to obtain the target waypoint data includes:
Acquiring a third direction vector between the previous waypoint and the target waypoint and a fourth direction vector between the current position information and the target waypoint;
and if the aircraft meets the second preset condition based on the third direction vector and the fourth direction vector, taking the current position information as the position information of the target navigation point in the target navigation point data.
Further, the waypoint data includes a previous waypoint, a target waypoint, and a next waypoint, and the step of updating the waypoint data based on the waypoint information and the current location information to obtain the target waypoint data includes:
determining a route point with the minimum distance between the route and the current position information, and acquiring a second distance between the route point and the current position information;
and if the second distance is larger than a second preset threshold value, taking the target waypoint as the next waypoint of the target waypoint data, taking the route point as the target waypoint of the target waypoint data, and taking the current position information as the position information of the last waypoint in the target waypoint data.
Further, after the step of adjusting the flight of the aircraft based on the target waypoint data, further comprises:
Determining a first time parameter corresponding to the forward direction of the aircraft, a second time parameter corresponding to the longitudinal direction and a third time parameter corresponding to the vertical direction based on the current flight control parameters of the aircraft;
and determining a guidance instruction of the aircraft based on the first time parameter, the second time parameter and the third time parameter, and controlling the aircraft based on the guidance instruction.
Further, the step of determining the first time parameter corresponding to the forward direction, the second time parameter corresponding to the longitudinal direction and the third time parameter corresponding to the vertical direction of the aircraft based on the current flight control parameter of the aircraft comprises:
acquiring the current acceleration, the current speed, the maximum acceleration and the maximum jerk of the aircraft;
and respectively determining the first time parameter, the second time parameter and the third time parameter based on the current acceleration, the current speed, the maximum acceleration and the maximum jerk, wherein the first time parameter comprises a first jerk time, a first average acceleration time and a first minus acceleration time, the second time parameter comprises a second jerk time, a second average acceleration time and a second minus acceleration time, and the third time parameter comprises a third jerk time, a third average acceleration time and a third minus acceleration time.
Further, the step of determining the guidance command for the aircraft based on the first time parameter, the second time parameter, and the third time parameter includes:
determining a longest acceleration duration based on the first time parameter, the second time parameter, and the third time parameter;
determining the fourth time parameter corresponding to the forward direction, the fifth time parameter corresponding to the longitudinal direction and the sixth time parameter corresponding to the vertical direction based on the longest acceleration duration;
a guidance command for the aircraft is determined based on the fourth time parameter, the fifth time parameter, and the sixth time parameter.
Further, the step of determining the guidance command for the aircraft based on the fourth time parameter, the fifth time parameter, and the sixth time parameter includes:
respectively determining a target jerk, a target acceleration and a target speed corresponding to the aircraft based on the fourth time parameter, the fifth time parameter and the sixth time parameter;
and generating guidance instructions corresponding to the current position information, the target jerk, the target acceleration and the target speed of the aircraft.
Further, the step of determining the longest acceleration duration based on the first time parameter, the second time parameter, and the third time parameter includes:
determining a first total duration of the first time parameter, a second total duration of the second time parameter and a third total duration of the third time parameter;
and taking the maximum value of the first total duration, the second total duration and the third total duration as the longest acceleration duration.
Further, the step of determining the fourth time parameter corresponding to the forward direction, the fifth time parameter corresponding to the longitudinal direction, and the sixth time parameter corresponding to the vertical direction based on the longest acceleration duration includes:
acquiring a target time parameter corresponding to the longest acceleration duration;
based on the longest acceleration duration, adjusting the other two time parameters except the target time parameter in the first time parameter, the second time parameter and the third time parameter to obtain an adjusted time parameter;
and respectively determining the fourth time parameter, the fifth time parameter and the sixth time parameter based on the target time parameter and the adjusted time parameter.
Further, before the step of acquiring the current navigation point data of the aircraft if the change of the arrival navigation point in the aircraft is detected, the flight control method further includes:
Acquiring current position information of a current position of an aircraft in a northeast day coordinate system, and determining a space distance based on the current position information and target position information of a target waypoint in the waypoint data in the northeast day coordinate system;
and if the space distance is smaller than a third preset threshold value, determining that the arrival waypoint corresponding to the aircraft is detected to change, and setting the value of the arrival waypoint as the sequence number of the target waypoint.
Further, before the step of acquiring the current navigation point data of the aircraft if the change of the arrival point corresponding to the aircraft is detected, the flight control method further includes:
when the aircraft executes a flight task corresponding to the waypoint information, setting a value of an arrival waypoint as a preset value, setting the position information of a previous waypoint as the current position information of the aircraft, setting the position information of a target waypoint as the position information of a first waypoint in each waypoint, and setting the position information of a next waypoint as the position information of the first waypoint.
