CN104807457A - Generation method and device of flight line of aircraft and terminal equipment - Google Patents
Generation method and device of flight line of aircraft and terminal equipment Download PDFInfo
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- CN104807457A CN104807457A CN201510213532.8A CN201510213532A CN104807457A CN 104807457 A CN104807457 A CN 104807457A CN 201510213532 A CN201510213532 A CN 201510213532A CN 104807457 A CN104807457 A CN 104807457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention provides a generation method and a device of a flight line of an aircraft, as well as terminal equipment. The method comprises the steps of determining at least three position coordinate points in a target area to be flown, determining a flying boundary of the target area according to a position relationship among the at least three position coordinate points, and generating the flight line of the aircraft according to the flying boundary and width between adjacent route segments in the same direction in the target area. According to the technical scheme, a manner of manually clicking an electronic map to determine the at least three coordinate position points in the target area can be avoided; a manual operating error is eliminated; the flying boundary of the target area is more accurate; and a flying monitoring effect of the aircraft in the whole target area can be further improved.
Description
Technical field
The application relates to vehicle technology field, particularly relates to a kind of generation method of aircraft course line, device and terminal device.
Background technology
Unmanned plane is before flight, by manually determining the destination of unmanned plane on the electronic chart of land station, and then drawn the best air route of unmanned plane according to fixed destination by computer technology, the optimal route of drafting is uploaded on unmanned plane by unmanned plane link, thus unmanned plane is flown according to optimal route, inventor finds, by manually determining that on electronic chart although the destination of unmanned plane improves the convenience that user controls unmanned plane, but click the operation of electronic chart due to the deviation of click coordinate position can be there is by finger, cause the Data Source of destination and out of true, and then affect the precision in course line.
Summary of the invention
In view of this, the application provides a kind of new technical scheme, can solve the coarse technical matters of destination of aircraft.
For achieving the above object, the application provides technical scheme as follows:
According to a first aspect of the invention, propose a kind of generation method of aircraft course line, comprising:
Determine that aircraft needs at least three position coordinates points in the target area of flight;
The flight boundary of described target area is determined according to described at least three position coordinateses point position relationship each other;
According to described flight boundary and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
According to a second aspect of the invention, propose a kind of generating apparatus of aircraft course line, be applied on terminal device, comprise:
First determination module, for determining that aircraft needs at least three position coordinates points in the target area of flight;
Second determination module, determines the flight boundary of described target area at least three position coordinates points position relationship each other described in determining according to described first determination module;
3rd determination module, for the described flight boundary determined according to described second determination module and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
According to a third aspect of the invention we, propose a kind of terminal device, described terminal device comprises:
Processor;
For the storer of storage of processor executable instruction;
Wherein, described processor is configured to:
Determine that aircraft needs at least three position coordinates points in the target area of flight;
The flight boundary of described target area is determined according to described at least three position coordinateses point position relationship each other;
According to described flight boundary and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
From above technical scheme, the application is by determining that aircraft needs at least three position coordinates points in the target area of flight, the mode manually clicking electronic chart is avoided to determine at least three coordinate position points of target area, eliminate artificial operate miss, the flight boundary of target area can be made more accurate; According to flight boundary and in target area equidirectional adjacent leg between width generate the course line of aircraft, can guarantee the leg being covered with aircraft in whole target area, which thereby enhancing aircraft can in the flight monitoring effect of whole target area.
Accompanying drawing explanation
Figure 1A shows the schematic flow sheet of the generation method in the aircraft course line according to an exemplary embodiment of the present invention;
Figure 1B shows according to one of route map in the target area of an exemplary embodiment of the present invention;
Fig. 1 C shows according to the route map two in the target area of an exemplary embodiment of the present invention;
Fig. 1 D shows according to the route map three in the target area of an exemplary embodiment of the present invention;
Fig. 2 shows the schematic flow sheet of the generation method in aircraft course line in accordance with a further exemplary embodiment of the present invention;
Fig. 3 A shows the schematic flow sheet of the generation method in the aircraft course line according to an exemplary embodiment more of the present invention;
Fig. 3 B shows according to one of route map in the target area of an exemplary embodiment of the present invention;
Fig. 4 shows the structural representation of the terminal device according to an exemplary embodiment of the present invention;
Fig. 5 shows the structural representation of the generating apparatus in the aircraft course line according to an exemplary embodiment of the present invention;
Fig. 6 shows the structural representation of the generating apparatus in aircraft course line in accordance with a further exemplary embodiment of the present invention.
