CN105589471A - Unmanned plane flight path drawing method, device and system - Google Patents
Unmanned plane flight path drawing method, device and system Download PDFInfo
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- CN105589471A CN105589471A CN201610043976.6A CN201610043976A CN105589471A CN 105589471 A CN105589471 A CN 105589471A CN 201610043976 A CN201610043976 A CN 201610043976A CN 105589471 A CN105589471 A CN 105589471A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides an unmanned plane flight path drawing method, device and system. The method comprises the steps of: planning a flight destination and a flight path of an unmanned plane; receiving a position signal returned in the flight process of the unmanned plane every a set time interval, and drawing the flight path of the unmanned plane on an electronic map according to the position signals; and if failing to receive the position signals in the set time interval, then setting the position, corresponding to the last received position signal, on the electronic map as a starting point of a virtual path, starting drawing the virtual path, using the flight speed of the unmanned plane at the time of the last received position signal as an analog flight speed of the unmanned plane, determining the flight direction at the present position of the unmanned plane according to the direction of the destination, determining the next arrived position of the unmanned plane after the set time interval, and drawing the virtual path of the unmanned plane on the electronic map according to the next position. By adopting the unmanned plane flight path drawing method, a user is enabled to estimate the position of the unmanned plane after the unmanned plane is lost, and the user is enabled to be still ready for unmanned plane recovery.
Description
Technical field
The invention belongs to unmanned plane field, relate in particular to unmanned plane during flying track method for drafting, device and system.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", utilizes radio robot and provides for oneselfThe not manned aircraft that presetting apparatus is handled. In prior art, manipulator is by control terminal control unmanned plane during flying, butBe, unmanned plane is conditional with manipulator's distance, exceed this apart from unmanned plane will with manipulator's loss signal, causeUncontrollable unmanned plane. In order to solve the restriction of this distance, we are by choose destination on the electronic chart of control terminal,Allow unmanned plane these destinations that automatically fly to, unmanned plane far distance of just can flying. But, after unmanned plane loss signalCan home position signal, cause the track that cannot show unmanned plane during flying on electronic chart, manipulator is to unmanned plane like thisCurrent location just cannot, control, more cannot accurately hold the when and where making a return voyage, if there is unexpected falling in unmanned plane midwayFall, have the risk of losing unmanned plane.
Summary of the invention
Given this, the embodiment of the present invention provides a kind of unmanned plane during flying track method for drafting, device and system, to solveIn prior art, after unmanned plane loss signal, cause user to the position of unmanned plane cannot control problem.
The invention provides a kind of unmanned plane during flying track method for drafting, method comprises: planning unmanned plane during flying destination withAnd flight path; Every setting-up time interval receives the position signalling returning in unmanned plane during flying process, according to position signalling at electricityOn sub-map, draw the flight path of unmanned plane; If cannot receive position signalling in setting-up time, arrange lastThe position that receives the corresponding electronic chart of position signalling starts to draw virtual track as the starting point of virtual track, with lastThe inferior simulated flight speed that the flying speed of unmanned plane is unmanned plane while receiving position signalling, according to the orientation determination of destination withoutThe man-machine heading in current location, then determine unmanned plane during flying setting-up time according to simulated flight speed and headingThe next position arriving behind interval, then on electronic chart, draw the virtual track of unmanned plane according to the next position.
Preferably, in the planning destination of unmanned plane during flying and the step of flight path, comprising: on electronic chart, establishPut the flight path of unmanned plane; On flight path, select the destination of unmanned plane during flying; Calculate the distance of each destination to takeoff pointFrom and determine the direction of each destination.
Preferably, according to the orientation determination unmanned plane of destination at current location heading, then according to simulated flight speedAnd heading determines the step of the next position arriving behind unmanned plane during flying setting-up time interval, comprising: fly according to simulationThe total distance of flight when line speed is calculated unmanned plane arrival the next position; Judging whether the total distance of flight is greater than the next one will be throughThe destination of crossing is to the distance of takeoff point; If be greater than the distance of next destination to takeoff point, and continue to judge a upper warpWhether the heading of the destination of crossing is inconsistent with the heading of next destination; If inconsistent, will with the next oneThe heading of the destination of process, as the heading in current location of unmanned plane, calculates the total distance of flight and navigates with the next onePoint is to the difference of the distance of takeoff point, along heading at the difference place at a distance of the next destination that will pass through as unmannedThe next position that machine arrives, otherwise the heading that continues the destination of an above process is unmanned plane flying in current locationLine direction, calculates the total distance of flight and the difference of next destination to the distance of takeoff point, along heading apart nextThe next position that the difference place of individual destination arrives as unmanned plane; If being less than or equal to the destination that the next one will arrive arrivesThe distance of flying spot, the direction of selecting the destination of a process is the heading of unmanned plane in current location, total by flyingDistance is determined the next position.