Further, before the step of setting the value of the arrival waypoint to a preset value when the aircraft executes the flight task corresponding to each waypoint, the flight control method further includes:
Determining geocentric coordinate information in a geocentric coordinate system corresponding to each waypoint based on longitude and latitude information and altitude information of the waypoint corresponding to the aircraft;
and determining the position information of each navigation point in the northeast day coordinate system based on the coordinate information of the preset reference point in the geocentric coordinate system and each geocentric coordinate information.
Further, after the step of setting the value of the arrival at the waypoint to a preset value when the aircraft executes the flight task corresponding to each waypoint, the flight control method further includes:
acquiring a value reaching a waypoint in real time;
if the value of the arrival point is a preset value, taking the current position information of the aircraft as the position information of the last navigation point in the navigation point data;
if the value of the arrival waypoint is not the preset value, acquiring a first minimum value between the value of the arrival waypoint and the number of the waypoint, and taking the position information of the waypoint corresponding to the first minimum value as the position information of the last waypoint in the waypoint data;
acquiring a second minimum value between the sequence number of the next navigation point corresponding to the arrival navigation point and the number of navigation points, and a third minimum value between the sequence number of the next two navigation points corresponding to the arrival navigation point and the number of navigation points;
and taking the position information of the navigation point corresponding to the second minimum value as the position information of the target navigation point in the navigation point data, and taking the position information of the navigation point corresponding to the third minimum value as the position information of the next navigation point in the navigation point data.
In addition, to achieve the above object, the present application also provides an aircraft, including:
the first acquisition module is used for acquiring a plurality of navigation point information corresponding to a route of the aircraft;
the second acquisition module is used for acquiring current waypoint data of the aircraft if detecting that the corresponding arrival point of the aircraft changes;
the updating module is used for updating the navigation point data based on the navigation point information so as to obtain target navigation point data;
and the adjusting module is used for adjusting the flight of the aircraft based on the target navigation point data.
In addition, in order to achieve the above object, the present application also provides a computer-readable storage medium having stored thereon a flight control program which, when executed by a processor, implements the steps of the flight control method as described above.
The method comprises the steps of obtaining a plurality of waypoint information corresponding to a route of an aircraft; then, if the change of the arrival waypoints corresponding to the aircraft is detected, acquiring current waypoint data of the aircraft; updating the waypoint data based on the waypoint information to obtain target waypoint data; and then, the flight of the aircraft is regulated based on the target navigation point data, so that the navigation point data of the aircraft can be updated in time, and the flight direction of the aircraft is regulated according to the updated navigation point data, so that the aircraft is prevented from continuously deviating from a preset route, and the flight efficiency and the safety of the aircraft are improved.
Drawings
FIG. 1 is a schematic illustration of the architecture of an aircraft in a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of the flight control method of the present application;
FIG. 3 is a schematic diagram of an air route in an embodiment of a flight control method of the present application;
FIG. 4 is a schematic diagram of an airline in another embodiment of the flight control method of the present application;
FIG. 5 is a schematic illustration of an airline in yet another embodiment of the flight control method of the present application;
fig. 6 is a schematic diagram of functional modules of an embodiment of the aircraft of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1, fig. 1 is a schematic structural diagram of an aircraft in a hardware running environment according to an embodiment of the present application. As shown in fig. 1, an aircraft according to an embodiment of the present application may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the aircraft may also include cameras, RF (Radio Frequency) circuits, sensors, audio circuits, wiFi modules, and the like. Among them, sensors such as light sensor, motion sensor and others are not described herein.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not limiting of the aircraft and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a flight control program may be included in the memory 1005, which is a type of computer storage medium.
In the aircraft shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and is in data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke flight control programs stored in the memory 1005.
In this embodiment, an aircraft includes: the system comprises a memory 1005, a processor 1001 and a flight control program stored in the memory 1005 and capable of running on the processor 1001, wherein the processor 1001 executes the steps of the flight control method in the following embodiments when calling the flight control program stored in the memory 1005.
The present application further provides a flight control method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the flight control method of the present application.
The flight control method comprises the following steps:
step S101, acquiring a plurality of waypoint information corresponding to a route of an aircraft;
step S102, if the change of the arrival waypoints corresponding to the aircraft is detected, current waypoint data of the aircraft is obtained;
step S103, updating the waypoint data based on the waypoint information to obtain target waypoint data;
step S104, adjusting the flight of the aircraft based on the target navigation point data.
In this embodiment, the plurality of waypoint information corresponding to the route of the aircraft may be set by the user in advance, or may be generated in real time during the flight.
The aircraft numbers each waypoint in the route according to the sequence of flight arrival to obtain the serial number of each waypoint, for example, the serial number of the first waypoint to be arrived is 1, the serial numbers of other waypoints are analogized in sequence, the waypoint information comprises the serial number of each waypoint and coordinate information, and the coordinate information of each waypoint is the coordinate of each waypoint in the northeast coordinate system.