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the application.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that some aspects of the application are consistent.
Only for describing the object of specific embodiment at term used in this application, and not intended to be limiting the application." one ", " described " and " being somebody's turn to do " of the singulative used in the application and appended claims is also intended to comprise most form, unless context clearly represents other implications.It is also understood that term "and/or" used herein refer to and comprise one or more project of listing be associated any or all may combine.
Term first, second, third, etc. may be adopted although should be appreciated that to describe various information in the application, these information should not be limited to these terms.These terms are only used for the information of same type to be distinguished from each other out.Such as, when not departing from the application's scope, the first information also can be called as the second information, and similarly, the second information also can be called as the first information.Depend on linguistic context, word as used in this " if " can be construed as into " ... time " or " when ... time " or " in response to determining ".
For being further described the application, provide the following example:
Figure 1A shows the schematic flow sheet of the generation method in the aircraft course line according to an exemplary embodiment of the present invention, Figure 1B shows according to one of route map in the target area of an exemplary embodiment of the present invention, Fig. 1 C shows and shows according to the route map three in the target area of an exemplary embodiment of the present invention according to route map two, Fig. 1 D in the target area of an exemplary embodiment of the present invention; As shown in Figure 1A, comprise the steps:
Step 101, determines that aircraft needs at least three position coordinates points in the target area of flight.
In one embodiment, at least three position coordinates points can be the apex coordinate on the flight boundary of the unmanned plane of target area, it can be the latitude and longitude coordinates point of respective vertices, also can be the position coordinates point relative to permanent datum, as long as can identify the position on the summit of target area.In one embodiment, target area can be the delta-shaped region of rule, also can be the polygonal region of more than quadrilateral, accordingly, if the delta-shaped region of rule, position coordinates point is three, if be the polygon of more than quadrilateral, position coordinates point is more than four, as shown in Figure 1B, target area is parallelogram, the summit 11 of target area, summit 12, summit 13, summit 14, as shown in Figure 1 C, target area is rectangle, the summit 21 of target area, summit 22, summit 23, summit 24, as shown in figure ip, target area is irregular polygon, the summit 31 of target area, summit 32, summit 33, summit 34, summit 35, summit 36, summit 37.
In one embodiment, at least three position coordinates points that can be gathered after the local flight of target area by carry-on flight control system, carry-on flight control system can get at least three position coordinates points, in another embodiment, can by least three position coordinates points of the collection in worksite of handheld device in target area, by obtaining at least three position coordinates points from handheld device.Due at least three the coordinate position points avoiding the mode manually clicking electronic chart to determine target area, eliminate artificial operate miss, the flight boundary of target area can be made more accurate.
Step 102, determines the flight boundary of target area according at least three position coordinates points position relationship each other.
In one embodiment, the flight boundary of target area can be determined successively according to clockwise or counterclockwise relationship according at least three coordinate position points, as shown in Figure 1B, by determining the first border 111 determining that summit 11 and summit 12 are determined successively counterclockwise, the second boundary 112 that summit 12 and summit 13 are determined, the 3rd border that summit 13 and summit 14 are determined, the 4th border that summit 14 and summit 11 are determined, thus, the flight boundary that aircraft needs the target area of flight can be determined, Fig. 1 C can with reference to the description of Figure 1B about the description of flight boundary, be not described in detail in this.As shown in figure ip, by determining the border 141 determining that summit 31 and summit 32 are determined successively counterclockwise, the border 142 that summit 32 and summit 35 are determined, the border 143 that summit 35 and summit 36 are determined, the border 144 that summit 36 and summit 37 are determined, the border 145 that summit 37 and summit 33 are determined, the border 147 that border 146, summit 34 that summit 33 and summit 34 are determined are determined with summit 31, thus, the flight boundary that aircraft needs the target area of flight can be determined.