Preferably, if cannot receive position signalling in setting-up time, arrange and receive for the last time position letterThe position of number corresponding electronic chart starts to draw in the step of virtual track as the starting point of virtual track, comprising: electricity is setSub-map, is just opened counting the virtual track of setting-up time formation from receiving for the last time position signalling at demonstration unmanned planeBegin to draw virtual track.
Preferably, calculate each destination to the distance of takeoff point and determine that the step of the direction of each destination comprises: withThe center of electronic chart is the origin of coordinates; Obtain the coordinate of takeoff point position on electronic chart corresponding to destination; By risingThe coordinate of flying spot and destination and, the ratio of coordinate between destination and electronic chart and actual range calculates destination and apart takes offThe distance of point, the coordinate by takeoff point and destination and, the vector of coordinate calculating destination between destination determines the side of destinationTo.
Preferably, position signalling is gps signal.
The present invention also provides a kind of unmanned plane during flying track drawing apparatus, and device comprises: planning module, and unmanned in order to planDestination and the flight path of machine flight; Reality track drafting module, receives unmanned plane during flying mistake in order to every setting-up time intervalThe position signalling returning in journey, the flight path of drawing unmanned plane according to position signalling on electronic chart; Virtual track is drawnModule, if in order to cannot receive position signalling in setting-up time, arranges and receives for the last time the corresponding electricity of position signallingThe position of sub-map starts to draw virtual track as the starting point of virtual track, when receiving position signalling for the last time withoutMan-machine flying speed is the simulated flight speed of unmanned plane, according to the orientation determination unmanned plane of destination in current location flight sideTo, then determine according to simulated flight speed and heading the next position arriving behind unmanned plane during flying setting-up time interval,On electronic chart, draw again the virtual track of unmanned plane according to the next position.
Preferably, planning module comprises: setting unit, in order to the flight path of unmanned plane to be set on electronic chart; ChoosingSelect unit, in order to select the destination of unmanned plane during flying on flight path; Computing unit, in order to calculate each destination to takeoff pointDistance and determine the direction of each destination.
Preferably, virtual track drafting module, comprising: the first computing unit, and in order to calculate each destination to takeoff pointThe direction of distance and definite each destination; The second computing unit, in order to calculate under unmanned plane arrival according to simulated flight speedThe total distance of flight when one position; Judging unit, in order to judge whether the total distance of flight is greater than the destination that the next one will pass throughTo the distance of takeoff point; Primary importance determining unit, in order to if be greater than the distance of next destination to takeoff point, and continuesWhether the heading of destination that judges a upper process is inconsistent with the heading of next destination; If inconsistent,The heading of the destination that will pass through using the next one, as the heading in current location of unmanned plane, calculates the total distance of flightFrom with the difference of next destination to the distance of takeoff point, poor along heading at a distance of the next destination that will pass throughThe next position that value place arrives as unmanned plane, otherwise the heading that continues the destination of an above process is that unmanned plane existsThe heading of current location, calculates the total distance of flight and the difference of next destination to the distance of takeoff point, along flight sideThe next position arriving as unmanned plane to the difference place at a distance of next destination; Second place determining unit, if in order toBe less than or equal to destination that the next one will the arrive distance to takeoff point, select the direction of destination of a process for unmannedMachine is at the heading of current location, and by flying, total distance is determined the next position.
The present invention also provides a kind of unmanned plane during flying track drawing system, and system comprises unmanned plane during flying rail as aboveMark drawing apparatus.