The method comprises the steps that parameters such as waypoint data and arrival waypoints are preset in an aircraft, the waypoint data comprise a previous waypoint, a target waypoint and a next waypoint, when the aircraft arrives at a certain waypoint based on the waypoint data, the value of the arrival waypoint is set to be a serial number of the waypoint, the condition that the value of the arrival waypoint changes exists, and the aircraft monitors whether the value of the arrival waypoint changes in real time.
If the change of the arrival waypoint corresponding to the aircraft is detected, current waypoint data of the aircraft is acquired, specifically, the last waypoint, the target waypoint and the next waypoint in the waypoint data are acquired, the coordinates of the last waypoint, the coordinates of the target waypoint and the coordinates of the next waypoint are acquired based on the waypoint information, the waypoint data are updated based on the waypoint information or the coordinates of the last waypoint, the coordinates of the target waypoint and the coordinates of the next waypoint, and the target waypoint data are acquired, namely, the updated waypoint data are used as the target waypoint data.
And then, adjusting the flight of the aircraft based on the target navigation point data to realize the deviation correction of the aircraft, specifically, determining the target flight direction according to the coordinates of the last navigation point in the target navigation point data, the coordinates of the target navigation point and the coordinates of the next navigation point, and adjusting the flight direction of the aircraft according to the relative position relation between the target flight direction and real time so as to enable the aircraft to fly along the corresponding navigation line of each navigation point.
Further, before step S102, the flight control method further includes:
and a step a of setting the value of the arrival point as a preset value, setting the position information of the previous point as the current position information of the aircraft, setting the position information of the target point as the position information of the first point in each point, and setting the position information of the next point as the position information of the first point when the aircraft executes the flight task corresponding to the point information.
When the aircraft executes the flight tasks corresponding to the waypoints, the aircraft is initialized firstly, the number of the waypoints of the uploaded waypoints is acquired, the value of the arrived waypoints is set to be a preset value, the position information of the last waypoint is set to be the current position information of the aircraft, the position information of the target waypoint is set to be the position information of the first waypoint in the waypoints, and the position information of the next waypoint is set to be the position information of the first waypoint, generally, the preset value is 0, and the aircraft is initialized so that the aircraft can update the waypoint data according to the arrived waypoints and the waypoint data, the aircraft is prevented from continuously deviating from a preset route, and the flight efficiency and the safety of the aircraft are improved.
Further, before step a, the flight control method further includes:
step b, determining geodetic coordinate information in a geodetic coordinate system corresponding to each waypoint based on longitude and latitude information and altitude information of the waypoint corresponding to the aircraft;
and c, determining the position information of each navigation point in the northeast day coordinate system based on the coordinate information of the preset reference point in the geocentric coordinate system and each geocentric coordinate information.
When each waypoint is acquired, longitude and latitude information and altitude information of each waypoint can be acquired first, and then the geocentric coordinate information in the geocentric coordinate system corresponding to each waypoint is determined according to the longitude and latitude information and the altitude information, specifically, the formula is as follows:
X＝(N+H)cos(λ)cos(μ)；
Y＝(N+H)cos(λ)sin(μ)；
Z＝(N(1-e 2 )+H)sin(λ)；
where a is the earth long half axis, b is the earth short half axis, e is the eccentricity of the WGS84 (World Geodetic System ) coordinate system, N is the radius of curvature of the circle of the mortise, λ represents the latitude of the waypoint, μ is the longitude of the waypoint, and H is the altitude of the waypoint. XYZ are coordinate values of the geocentric coordinate system, respectively.
Then, acquiring coordinate information of a preset reference point in a geocentric coordinate system, and determining position information of each navigation point in a northeast day coordinate system based on the coordinate information of the preset reference point in the geocentric coordinate system and each geocentric coordinate information, wherein the formula is as follows:
wherein x, y and z are coordinate information of the navigation points in a geocentric coordinate system, and x is the coordinate information of the navigation points in the geocentric coordinate system 0 、y 0 、z 0 For the coordinate information of the preset reference point in the geocentric coordinate system, deltax, deltay and Deltaz are coordinate differences, lambda 0 Represents the latitude, mu of a preset datum point 0 The longitude of the preset reference point E, N, U is the coordinates (position information) of the waypoint in the northeast day coordinate system, respectively.
The position information of each waypoint in the northeast coordinate system is accurately obtained, so that the aircraft can update the waypoint data according to the position information of the waypoint, the aircraft is prevented from continuously deviating from a preset route, and the flight efficiency and the safety of the aircraft are improved.
Acquiring a plurality of waypoint information corresponding to a route of an aircraft; then, if the change of the arrival waypoints corresponding to the aircraft is detected, acquiring current waypoint data of the aircraft; updating the waypoint data based on the waypoint information to obtain target waypoint data; and then, the flight of the aircraft is regulated based on the target navigation point data, so that the navigation point data of the aircraft can be updated in time, and the flight of the aircraft is regulated according to the updated navigation point data, so that the aircraft is prevented from continuously deviating from a preset route, and the flight efficiency and the safety of the aircraft are improved.