Step 103, according to flight boundary and in target area equidirectional adjacent leg between width generate the course line of aircraft.
In one embodiment, in target area equidirectional adjacent leg between width h can determine according to the width of the fuselage of aircraft, also the distance can taken photo by plane according to aerocraft real needs to determine, such as, region in carry-on camera head can need to take photo by plane in target area 5 meters, then the width between adjacent leg can be less than five meters according to the distance of taking photo by plane.In one embodiment, each leg in course line needs to be parallel to flight boundary, in one embodiment, the leg that unmanned plane flies can be parallel to the flight boundary nearest with initial leg, and last leg of unmanned plane can be parallel to the flight boundary nearest with this sector distance, such as, as shown in Figure 1B, initial leg 121, leg 122, leg 123, leg 124, leg 125, leg 126 is parallel to flight boundary 111, leg 127 is parallel to flight boundary 113, first leg 131, leg 133, leg 135, leg 137 is parallel to flight boundary 112, leg 132, leg 134, leg 136 is parallel to flight boundary 114.As shown in figure ip, because flight boundary is irregular quadrilateral, during each leg on true course line, initial leg 151, leg 152, leg 153, leg 154, leg 155, leg 156, leg 156 is parallel to flight boundary 141, leg 171 and leg 172 are parallel to flight boundary 143 and flight boundary 144 respectively, leg 161, leg 163, leg 165 is parallel to flight boundary 147, leg 162, leg 164, leg 166 is parallel to flight boundary 145, because flight boundary 141 is not parallel with flight boundary 146, the flight effect all covered can be reached in target area in order to ensure aircraft, therefore when determining leg 158, need to make leg 158 be parallel to the flight boundary 146 with its close together, it can thus be appreciated that after determining width h and flight boundary, the application can be covered with the leg of aircraft in whole target area, guarantee that aircraft can in the flight monitoring effect of whole target area thus.It will be appreciated by persons skilled in the art that can determine the course line in target area equally according to foregoing description, the application is not described in detail in this when flight boundary is for other polygon.
Seen from the above description, the embodiment of the present invention is by determining that aircraft needs at least three position coordinates points in the target area of flight, the mode manually clicking electronic chart is avoided to determine at least three coordinate position points of target area, eliminate artificial operate miss, the flight boundary of target area can be made more accurate; According to flight boundary and in target area equidirectional adjacent leg between width generate the course line of aircraft, can guarantee the leg being covered with aircraft in whole target area, which thereby enhancing aircraft can in the flight monitoring effect of whole target area.
Fig. 2 shows the schematic flow sheet of the generation method in aircraft course line in accordance with a further exemplary embodiment of the present invention; The present embodiment carries out exemplary illustration in conjunction with Figure 1B, as Fig. 2 institute, comprises the steps:
Step 201, determines that aircraft needs at least three position coordinates points in the target area of flight.
The description of step 201 refers to the description of above-mentioned steps 101, is not described in detail in this.
Step 202, determines the flight boundary of target area according at least three position coordinates points position relationship each other.
The description of step 202 refers to the description of above-mentioned steps 102, is not described in detail in this.
Step 203, determines the initial leg parallel with flight boundary according to the start position coordinate in course line.
In one embodiment, in order to ensure the maximum flight coverage of aircraft in target area, the start position coordinate in course line can be determined according to the practical flight demand of aircraft, as shown in Figure 1B, start position coordinate (the x0 of the initial end points 15 in course line, y0), and the distance between initial leg 121 and flight boundary 111 is to guarantee that the corner areas in target area all can be covered as principle by aircraft as far as possible, determining the start position coordinate (x0 of starting point 15, y0) after, by start position coordinate (x0, y0), the initial leg 121 paralleled with flight boundary 111 can be determined.
Step 204, according to initial leg and in target area equidirectional adjacent leg between width determine in course line residue leg.