Compare with prior art, the invention has the beneficial effects as follows: unmanned plane during flying track method for drafting of the present invention, deviceAnd system, determine the position of unmanned plane by simulated flight speed and the flying method of unmanned plane, thereby draw unmanned planeVirtual track after loss signal, can allow unmanned plane operator after unmanned plane lost contact, still can estimate the present bit of unmanned planePut, thereby do some preparations to reclaiming unmanned plane, alleviate the psychological pressure of bringing to user because of the temporary transient loss signal of unmanned plane,Improve the success rate that unmanned plane reclaims.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existingHave the accompanying drawing of required use in technical description to be briefly described, apparently, the accompanying drawing in the following describes is only thisSome embodiment of invention, for those of ordinary skill in the art, not paying under the prerequisite of creative work, also canTo obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of unmanned plane during flying track method for drafting of the present invention;
Fig. 2 is the schematic diagram of the step of the drafting virtual track of Fig. 1;
Fig. 3 is the schematic diagram of unmanned plane during flying track drawing process of the present invention;
Fig. 4 is the schematic diagram of unmanned plane during flying track drawing apparatus of the present invention.
Description of reference numerals is as follows: the real track drafting module 20 virtual track drafting modules 30 of planning module 10.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, rightThe present invention is further elaborated. Should be appreciated that specific embodiment described herein is only in order to explain the present invention, andBe not used in restriction the present invention.
Refer to Fig. 1, a kind of unmanned plane during flying track method for drafting of the present invention, method comprises:
Step S10: destination and the flight path of planning unmanned plane during flying. In the present embodiment, manipulator comes by control terminalDestination and the flight path of flight are set.
In the present embodiment, step S10 comprises:
Step S20: the flight path that described unmanned plane is set on electronic chart;
Step S21: the destination of selecting described unmanned plane during flying on described flight path;
Step S22: calculate the direction of each described destination to the distance of takeoff point and definite described each destination.
Here need to illustrate, destination is not both air line distance to the distance of takeoff point, but unmanned planeFly to the flying distance of destination from takeoff point. Such as, unmanned plane has passed through destination A, destination B from takeoff point M successively flight. BoatPoint B is that destination A adds that to the distance of takeoff point M destination B is to the distance between destination A to the distance of takeoff point M.
Step S22 specifically comprises:
Step S30: taking the center of electronic chart as the origin of coordinates;
Step S31: the coordinate that obtains takeoff point position on electronic chart corresponding to destination;
Step S32: by the ratio of the coordinate between coordinate, the destination of takeoff point and destination and electronic chart and actual rangeCalculate the distance of destination at a distance of takeoff point, calculate the vector of destination by the coordinate between coordinate and the destination of takeoff point and destinationDetermine the direction of destination.
Step S11: every setting-up time interval receives the position signalling returning in unmanned plane during flying process, according to position signallingOn electronic chart, draw the flight path of unmanned plane.
In the present embodiment, setting-up time is spaced apart 0.5S. Also be, unmanned plane returns to position signalling one time every 0.5S,Electronic chart is the position on map every unmanned plane of 0.5S renewal, and draws the flight rail of unmanned plane according to positionMark.
Step S12: if cannot receive position signalling in setting-up time, arrange and receive for the last time position signallingThe position of corresponding electronic chart starts to draw virtual track as the starting point of virtual track, to receive for the last time position letterNumber time unmanned plane the flying speed simulated flight speed that is unmanned plane, according to the orientation determination unmanned plane of destination in current locationHeading, then determine next arrival behind unmanned plane during flying setting-up time interval according to simulated flight speed and headingPosition, then on electronic chart, draw the virtual track of unmanned plane according to the next position.
In the present embodiment, setting-up time is 4S. If cannot receiving position signal in 4S, unmanned plane on electronic chartPosition can not be upgraded, and on electronic chart, represents that the cursor of unmanned plane can be static.
In step S12, electronic chart is set and draws showing after the virtual track that forms in setting-up time of unmanned planeVirtual track.
Although not home position signal of unmanned plane in setting-up time,, unmanned plane still awing, for fear ofThe inconsistent situation of flight of the virtual track showing on control terminal and unmanned plane reality, after setting-up time, directlyOn electronic chart, show the virtual track forming in this setting-up time, and then carry out void on the basis of this section of virtual trackIntend the drafting of track. The situation of virtual track reflection is just more accurate like this.