Based on the first embodiment, a second embodiment of the flight control method of the present application is presented, including the whole content of the first embodiment, wherein step S103 includes:
step S201, current position information corresponding to the aircraft is obtained;
Step S202, updating the waypoint data based on the waypoint information and the current position information to obtain target waypoint data.
When current waypoint data of the aircraft are acquired, current position information corresponding to the aircraft, namely current position information of the aircraft, is acquired, wherein the current position information is coordinates of the current position of the aircraft in a northeast day coordinate system.
And then updating the navigation point data based on the navigation point information and the current position information to obtain target navigation point data, and updating the navigation point data based on the information of other navigation points except the navigation point data in the navigation point information and the current position information or the coordinates of the previous navigation point, the coordinates of the target navigation point and the coordinates of the next navigation point to obtain target navigation point data, wherein the updated navigation point data is used as the target navigation point data.
The method comprises the steps of obtaining the current position information corresponding to the aircraft, updating the waypoint data based on the waypoint information and the current position information to obtain target waypoint data, timely updating the waypoint data of the aircraft according to the current position information, and adjusting the flight direction of the aircraft according to the updated waypoint data so as to prevent the aircraft from continuously deviating from a preset route, and further improving the flight efficiency and safety of the aircraft.
Based on the first embodiment, a third embodiment of the flight control method of the present application is presented, including the whole content of the second embodiment, wherein step S202 includes:
step S301, acquiring a first direction vector between the previous waypoint and the target waypoint, and a second direction vector between the previous waypoint and the current location information;
specifically, the waypoint data comprises a previous waypoint, a target waypoint and a next waypoint, the aircraft firstly obtains the position information of the previous waypoint, the position information of the target waypoint and the current position information of the aircraft, wherein each position information is a coordinate in a northeast coordinate system, the coordinate information in the northeast coordinate system can be obtained through conversion of longitude and latitude and altitude of the waypoint, then a first direction vector is obtained through the position information of the previous waypoint and the position information of the target waypoint, the first direction vector is a direction vector from the previous waypoint to the target waypoint, a second direction vector is obtained through the position information of the previous waypoint and the current position information, the second direction vector is a direction vector from the previous waypoint to the current position, and in reference to fig. 3, pre is the previous waypoint, target waypoint, next is the next waypoint, current is the current position of the aircraft, a is the first direction vector, and b is the second direction vector.
Step S302, if it is determined that the aircraft meets a first preset condition based on the first direction vector and the second direction vector, a first distance between the previous waypoint and the target waypoint is obtained;
when a first direction vector and a second direction vector are obtained, judging whether the aircraft meets a first preset condition or not based on the first direction vector and the second direction vector, specifically, calculating a first point multiplication result between the first direction vector and the second direction vector, if the first point multiplication result is smaller than zero, determining that the aircraft meets the first preset condition, and further obtaining a first distance between a previous waypoint and a target waypoint, wherein the first distance is obtained by calculating position information (coordinates) of the previous waypoint and position information (coordinates) of the target waypoint.
Step S303, if the first distance is greater than a first preset threshold, the target waypoint is taken as a next waypoint of the target waypoint data, a previous waypoint is taken as a target waypoint of the target waypoint data, and the current position information is taken as position information of a previous waypoint in the target waypoint data.
When the first distance is acquired, judging whether the first distance is larger than a first preset threshold value, if the first distance is larger than the first preset threshold value, determining that the current aircraft is not on a line between the last waypoint and the target waypoint and is far away from the last waypoint, taking the target waypoint as the next waypoint of the target waypoint data, taking the last waypoint as the target waypoint of the target waypoint data, taking the current position information as the position information of the last waypoint of the target waypoint data, so as to obtain the target waypoint data, and updating the waypoint data to realize timely updating of the waypoint and avoid the aircraft from continuously deviating from a preset route. The first preset threshold value can be set reasonably.
Acquiring a first direction vector between the previous waypoint and the target waypoint and a second direction vector between the previous waypoint and the current position information; then, if the aircraft is determined to meet a first preset condition based on the first direction vector and the second direction vector, a first distance between the previous waypoint and the target waypoint is acquired; and if the first distance is larger than a first preset threshold value, taking the target waypoint as a next waypoint of the target waypoint data, taking the last waypoint as the target waypoint of the target waypoint data, taking the current position information as the position information of the last waypoint in the target waypoint data, and timely updating the waypoint data when the current aircraft is not on a line between the last waypoint and the target waypoint and is far away from the last waypoint so as to enable the aircraft to fly to a preset route, avoid the aircraft from continuously deviating from the preset route, and further improve the flight efficiency and the safety of the aircraft.
Based on the second embodiment, a fourth embodiment of the flight control method of the present application is presented, including the whole content of the second embodiment, wherein step S103 includes:
Step S401, acquiring a third direction vector between the previous waypoint and the target waypoint, and a fourth direction vector between the current location information and the target waypoint;
step S402, if it is determined that the aircraft meets the second preset condition based on the third direction vector and the fourth direction vector, the current location information is used as the location information of the target waypoint in the target waypoint data.