In one embodiment, can according to the boundary direction in target area and in target area equidirectional adjacent leg between width determine the first kind leg parallel with initial leg, determine the Equations of The Second Kind leg in course line according to the initial end points of first kind leg, the direction that stops end points and flight boundary, such as, as shown in Figure 1B, with flight boundary 111, the parallel first kind leg of flight boundary 113 is: initial leg 121, leg 122, leg 123, leg 124, leg 125, leg 126, leg 127, with flight boundary 112, the parallel Equations of The Second Kind leg of flight boundary 114 is: the first leg 131, leg 132, leg 133, leg 134, leg 135, leg 136, leg 137, according to the initial end points 15 of initial leg 121, the first leg 131 can be determined in the direction stopping end points 16 and flight boundary 112, by that analogy, by the initial end points (not looking in figure) of leg 122, stop end points (in figure depending on) and leg 132 can be determined in the direction of flight boundary 114, etc., the deterministic process of all the other legs in Equations of The Second Kind leg and above-mentioned first leg 131, the deterministic process of leg 132 is identical, be not described in detail in this.
Step 205, electronic chart shows at least three coordinate position points and course line.
Step 206, preserves this course line and course line is sent to aircraft, aircraft after receiving flight orders according to airline operation.
In one embodiment, by the mode of radio communication, course line can be uploaded to aircraft.By preserving course line, aircraft can be made to repeat aerial mission according to this course line.
The present embodiment is on the basis of Advantageous Effects with above-described embodiment, the initial leg parallel with flight boundary is determined according to the start position coordinate in course line, according to initial leg and in target area equidirectional adjacent leg between width determine in course line residue leg, can guarantee that target area all covers by course line as far as possible, improve the flight monitoring effect of aircraft; By showing the coordinate position point of at least three coordinate position points and course line on electronic chart, user can be facilitated to carry out remote monitoring to aircraft; By preserving course line, aircraft can be made to repeat aerial mission according to this course line.
Fig. 3 A shows the schematic flow sheet of the generation method in the aircraft course line according to an exemplary embodiment more of the present invention, and Fig. 3 B shows according to one of route map in the target area of an exemplary embodiment of the present invention; As shown in Figure 3A, comprise the steps:
Step 301, determines that aircraft needs at least three position coordinates points in the target area of flight.
The description of step 301 refers to the description of above-mentioned steps 101, is not described in detail in this.
Step 302, determines the flight boundary of target area according at least three position coordinates points position relationship each other.
The description of step 302 refers to the description of above-mentioned steps 102, is not described in detail in this.
Step 303, determine the coordinate position point that whether there is barrier in target area, if there is the coordinate position point of barrier in target area, perform step 304, if there is not the coordinate position point of barrier in target area, can realize with reference to above-mentioned Figure 1A and mode embodiment illustrated in fig. 2, the present embodiment no longer describes in detail.
In one embodiment, barrier can affect the object of aircraft flight for the electric pole, electric lamp post, trees, pile etc. in target area.In one embodiment, the coordinate position point of barrier can be collected in practical flight process by the flight control system of aircraft, in another embodiment, obtain after the coordinate position point of barrier can also carry out collection in worksite by handheld device in target area, gather the coordinate position point of barrier can guarantee the degree of accuracy of the coordinate position point of barrier by the way.
Step 304, if the coordinate position point that there is barrier in target area, according to the bypassing areas of the coordinate position point determination aircraft of barrier.
In one embodiment, as shown in Figure 3 B, if determine the coordinate position point (x1 that there is barrier in the overlay area of leg 123, y1), in order to ensure the flight coverage of aircraft in target area, can at coordinate position point (x1, the bypassing areas of aircraft is redefined in the region at y1) place, such as, to guarantee to determine bypassing areas premised on coverage goal region, in one embodiment, with coordinate position point (x1, y1) centered by, the half (h/2) of the distance between the leg in first kind leg determines bypassing areas (as shown in the dotted line frame in Fig. 3 B) for the length of side, in another embodiment, with coordinate position point (x1, y1) centered by, the width of the fuselage of unmanned plane is that the length of side is to determine bypassing areas.