Refer to Fig. 2, according to the orientation determination unmanned plane of destination at current location heading, then according to simulated flight speedDegree and heading are determined the step of the next position arriving behind unmanned plane during flying setting-up time interval, comprising:
Step S40: calculate the direction of each destination to the distance of takeoff point and definite each destination;
Step S41: the total distance of flight while calculating unmanned plane arrival the next position according to simulated flight speed;
Step S42: judge whether the total distance of flight is greater than destination that the next one will the pass through distance to takeoff point;
Step S43: if be greater than the distance of next described destination to takeoff point, and continue judge a upper process described inWhether the heading of destination is inconsistent with the heading of the described destination of the next one; If inconsistent, will with the next oneThe heading of the described destination of process, as the heading in current location of described unmanned plane, calculates the total distance of described flightFrom with the difference of the described destination of the next one to the distance of described takeoff point, along described heading will be through at a distance of the next oneThe next position that the difference place of the described destination of crossing arrives as described unmanned plane, otherwise, continue an above process described inThe heading of destination is the heading of described unmanned plane in described current location, calculates the total distance of described flight and the next oneDescribed destination is to the difference of the distance of described takeoff point, along described heading at the difference place at a distance of next described destinationThe next position arriving as described unmanned plane;
Step S44: if be less than or equal to destination that the next one will the arrive distance to takeoff point, select a processThe direction of destination is the heading of unmanned plane in current location, and by flying, total distance is determined the next position.
Describe unmanned plane during flying track method for drafting of the present invention in detail below in conjunction with Fig. 1 to Fig. 3.
First, user has planned takeoff point A1, destination A2 and destination A3, and flight path is for from the A1 A2 that flies, fromThe A2 A3 that flies, finally from the A3 A1 that flies back. Through measuring and calculating, destination A2 is T1 to the distance of takeoff point A1, and destination A3 is to takeoff pointThe distance of A1 is T2+T1, is T3+T2+T1 from takeoff point A1 through destination A2, A3 to the distance of A1.
Loss signal while supposing that unmanned plane F flies F point between destination A2 and destination A3, now represents on electronic chartThe cursor of unmanned plane is static on track time, and no longer forms track. Through setting-up time, after 4 seconds, confirm nothingMan-machine lost contact, starts to draw this void after the virtual track N1 now forming in setting-up time at demonstration unmanned plane on electronic chartIntend track. Also be, taking the F1 on scheming as starting point, to start to draw virtual track.
Suppose that the current position of unmanned plane is F1, while receiving position signalling for the last time due to unmanned plane at F place, because ofThis, the simulated flight speed that the speed of unmanned plane in the time of F place is unmanned plane. Again because every setting-up time interval upgrade once withoutMan-machine position, the numerical value obtaining by the simulated flight speed time of being multiplied by adds that the distance that unmanned plane has flown can countCalculating is M1+M2 to unmanned plane distance next time, and total distance of unmanned plane during flying is that the distance of having flown adds M1 and M2Value. As we can see from the figure, total distance of unmanned plane during flying is greater than destination A3 that the next one will the pass through distance to takeoff pointFrom T2+T1, calculating the total distance of flight is M2 with next destination to the difference of the distance of takeoff point, and the side of next destinationTo for to fly to destination A1 from destination A3, determine the next position arriving for unmanned plane at the distance M2 place at a distance of destination A3F2, and unmanned plane is unanimously from destination A3 to destination A4 in the direction of position F2 with destination A3.
Also have a kind of situation to be, total distance that unmanned plane flies after from current location to the next position is not more than next boatPoint is to the distance of takeoff point, such as unmanned plane takes off from F1, behind setting-up time interval, still F1 and destination A3 itBetween, now, heading is still also consistent to the direction of destination A3 from destination A2 with the direction of destination A2, under unmanned planeThe position that position is F1 adds that simulated flight speed is multiplied by the distance at setting-up time interval.