Specifically, the waypoint data includes a previous waypoint, a target waypoint and a next waypoint, the aircraft firstly obtains the position information of the previous waypoint, the position information of the target waypoint and the current position information of the aircraft, wherein each position information is a coordinate in a northeast coordinate system, then a third direction vector is obtained through the position information of the previous waypoint and the position information of the target waypoint, the third direction vector is a direction vector from the previous waypoint to the target waypoint, a fourth direction vector is obtained through the current position information and the position information of the target waypoint, and the fourth direction vector is a direction vector from the current position of the fourth direction vector to the target waypoint, and referring to fig. 4, in which pre is the previous waypoint, target is the target waypoint, next is the next waypoint, current is the current position of the aircraft, a is the third direction vector, and b is the fourth direction vector.
When a third direction vector and a fourth direction vector are obtained, judging whether the aircraft meets a second preset condition or not based on the third direction vector and the fourth direction vector, specifically, calculating a second point multiplication result between the third direction vector and the fourth direction vector, if the second point multiplication result is smaller than zero, determining that the aircraft meets the second preset condition, at the moment, judging that the aircraft is not on a route corresponding to each waypoint and has flown over the target waypoint, further taking the current position information as the position information of the target waypoint in the target waypoint data, keeping the target waypoint unchanged from the next waypoint, and timely updating the waypoint data to avoid the aircraft from continuously deviating from the preset route.
It should be noted that, step S401 may be performed when the first preset condition is not satisfied by the aircraft or the first distance is less than or equal to the first preset threshold value, or step S301 may be performed when the second preset condition is not satisfied by the aircraft.
By acquiring a third direction vector between the previous waypoint and the target waypoint and a fourth direction vector between the current location information and the target waypoint; if the aircraft meets the second preset condition based on the third direction vector and the fourth direction vector, the current position information is used as the position information of the target waypoint in the target waypoint data, and the waypoint data are updated in time by not being on the route corresponding to each waypoint and flying over the target waypoint, so that the aircraft flies towards the preset route, the aircraft is prevented from continuously deviating from the preset route, and the flight efficiency and the safety of the aircraft are further improved.
Based on the second embodiment, a fifth embodiment of the flight control method of the present application is presented, including the whole content of the second embodiment, wherein step S103 includes:
step S501, determining a route point with the minimum distance between the route and the current position information, and acquiring a second distance between the route point and the current position information;
step S502, if the second distance is greater than the second preset threshold, using the target waypoint as the next waypoint of the target waypoint data, using the waypoint as the target waypoint of the target waypoint data, and using the current location information as the location information of the last waypoint in the target waypoint data.
Specifically, the waypoint data comprises a previous waypoint, a target waypoint and a next waypoint, the distance between the current position information and the previous, target and next waypoints in the waypoint data can be respectively determined, two waypoints closest to the current position information are determined according to the three waypoint distances, and then the shortest distance (second distance) from the current position information to the route between the two closest waypoints and the route point is determined according to the route between the two closest waypoints and the current position information.
And judging whether the second distance is larger than a second preset threshold value, if the second distance is larger than the second preset threshold value, taking the target waypoint as the next waypoint of the target waypoint data, taking the route point as the target waypoint of the target waypoint data, taking the current position information as the position information of the last waypoint in the target waypoint data, and avoiding the aircraft from continuously deviating from the preset route by updating the target waypoint data in time. Wherein, the second preset threshold value can be set reasonably. Referring to fig. 5, in fig. 5, pre is the previous waypoint, target is the target waypoint, next is the next waypoint, current is the current position of the aircraft, close_point is the waypoint, d is the second distance, and r is the second preset threshold.
However, the present design is not limited thereto, and in other embodiments, step S501 may be performed when the aircraft does not meet the first preset condition or the first distance is less than or equal to the first preset threshold; or, when the aircraft does not meet the second preset condition, executing step S501; or, when the second distance is less than or equal to the second preset threshold, step S301 or step S401 is performed. Step S401 may be performed when the first preset condition is not met by the aircraft or the first distance is less than or equal to the first preset threshold, step S501 may be performed when the second preset condition is not met by the aircraft, or step S501 may be performed when the first preset condition is not met by the aircraft or the first distance is less than or equal to the first preset threshold, and step S401 may be performed when the second distance is less than or equal to the second preset threshold, where, of course, step S301, step S401, and step S501 may be further reasonably configured according to other execution sequences.
If the aircraft does not meet the first preset condition or the first distance is less than or equal to the first preset threshold, the aircraft does not meet the second preset condition, and the second distance is less than or equal to the second preset threshold, the aircraft maintains the current waypoint data for flying.