Step 305, determines the leg in bypassing areas according to the coordinate position point of barrier.
In one embodiment, leg can be determined on the border of bypassing areas volume, as shown in Figure 3 B, in bypassing areas shown in dotted line frame, border on dotted line frame is determined leg 141, leg 142, leg 143, thus, aircraft can be made both can to have got around barrier and continue to move ahead, also can guarantee that target area all covers by the course line of aircraft as far as possible, improve the flight monitoring effect of aircraft.
Step 306, electronic chart shows the coordinate position point of at least three coordinate position points, course line and barrier.
The present embodiment is on the basis of Advantageous Effects with above-described embodiment, by determining the coordinate position point that whether there is barrier in target area, when there is barrier in target area, determine the coordinate position point that whether there is barrier in target area, and then the leg determining in bypassing areas according to the coordinate position point of barrier, both aircraft can have been made to get around barrier continue to move ahead, also can guarantee that target area all covers by the course line of aircraft as far as possible, improve the flight monitoring effect of aircraft.
Corresponding to the generation method in above-mentioned aircraft course line, the application also proposed the schematic configuration diagram of the terminal device of the exemplary embodiment according to the application shown in Fig. 4.Please refer to Fig. 4, at hardware view, this terminal device comprises processor, internal bus, network interface, internal memory and nonvolatile memory, certainly also may comprise the hardware required for other business.Processor reads corresponding computer program and then runs in internal memory from nonvolatile memory, and logic level is formed the generating apparatus in aircraft course line.Certainly, except software realization mode, the application does not get rid of other implementations, mode of such as logical device or software and hardware combining etc., that is the executive agent of following treatment scheme is not limited to each logical block, also can be hardware or logical device.
Fig. 5 is the structural representation of the generating apparatus in aircraft course line according to an exemplary embodiment of the present invention; As shown in Figure 5, the generating apparatus in this aircraft course line can comprise: the first determination module 51, second determination module 52, the 3rd determination module 53.Wherein:
First determination module, for determining that aircraft needs at least three position coordinates points in the target area of flight;
Second determination module, at least three the position coordinates points position relationship each other for determining according to the first determination module determines the flight boundary of target area;
Airline generation module, for the flight boundary determined according to the second determination module and in target area equidirectional adjacent leg between the course line of width determination aircraft.
Fig. 6 is the structural representation of the generating apparatus in aircraft course line according to another exemplary embodiment of the present invention; As shown in Figure 6, on above-mentioned basis embodiment illustrated in fig. 5, above-mentioned first determination module 51 can comprise:
First acquiring unit 511, for obtaining at least three position coordinates points that carry-on flight control system gathers after the local flight of target area; Or,
Second acquisition unit 512, for obtaining at least three position coordinates points of the collection in worksite of handheld device in target area.
In one embodiment, airline generation module 53 can comprise:
First determining unit 531, for determining the initial leg parallel with flight boundary according to the start position coordinate in course line;
Second determining unit 532, for the initial leg determined according to the first determining unit 531 and in target area equidirectional adjacent leg between width determine in course line residue leg.
In one embodiment, the second determining unit 532 can comprise:
First determines subelement 5321, for according to the boundary direction of target area and in target area equidirectional adjacent leg between width determine the first kind leg parallel with initial leg;
Second determines subelement 5322, determines the Equations of The Second Kind leg in course line for the initial end points determining the first kind leg that subelement 5321 is determined according to first, the direction that stops the flight boundary that end points and the second determination module 52 are determined.
In one embodiment, device also can comprise:
3rd determination module 54, for according to cruising time of type determination aircraft of aircraft and the max mileage of aircraft;
4th determination module 55, for the leg that cruising time of determining according to the 3rd determination module 54 and max mileage determination aircraft can fly on the course line that airline generation module 53 generates.
In one embodiment, device also can comprise:
5th determination module 56, for determining the coordinate position point that whether there is barrier in target area;
6th determination module 57, if determine for the 5th determination module 56 the coordinate position point that there is barrier in target area, according to the bypassing areas of the coordinate position point determination aircraft of barrier;
7th determination module 58, the coordinate position point for the barrier determined according to the 5th determination module 56 is determined by the leg in the 6th determined bypassing areas of determination module 57, according to the course line that leg adjustment the 3rd determination module 53 in bypassing areas is determined.