Refer to Fig. 4, a kind of unmanned plane during flying track drawing apparatus of the present invention, device comprises:
Planning module 10, in order to plan destination and the flight path of unmanned plane during flying;
Reality track drafting module 20, receives the position signalling returning in unmanned plane during flying process in order to every setting-up time interval,On electronic chart, draw the flight path of unmanned plane according to position signalling;
Virtual track drafting module 30, if in order to cannot receive position signalling in setting-up time, arrange for the last time and connectThe position of receiving the corresponding electronic chart of position signalling starts to draw virtual track as the starting point of virtual track, with for the last timeThe simulated flight speed that while receiving position signalling, the flying speed of unmanned plane is unmanned plane, unmanned according to the orientation determination of destinationMachine is at current location heading, then determines unmanned plane during flying setting-up time interval according to simulated flight speed and headingThe next position of rear arrival, then on electronic chart, draw the virtual track of unmanned plane according to the next position.
Planning module 10 comprises:
Setting unit, in order to arrange the flight path of unmanned plane on electronic chart;
Selected cell, in order to select the destination of unmanned plane during flying on flight path;
Computing unit, in order to calculate the direction of each destination to the distance of takeoff point and definite each destination.
Computing unit comprises:
Initial point obtains subelement: taking the center of electronic chart as the origin of coordinates;
Coordinate obtains subelement: the coordinate that obtains takeoff point position on electronic chart corresponding to destination;
Operator unit: by the coordinate between coordinate, the destination of takeoff point and destination and electronic chart and actual rangeRatio is calculated destination at a distance of the distance of takeoff point, by the coordinate calculating destination between coordinate and the destination of takeoff point and destinationVector is determined the direction of destination.
Virtual track drafting module 30, comprising:
The first computing unit, in order to calculate the direction of each destination to the distance of takeoff point and definite each destination;
The second computing unit, the total distance of flight while arriving the next position in order to calculate unmanned plane according to simulated flight speed;
Judging unit, in order to judge whether the total distance of flight is greater than destination that the next one will the pass through distance to takeoff point;
Primary importance determining unit, in order to if be greater than the distance of next destination to takeoff point, and continues to judge upper oneWhether the heading of the destination of process is inconsistent with the heading of next destination; If inconsistent, will with the next oneThe heading of the destination passing through, as the heading in current location of unmanned plane, calculates the total distance of flight and the next oneDestination is to the difference of the distance of takeoff point, along heading at the difference place at a distance of the next destination that will pass through as nothingThe next position of man-machine arrival, otherwise the heading that continues the destination of an above process is unmanned plane in current locationHeading, calculates the total distance of flight and the difference of next destination to the distance of takeoff point, along heading under apartThe next position that the difference place of a destination arrives as unmanned plane;
Second place determining unit, if in order to be less than or equal to destination that the next one will the arrive distance to takeoff point, choosingThe direction of selecting the destination of a process is the heading of unmanned plane in current location, and by flying, total distance is determined next bitPut.
Virtual track drafting module 30 also comprises:
Adding device, arranges electronic chart and is counting setting-up time shape at demonstration unmanned plane from receiving for the last time position signallingAfter the virtual track becoming, just start to draw described virtual track.
Refer to Fig. 4, a kind of unmanned plane during flying track drawing system of the present invention, comprises above-mentioned unmanned plane during flying trackDrawing apparatus.
It should be noted that the present invention is except being applied in unmanned plane, can be applied in drive recorder, Flying CameraMachine, full-view camera and automobile etc.
Compare with prior art, the invention has the beneficial effects as follows: unmanned plane during flying track method for drafting of the present invention, deviceAnd system, determine the position of unmanned plane by simulated flight speed and the flying method of unmanned plane, thereby draw unmanned planeVirtual track after loss signal, can allow unmanned plane operator after unmanned plane lost contact, still can estimate the present bit of unmanned planePut, thereby do some preparations to reclaiming unmanned plane, alleviate the psychological pressure of bringing to user because of the temporary transient loss signal of unmanned plane,Improve the success rate that unmanned plane reclaims.
Those of ordinary skill in the art can recognize, the list of each example of describing in conjunction with embodiment disclosed hereinUnit and algorithm steps, can realize with the combination of electronic hardware or computer software and electronic hardware. These functions actuallyCarry out with hardware or software mode, depend on application-specific and the design constraint of technical scheme. Professional and technical personnelCan realize described function with distinct methods to each specifically should being used for, but this realization should not be thought and exceedScope of the present invention.
Those skilled in the art can be well understood to, for convenience and simplicity of description, the system of foregoing description,The specific works process of device and unit, can, with reference to the corresponding process in preceding method embodiment, not repeat them here.