Determining an airline point with the minimum distance between the airline and the current position information, and acquiring a second distance between the airline point and the current position information; and if the second distance is larger than a second preset threshold value, taking the target waypoint as the next waypoint of the target waypoint data, taking the route point as the target waypoint of the target waypoint data, and taking the current position information as the position information of the last waypoint in the target waypoint data. The flight point data are updated in time so that the aircraft flies towards the preset route, the aircraft is prevented from continuously deviating from the preset route, and the flight efficiency and the safety of the aircraft are further improved.
Based on the first embodiment, a sixth embodiment of the flight control method of the present application is provided, and after step S104, the flight control method further includes:
step S601, determining a first time parameter corresponding to the forward direction of the aircraft, a second time parameter corresponding to the longitudinal direction and a third time parameter corresponding to the vertical direction based on the current flight control parameters of the aircraft;
Step S602, determining a guidance command of the aircraft based on the first time parameter, the second time parameter and the third time parameter, and controlling the aircraft based on the guidance command.
The current flight control parameters of the aircraft comprise the current acceleration, the current speed, the maximum acceleration and the maximum jerk of the aircraft, and the forward direction, the longitudinal direction and the vertical direction are distributed in three directions after the aircraft adjusts the flight direction.
When the aircraft adjusts the flight direction or in the process of adjusting the flight direction, firstly acquiring current flight control parameters of the aircraft, and then respectively determining a first time parameter corresponding to the forward direction, a second time parameter corresponding to the longitudinal direction and a third time parameter corresponding to the vertical direction based on the acquired flight control parameters, wherein the step S601 specifically comprises:
step S6011, acquiring the current acceleration, the current speed, the maximum acceleration and the maximum jerk of the aircraft;
step S6012, based on the current acceleration, the current speed, the maximum acceleration, and the maximum jerk, determining the first time parameter, the second time parameter, and the third time parameter, respectively, where the first time parameter includes a first jerk time, a first average acceleration time, and a first decrease acceleration time, the second time parameter includes a second jerk time, a second average acceleration time, and a second decrease acceleration time, and the third time parameter includes a third jerk time, a third average acceleration time, and a third decrease acceleration time.
Acquiring current acceleration, current speed, maximum acceleration and maximum jerk of the aircraft during or during adjustment of the flight direction, anddetermining a first time parameter corresponding to the forward direction, a second time parameter corresponding to the longitudinal direction and a third time parameter corresponding to the vertical direction of the aircraft from the current acceleration, the current speed, the maximum acceleration and the maximum jerk of the aircraft, wherein jerk is a change value of acceleration, the first time parameter is taken as an example, and the first jerk time is the constant maximum jerk (J max ) Acceleration is carried out from a 0 The constant speed increasing duration time is the duration time that the jerk of the aircraft is zero and the acceleration of the aircraft is kept unchanged, and the first decreasing acceleration time is the duration time that the aircraft accelerates at a constant reverse maximum jerk until the acceleration is reduced to zero at a constant speed.
For example, for a first time parameter, the formula is as follows:
a max ＝a 0 +J max T 1 ；
wherein a is 0 For the current acceleration, v 0 A is the current speed, a max For maximum acceleration, J max For maximum jerk, T 1 For the first acceleration time, T 2 For the first average acceleration time, T 3 For a first reduced acceleration time, v T1 Is T 1 Speed of moment, v T2 Is T 2 Speed of moment, v T3 For maximum speed, i.e. T 3 Speed of time of day. The calculation manners of the second time parameter and the third time parameter are similar to those of the first time parameter, and are not repeated here.
Next, determining a guidance command of the aircraft based on the first time parameter, the second time parameter and the third time parameter, and controlling the aircraft based on the guidance command, wherein the guidance command is a speed control command of a flight control command of the aircraft, and when the first time parameter, the second time parameter and the third time parameter are acquired, the guidance command may be generated directly based on the first time parameter, the second time parameter and the third time parameter, or the first time parameter, the second time parameter and the third time parameter may be smoothed, and the guidance command may be generated according to the processed time parameters, specifically, the step S602 includes:
step S6021, determining a longest acceleration duration based on the first time parameter, the second time parameter, and the third time parameter;
Step S6022, determining the fourth time parameter corresponding to the forward direction, the fifth time parameter corresponding to the longitudinal direction, and the sixth time parameter corresponding to the vertical direction based on the longest acceleration duration;
step S6023, determining a guidance command for the aircraft based on the fourth time parameter, the fifth time parameter, and the sixth time parameter.
Specifically, the longest acceleration duration is determined based on the first time parameter, the second time parameter, and the third time parameter, and based on the longest acceleration duration, the longest acceleration duration is an acceleration duration with the largest total duration among the first time parameter, the second time parameter, and the third time parameter, specifically, the step S6021 includes:
step d, determining a first total duration of the first time parameter, a second total duration of the second time parameter and a third total duration of the third time parameter;
and e, taking the maximum value of the first total duration, the second total duration and the third total duration as the longest acceleration duration.