In one embodiment, device also can comprise:
Display module 59, for showing at least three coordinate position points that the first determination module 51 determines, the coordinate position point of course line that airline generation module 53 generates and the barrier that the 5th determination module 56 is determined on electronic chart.
In one embodiment, device also can comprise:
Sending module 50, for preserving course line that airline generation module 53 determines and course line being sent to aircraft, aircraft after receiving flight orders according to airline operation.
Above-described embodiment is visible, the application is by using at least three position coordinates points in the target area of aircraft needs flight, the flight boundary of target area is determined according at least three position coordinates points position relationship each other, avoid use the mode of artificial visually examine perception to determine key point on target area (such as, summit), improve the precision of flight boundary, eliminate the inaccurate fiducial error caused due to flight boundary; According to flight boundary and in target area equidirectional adjacent leg between the course line of width determination aircraft, avoid the operation being clicked dragging in prior art by finger on screen, because this eliminating artificial operate miss, improve the precision in course line.
Those skilled in the art, at consideration instructions and after putting into practice invention disclosed herein, will easily expect other embodiment of the application.The application is intended to contain any modification of the application, purposes or adaptations, and these modification, purposes or adaptations are followed the general principle of the application and comprised the undocumented common practise in the art of the application or conventional techniques means.Instructions and embodiment are only regarded as exemplary, and true scope and the spirit of the application are pointed out by claim below.
Also it should be noted that, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, commodity or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, commodity or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, commodity or the equipment comprising described key element and also there is other identical element.
The foregoing is only the preferred embodiment of the application, not in order to limit the application, within all spirit in the application and principle, any amendment made, equivalent replacements, improvement etc., all should be included within scope that the application protects.
Claims (17)
1. the generation method in aircraft course line, is characterized in that, described method comprises:
Determine that aircraft needs at least three position coordinates points in the target area of flight;
The flight boundary of described target area is determined according to described at least three position coordinateses point position relationship each other;
According to described flight boundary and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
2. method according to claim 1, is characterized in that, at least three longitude and latitude position coordinates points in the described target area determining the flight of aircraft needs, comprising:
Obtain described carry-on flight control system gather after the local flight of described target area described at least three position coordinates points; Or,
Obtain at least three position coordinates points of the collection in worksite of handheld device in described target area.
3. method according to claim 1, is characterized in that, described according to described flight boundary and in described target area equidirectional adjacent leg between width generate the course line of described aircraft, comprising:
The initial leg parallel with described flight boundary is determined according to the start position coordinate in described course line;
According to described initial leg and in described target area equidirectional adjacent leg between width generate residue leg in described course line.
4. method according to claim 3, is characterized in that, described according to described initial leg and in described target area equidirectional adjacent leg between width determine in described course line residue leg, comprising:
According to the boundary direction in described target area and in described target area equidirectional adjacent leg between width determine the first kind leg parallel with described initial leg;
The Equations of The Second Kind leg in described course line is determined according to the initial end points of described first kind leg, the direction that stops end points and described flight boundary.
5. method according to claim 1, is characterized in that, described method also comprises:
The cruising time of described aircraft and the max mileage of described aircraft is determined according to the type of described aircraft;
The leg that described aircraft can fly on described course line is determined according to described cruising time and described max mileage.
6. method according to claim 1, is characterized in that, described method also comprises:
Determine the coordinate position point that whether there is barrier in described target area;
If there is the coordinate position point of described barrier in described target area, determine the bypassing areas of described aircraft according to the coordinate position point of described barrier;
The leg in described bypassing areas is determined according to the coordinate position point of described barrier.
7. method according to claim 6, is characterized in that, described method also comprises:
The coordinate position point of at least three coordinate position points described in display, described course line and described barrier on electronic chart.