In the several embodiment that provide in the application, should be understood that, disclosed apparatus and method, can pass through itIts mode realizes. For example, device embodiment described above is only schematically, for example, and the division of described unit, onlyBe only that a kind of logic function is divided, when actual realization, can have other dividing mode, for example multiple unit or assembly can be tiedClose or can be integrated into another system, or some features can ignore, or not carry out. Another point, shown or discussedCoupling each other or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or logicalLetter connects, and can be electrically, machinery or other form.
The described unit as separating component explanation can or can not be also physically to separate, aobvious as unitThe parts that show can be or can not be also physical locations, can be positioned at a place, or also can be distributed to multipleOn NE. Can select according to the actual needs some or all of unit wherein to realize the order of the present embodiment scheme.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing unit, also canBe that the independent physics of unit exists, also can be integrated in a unit two or more unit.
If described function realizes and during as production marketing independently or use using the form of SFU software functional unit, canBe stored in a computer read/write memory medium. Based on such understanding, technical scheme of the present invention in essence in other wordsThe part that prior art is contributed or the part of this technical scheme can embody with the form of software product, this meterCalculation machine software product is stored in a storage medium, comprises that some instructions (can be individual in order to make a computer equipmentPeople's computer, server, or the network equipment etc.) carry out all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only storage (ROM, Read-OnlyMemory), arbitrary access are depositedVarious Jie that can be program code stored such as reservoir (RAM, RandomAccessMemory), magnetic disc, CD or cloud storageMatter.
The above, be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyBe familiar with those skilled in the art in the technical scope of the present invention's exposure, can expect easily changing or replacing, all should containCover within protection scope of the present invention. Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a unmanned plane during flying track method for drafting, is characterized in that, described method comprises:
Destination and the flight path of planning unmanned plane during flying;
Every setting-up time interval receives the position signalling returning in described unmanned plane during flying process, according to described position signalling at electricityOn sub-map, draw the flight path of described unmanned plane;
If cannot receive described position signalling in setting-up time, arrange and receive for the last time described position signalling correspondenceThe position of described electronic chart starts to draw described virtual track as the starting point of virtual track, to receive for the last time instituteThe simulated flight speed that described in while stating position signalling, the flying speed of unmanned plane is described unmanned plane, according to the direction of described destinationDetermine the heading of described unmanned plane in current location, then described in determining according to described simulated flight speed and headingThe next position arriving behind setting-up time interval described in unmanned plane during flying, then according to described the next position on described electronic chartDraw the virtual track of described unmanned plane.
2. unmanned plane during flying track method for drafting as claimed in claim 1, is characterized in that, at described planning unmanned plane during flyingDestination and the step of flight path in, comprising:
The flight path of described unmanned plane is set on electronic chart;
On described flight path, select the destination of described unmanned plane during flying;
Calculate the direction of each described destination to the distance of takeoff point and definite described each destination.
3. as the unmanned plane during flying track method for drafting of claim 2, it is characterized in that, described according to the direction of described destinationDetermine that described unmanned plane is at current location heading, then determine described nothing according to described simulated flight speed and headingThe step of the next position arriving behind the described setting-up time of man-machine flight interval, comprising:
The total distance of flight when calculating described unmanned plane and arrive described the next position according to described simulated flight speed;
Judge whether the total distance of described flight is greater than described destination that the next one will the pass through distance to takeoff point;
If be greater than the distance of next described destination to takeoff point, and continue to judge the flying of described destination of a upper processWhether line direction is inconsistent with the heading of the described destination of the next one; If inconsistent, will to pass through with next one instituteState the heading of destination as the heading in current location of described unmanned plane, calculate the total distance of described flight and nextIndividual described destination is to the difference of the distance of described takeoff point, along described heading at a distance of next will pass through described inThe next position that the difference place of destination arrives as described unmanned plane, otherwise more than continuing, the described destination of a process fliesLine direction is the heading of described unmanned plane in described current location, calculates the total distance of described flight and the described destination of the next oneTo the difference of the distance of described takeoff point, along described heading at the difference place at a distance of next described destination as describedThe next position that unmanned plane arrives;
If be less than or equal to described destination that the next one will the arrive distance to takeoff point, select a process described inThe direction of destination is the heading of described unmanned plane in described current location, by the total distance of described flight determine described nextPosition.