The method comprises the steps of firstly determining a first total time length of a first time parameter, a second total time length of a second time parameter and a third total time length of a third time parameter, for example, the first total time length=first acceleration time plus first average acceleration time plus first acceleration time minus first acceleration time, then taking the maximum value of the first total time length, the second total time length and the third total time length as the longest acceleration time length, determining a target time parameter corresponding to the longest acceleration time length, and further accurately determining the longest acceleration time length to accurately obtain the longest acceleration time length so as to improve the accuracy and safety of aircraft control.
Next, based on the longest acceleration duration, determining a fourth time parameter corresponding to the forward direction, a fifth time parameter corresponding to the longitudinal direction, and a sixth time parameter corresponding to the vertical direction, specifically, readjusting the duration of each time period in the first time parameter, the second time parameter, and the third time parameter according to the longest acceleration duration, to obtain the fourth time parameter, the fifth time parameter, and the sixth time parameter, where in step S6022 specifically includes:
step f, obtaining a target time parameter corresponding to the longest acceleration duration;
step g, based on the longest acceleration duration, adjusting the other two time parameters except the target time parameter in the first time parameter, the second time parameter and the third time parameter to obtain an adjusted time parameter;
and h, respectively determining the fourth time parameter, the fifth time parameter and the sixth time parameter based on the target time parameter and the adjusted time parameter.
Then, determining a target time parameter corresponding to the longest acceleration duration in the first time parameter, the second time parameter and the third time parameter, adjusting two other time parameters except the target time parameter in the first time parameter, the second time parameter and the third time parameter based on the longest acceleration duration to obtain an adjusted time parameter, and respectively determining a fourth time parameter, a fifth time parameter and a sixth time parameter based on the target time parameter and the adjusted time parameter, wherein the forward time parameter in the target time parameter and the adjusted time parameter is the fourth time parameter, the longitudinal time parameter is the fifth time parameter and the vertical time parameter is the sixth time parameter, so as to realize smoothing of the time parameters to improve accuracy and safety of aircraft control, and specifically, the adjusting formulas of the other two time parameters are as follows:
T 2 ＝T total -T 1 -T 3 ；
Wherein T is total For the longest acceleration period, T 1 To adjust the target acceleration time, T 2 To adjust the target average acceleration time, T 3 The acceleration time is subtracted from the adjusted target.
When the fourth time parameter, the fifth time parameter and the sixth time parameter are acquired, determining a guidance command of the aircraft based on the fourth time parameter, the fifth time parameter and the sixth time parameter, and generating the guidance command of the aircraft through the smoothed time parameter to improve the accuracy and the safety of the aircraft control, specifically, step S6023 includes:
step i, respectively determining a target jerk, a target acceleration and a target speed corresponding to the aircraft based on the fourth time parameter, the fifth time parameter and the sixth time parameter;
and j, generating guidance instructions corresponding to the current position information, the target jerk, the target acceleration and the target speed of the aircraft.
When the fourth time parameter, the fifth time parameter and the sixth time parameter are acquired, determining a forward target jerk, a forward target acceleration and a forward target speed corresponding to the aircraft according to the fourth time parameter, determining a longitudinal target jerk, a longitudinal target acceleration and a longitudinal target speed corresponding to the aircraft according to the fifth time parameter, and determining a vertical target jerk, a vertical target acceleration and a vertical target speed corresponding to the aircraft according to the sixth time parameter, wherein the target jerk, the target acceleration and the longitudinal target speed are calculated through the corresponding formulas. And then, generating guidance instructions corresponding to the current position information, the target jerk, the target acceleration and the target speed of the aircraft to accurately obtain the guidance instructions, so that the aircraft can accelerate to the target speed in the forward direction, the longitudinal direction and the vertical direction at the same time, and the accuracy and the safety of the control of the aircraft are further improved.
Determining a first time parameter corresponding to the forward direction of the aircraft, a second time parameter corresponding to the longitudinal direction and a third time parameter corresponding to the vertical direction based on the current flight control parameters of the aircraft; based on the first time parameter, the second time parameter and the third time parameter, the guidance instruction of the aircraft is determined, and the aircraft is controlled based on the guidance instruction, so that the guidance instruction of the aircraft can be timely adjusted when the flight direction changes due to the change of the navigation point data, the continuity of the speed is considered, the continuity of the acceleration is compatible, the riding quality and the comfort of flight members are improved, and the manned navigability requirement can be met.
Based on the first embodiment, a seventh embodiment of the flight control method of the present application is provided, including the whole content of the first embodiment, where, before step S102, the flight control method further includes:
step S701, acquiring current position information of a current position of an aircraft in a northeast day coordinate system, and determining a space distance based on the current position information and target position information of a target waypoint in the waypoint data in the northeast day coordinate system;
step S702, if the spatial distance is smaller than the third preset threshold, determining that the arrival waypoint corresponding to the aircraft is detected to change, and setting the value of the arrival waypoint as the serial number of the target waypoint.