8., according to the arbitrary described method of claim 1-7, it is characterized in that, described method also comprises:
Preserve described course line and described course line be sent to aircraft, described aircraft after receiving flight orders according to described airline operation.
9. the generating apparatus in aircraft course line, is characterized in that, described device comprises:
First determination module, for determining that aircraft needs at least three position coordinates points in the target area of flight;
Second determination module, determines the flight boundary of described target area at least three position coordinates points position relationship each other described in determining according to described first determination module;
Airline generation module, for the described flight boundary determined according to described second determination module and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
10. device according to claim 9, is characterized in that, described first determination module comprises:
First acquiring unit, for obtain described carry-on flight control system gather after the local flight of described target area described at least three position coordinates points; Or,
Second acquisition unit, for obtaining at least three position coordinates points of the collection in worksite of handheld device in described target area.
11. devices according to claim 9, is characterized in that, described airline generation module comprises:
First determining unit, for determining the initial leg parallel with described flight boundary according to the start position coordinate in described course line;
Second determining unit, for the described initial leg determined according to described first determining unit and in described target area equidirectional adjacent leg between width determine in described course line residue leg.
12. devices according to claim 11, is characterized in that, described second determining unit comprises:
First determines subelement, for according in described target area boundary direction and in described target area equidirectional adjacent leg between width determine the first kind leg parallel with described initial leg;
Second determines subelement, determines the Equations of The Second Kind leg in described course line for the initial end points determining the described first kind leg that subelement is determined according to described first, the direction that stops the described flight boundary that end points and described second determination module are determined.
13. devices according to claim 9, is characterized in that, described device also comprises:
3rd determination module, for determining the cruising time of described aircraft and the max mileage of described aircraft according to the type of described aircraft;
4th determination module, determines for described cruising time of determining according to described 3rd determination module and described max mileage the leg that described aircraft can fly on the described course line that described airline generation module is determined.
14. devices according to claim 9, is characterized in that, described device also comprises:
5th determination module, for determining the coordinate position point that whether there is barrier in described target area;
6th determination module, if determine for described 5th determination module the coordinate position point that there is described barrier in described target area, determines the bypassing areas of described aircraft according to the coordinate position point of described barrier;
7th determination module, coordinate position point for the described barrier determined according to described 5th determination module is determined by the leg in the described 6th determined described bypassing areas of determination module, adjusts according to the leg in described bypassing areas the described course line that described airline generation module determines.
15. devices according to claim 14, is characterized in that, described device also comprises:
Display module, for show on electronic chart described first determination module determine described in the coordinate position point of described barrier determined of the described course line determined of at least three coordinate position points, described airline generation modules and described 6th determination module.
16. according to the arbitrary described device of claim 9-15, and it is characterized in that, described device also comprises:
Sending module, for preserving described course line that described airline generation module determines and described course line being sent to aircraft, described aircraft after receiving flight orders according to described airline operation.
17. 1 kinds of terminal devices, is characterized in that, described terminal device comprises:
Processor;
For the storer of storage of processor executable instruction;