4. unmanned plane during flying track method for drafting as claimed in claim 3, is characterized in that, if described in setting-up timeCannot receive described position signalling, the position that receives for the last time the corresponding described electronic chart of described position signalling is setStart to draw as the starting point of virtual track in the step of described virtual track, comprising:
Arrange described electronic chart show described unmanned plane from receive for the last time described position signalling count set timeBetween form virtual track after, just start to draw described virtual track.
5. unmanned plane during flying track method for drafting as claimed in claim 2, is characterized in that, the each described destination of described calculatingStep to the distance of takeoff point and the direction of definite described each destination comprises:
Taking the center of described electronic chart as the origin of coordinates;
Obtain the coordinate of described takeoff point position on described electronic chart corresponding to described destination;
Coordinate by described takeoff point and described destination and, coordinate and electronic chart and actual range between described destinationRatio calculate described destination at a distance of the distance of takeoff point, the coordinate by described takeoff point and described destination and described destination itBetween the coordinate vector that calculates described destination determine the direction of described destination.
6. as the unmanned plane during flying track method for drafting of claim 1, it is characterized in that, described position signalling is gps signal.
7. a unmanned plane during flying track drawing apparatus, is characterized in that, described device comprises:
Planning module, in order to plan destination and the flight path of unmanned plane during flying;
Reality track drafting module, receives the position letter returning in described unmanned plane during flying process in order to every setting-up time intervalNumber, the flight path of drawing described unmanned plane according to described position signalling on electronic chart;
Virtual track drafting module, if in order to cannot receive described position signalling in setting-up time, arranges lastThe position that receives the corresponding described electronic chart of described position signalling starts to draw described virtual as the starting point of virtual trackTrack, when receiving described position signalling for the last time described in the flying speed of unmanned plane be the simulated flight of described unmanned planeSpeed, according to unmanned plane described in the orientation determination of described destination at current location heading, then according to described simulated flight speedDegree and heading are determined the next position arriving behind setting-up time interval described in described unmanned plane during flying, then according under describedThe virtual track of described unmanned plane is drawn in one position on described electronic chart.
8. unmanned plane during flying track method for drafting as claimed in claim 7, is characterized in that, described planning module comprises:
Setting unit, in order to arrange the flight path of described unmanned plane on electronic chart;
Selected cell, in order to select the destination of described unmanned plane during flying on described flight path;
Computing unit, in order to calculate the direction of each described destination to the distance of takeoff point and definite described each destination.
9. unmanned plane during flying track drawing apparatus as claimed in claim 8, is characterized in that, described virtual track is drawn mouldPiece, comprising:
The first computing unit, in order to calculate the side of each described destination to the distance of takeoff point and definite described each destinationTo;
The second computing unit, flying while arriving described the next position in order to calculate described unmanned plane according to described simulated flight speedThe total distance of row;
Judging unit, in order to judge whether the total distance of described flight is greater than described destination that the next one will pass through to takeoff pointDistance;
Primary importance determining unit, in order to if be greater than the distance of next described destination to takeoff point, and continues in judgementWhether the heading of the described destination of a process is inconsistent with the heading of the described destination of the next one; If it is inconsistent,The heading of the described destination that will pass through using the next one, as the heading in current location of described unmanned plane, is countedCalculate the total distance of described flight and the described destination of the next one difference to the distance of described takeoff point, along described heading in phaseThe next position arriving as described unmanned plane apart from the difference place of the next described destination that will pass through, otherwise, more than continuationThe heading of the described destination of a process is the heading of described unmanned plane in described current location, calculates described flightTotal distance and the described destination of the next one be to the difference of the distance of described takeoff point, along described heading at a distance of next instituteState the difference place of destination as the next position of described unmanned plane arrival;
Second place determining unit, if in order to be less than or equal to described destination that the next one will the arrive distance to takeoff pointFrom, the direction of selecting the described destination of a process is the heading of described unmanned plane in described current location, by instituteState the total distance of flight and determine described the next position.
10. a unmanned plane during flying track drawing system, is characterized in that, described system comprises as any in claim 7 to 9 oneUnmanned plane during flying track drawing apparatus described in.
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