In the flight process of the aircraft, the current position information of the current position of the aircraft in the northeast day coordinate system can be obtained in real time, concretely, the longitude and latitude information and the altitude information of the current position can be converted into the current position information (coordinate information) in the northeast day coordinate system, the target position information of the target waypoint in the northeast day coordinate system in the waypoint data is obtained, and the space distance is determined based on the current position information and the target position information, namely, the space distance is calculated through a distance formula.
And then judging whether the space distance is smaller than a third preset threshold value, if the space distance is smaller than the third preset threshold value, determining that the arrival waypoint corresponding to the aircraft is detected to change, and setting the value of the arrival waypoint as the sequence number of the target waypoint, wherein the third preset threshold value can be reasonably set.
Determining a space distance by acquiring current position information of a current position of an aircraft in a northeast day coordinate system based on the current position information and target position information of a target waypoint in the waypoint data in the northeast day coordinate system; and if the space distance is smaller than a third preset threshold value, determining that the arrival waypoint corresponding to the aircraft is detected to change, setting the value of the arrival waypoint as the sequence number of the target waypoint, and further improving the flight efficiency of the aircraft by updating the value of the arrival waypoint in time.
Based on the first embodiment, an eighth embodiment of the flight control method of the present application is provided, including the whole content of the first embodiment, wherein, after the step a, the flight control method further includes:
step S801, obtaining the value reaching the waypoint in real time;
step S802, if the value of the arrival point is a preset value, taking the current position information of the aircraft as the position information of the last navigation point in the navigation point data;
step S803, if the value of the destination is not the preset value, a first minimum value between the value of the destination and the number of destination is obtained, and the position information of the destination corresponding to the first minimum value is used as the position information of the last destination in the destination;
step S804, obtaining a second minimum value between the sequence number of the next navigation point corresponding to the arrival navigation point and the number of navigation points, and a third minimum value between the sequence number of the next two navigation points corresponding to the arrival navigation point and the number of navigation points;
in step S805, the position information of the waypoint corresponding to the second minimum value is used as the position information of the target waypoint in the waypoint data, and the position information of the waypoint corresponding to the third minimum value is used as the position information of the next waypoint in the waypoint data.
In the flight process of the aircraft, acquiring the value of the arrival waypoint in real time, judging whether the value of the arrival waypoint is a preset value, and if the value of the arrival waypoint is the preset value, taking the current position information of the aircraft as the position information of the last waypoint in the waypoint data; if the value of the arrival waypoint is not the preset value, a first minimum value between the value of the arrival waypoint and the number of the waypoint is obtained, and the position information of the waypoint corresponding to the first minimum value is used as the position information of the last waypoint in the waypoint data. The number of waypoints is the total number of waypoints received by the aircraft, that is, the number of waypoints included in the waypoint information.
Then, a second minimum value between the sequence number of the next navigation point corresponding to the arrival navigation point and the number of the navigation points and a third minimum value between the sequence number of the next two navigation points corresponding to the arrival navigation point and the number of the navigation points are obtained; for example, if the number of waypoints is 10 and the value of the arrival waypoint is 3, the number of the arrival waypoint corresponding to the next waypoint is 4, the number of the arrival waypoint corresponding to the next two waypoints is 5, and at this time, the second minimum value is 4 and the third minimum value is 5.
And finally, taking the position information of the navigation point corresponding to the second minimum value as the position information of the target navigation point in the navigation point data, and taking the position information of the navigation point corresponding to the third minimum value as the position information of the next navigation point in the navigation point data.
Acquiring a value reaching a waypoint in real time; then, if the value of the arrival navigation point is a preset value, taking the current position information of the aircraft as the position information of the last navigation point in the navigation point data; if the value of the arrival waypoint is not the preset value, acquiring a first minimum value between the value of the arrival waypoint and the number of the waypoint, and taking the position information of the waypoint corresponding to the first minimum value as the position information of the last waypoint in the waypoint data; then, a second minimum value between the sequence number of the next navigation point corresponding to the arrival navigation point and the number of the navigation points and a third minimum value between the sequence number of the next two navigation points corresponding to the arrival navigation point and the number of the navigation points are obtained; and finally, the position information of the navigation point corresponding to the second minimum value is used as the position information of the target navigation point in the navigation point data, and the position information of the navigation point corresponding to the third minimum value is used as the position information of the next navigation point in the navigation point data.
In addition, the present application also proposes an aircraft, referring to fig. 6, comprising:
a first acquiring module 10, configured to acquire a plurality of waypoint information corresponding to a route of an aircraft;
the second obtaining module 20 is configured to obtain current waypoint data of the aircraft if a change of an arrival waypoint corresponding to the aircraft is detected;
an updating module 30, configured to update the waypoint data based on the waypoint information to obtain a target waypoint data;
an adjustment module 40 for adjusting the flight of the aircraft based on the target waypoint data.
The method executed by each program unit may refer to each embodiment of the flight control method of the present application, and will not be described herein again.
Furthermore, the present application proposes a computer readable storage medium having stored thereon a flight control program which, when executed by a processor, implements the steps of the flight control method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (17)
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