Wherein, described processor is configured to:
Determine that aircraft needs at least three position coordinates points in the target area of flight;
The flight boundary of described target area is determined according to described at least three position coordinateses point position relationship each other;
According to described flight boundary and in described target area equidirectional adjacent leg between width generate the course line of described aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510213532.8A CN104807457A (en) | 2015-04-29 | 2015-04-29 | Generation method and device of flight line of aircraft and terminal equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510213532.8A CN104807457A (en) | 2015-04-29 | 2015-04-29 | Generation method and device of flight line of aircraft and terminal equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104807457A true CN104807457A (en) | 2015-07-29 |
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| CN106341178A (en) * | 2016-08-19 | 2017-01-18 | 北京小米移动软件有限公司 | Interactive method between aircrafts and interactive device thereof |
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| CN105243878B (en) * | 2015-10-30 | 2019-04-26 | 杨珊珊 | A kind of electron boundary device, unmanned flight's system and unmanned vehicle monitoring method |
| CN105243878A (en) * | 2015-10-30 | 2016-01-13 | 杨珊珊 | Electronic boundary apparatus, unmanned flight system, unmanned aerial vehicle monitoring method |
| CN108474667B (en) * | 2015-12-08 | 2019-08-13 | 空中客车运营简化股份公司 | The monitoring method of the guidance instruction of the flight management component and this component of aircraft |
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| CN106341178A (en) * | 2016-08-19 | 2017-01-18 | 北京小米移动软件有限公司 | Interactive method between aircrafts and interactive device thereof |
| CN107438753A (en) * | 2016-09-22 | 2017-12-05 | 深圳市大疆创新科技有限公司 | A kind of airline generation method, apparatus and terminal |
| CN106650595A (en) * | 2016-10-09 | 2017-05-10 | 巴州极飞农业航空科技有限公司 | Land block boundary identification method and boundary identification device |
| CN106568433A (en) * | 2016-10-28 | 2017-04-19 | 易瓦特科技股份公司 | Method and apparatus for setting flight path |
| CN107690605A (en) * | 2016-11-28 | 2018-02-13 | 深圳市大疆创新科技有限公司 | A kind of course line edit methods, device and control device |
| CN106814750A (en) * | 2017-02-14 | 2017-06-09 | 北京小米移动软件有限公司 | UAV flight control method and device |
| CN110663221A (en) * | 2017-04-25 | 2020-01-07 | 优步技术公司 | Efficient VTOL resource management in an air transport network |
| CN106970637A (en) * | 2017-05-23 | 2017-07-21 | 厦门南羽科技有限公司 | Flight course planning method and device |
| CN109426275A (en) * | 2017-09-01 | 2019-03-05 | 昊翔电能运动科技(昆山)有限公司 | Virtual no-fly zone setting and the flight control method based on virtual no-fly zone, device |
| CN109426275B (en) * | 2017-09-01 | 2021-08-06 | 昊翔电能运动科技(昆山)有限公司 | Virtual no-fly zone setting and flight control method and device based on virtual no-fly zone |
| CN110309933A (en) * | 2018-03-23 | 2019-10-08 | 广州极飞科技有限公司 | Plant plants data measuring method, work route method and device for planning, system |
| US11900819B2 (en) | 2018-04-24 | 2024-02-13 | Joby Aero, Inc. | Determining VTOL departure time in an aviation transport network for efficient resource management |
| US11295622B2 (en) | 2018-04-24 | 2022-04-05 | Joby Aero, Inc. | Determining VTOL departure time in an aviation transport network for efficient resource management |
| CN109447326A (en) * | 2018-09-30 | 2019-03-08 | 深圳眸瞳科技有限公司 | Unmanned plane traveling locus generation method, device, electronic equipment and storage medium |
| US11443639B2 (en) | 2018-09-30 | 2022-09-13 | Moutong Science And Technology Co., Ltd | Methods of generating a unmanned aerial vehicle migration trajectory, electronic devices and storage mediums |
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| WO2020258066A1 (en) * | 2019-06-26 | 2020-12-30 | 深圳市大疆创新科技有限公司 | Method and device for controlling unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
| CN110244765A (en) * | 2019-06-27 | 2019-09-17 | 深圳市道通智能航空技术有限公司 | A kind of aircraft route track generation method, device, unmanned plane and storage medium |
| WO2021037071A1 (en) * | 2019-08-27 | 2021-03-04 | 广州极飞科技有限公司 | Flight control method and related apparatus |
| CN111341155A (en) * | 2020-03-20 | 2020-06-26 | 中国人民解放军空军研究院战略预警研究所 | Route transmission and processing system between flight information systems |
| CN111341155B (en) * | 2020-03-20 | 2021-08-17 | 中国人民解放军空军研究院战略预警研究所 | Route transmission and processing system between flight information systems |
| CN112631338A (en) * | 2020-12-09 | 2021-04-09 | 广州极飞科技有限公司 | Air route planning method and device, computer equipment and storage medium |
| CN115148053A (en) * | 2022-06-29 | 2022-10-04 | 沃飞长空科技(成都)有限公司 | Aircraft early warning method and device, terminal device and storage medium |
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