CN107203219B - Flight assistance system and method for unmanned aerial vehicle - Google Patents
Flight assistance system and method for unmanned aerial vehicle Download PDFInfo
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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Abstract
The invention discloses a flight auxiliary system and a flight auxiliary method of an unmanned aerial vehicle, which belong to the field of unmanned aerial vehicles, and comprise a remote controller, a mobile terminal and a state measurement sensor, wherein the state measurement sensor is used for measuring the position information and the flight state information of the unmanned aerial vehicle; the mobile terminal is used for obtaining the position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle and outputting the flight state information of the unmanned aerial vehicle and the position information relative to the observation position; the remote controller is used for controlling the flight of the unmanned aerial vehicle. The system and the method provided by the invention help the operator to control the flight path of the unmanned aerial vehicle by mastering the flight position and the flight state of the unmanned aerial vehicle, avoid blind flight and flight loss and improve the flight experience of the operator.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a flight assistance system and method of the unmanned aerial vehicle.
Background
In recent years, unmanned aircraft (e.g., fixed wing aircraft, rotorcraft including helicopter), motor vehicles, submarines or ships, and satellites, space stations, or airships have been widely used, for example, in the fields of detection, search and rescue, and the like. Manipulation of these moving bodies is typically accomplished by a user through a remote control device.
A remote control aircraft, submarine, or motor vehicle may carry a carrier, such as a carrier device carrying a camera or light. For example, a drone may carry a camera for aerial photography.
In the process of operating a moving body such as an unmanned aerial vehicle, since the unmanned aerial vehicle is generally small in size, the unmanned aerial vehicle is difficult to see clearly with naked eyes in a far-flying situation (such as four or five hundred meters), in such a situation, the operator is difficult to observe the heading angle of the unmanned aerial vehicle, which is equivalent to a blind flight, and the unmanned aerial vehicle is easy to lose without an auxiliary means of flight. In addition, if the user flies in a First Person View (FPV) mode, the user may be greatly impaired by focusing on the display screen, and finally, the user may not know the current position of the unmanned aerial vehicle, thereby losing the direction and even losing the flight, and watching the FPV while paying attention to the position of the unmanned aerial vehicle.
Disclosure of Invention
In view of the above, the technical problem to be solved by the present invention is to provide a flight assistance system and method for an unmanned aerial vehicle, so as to help an operator to master the current flight position and flight state of the unmanned aerial vehicle, and to control the flight of the unmanned aerial vehicle accordingly.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of the present invention, there is provided an unmanned aerial vehicle assistance system including a remote controller, a mobile terminal, and a state measurement sensor provided on an unmanned aerial vehicle, wherein:
the state measurement sensor is used for measuring the position information and the flight state information of the unmanned aerial vehicle;
the mobile terminal is used for acquiring the position information of the observation position, acquiring the position information and the flight state information of the unmanned aerial vehicle through a wireless network, and acquiring the position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle; outputting flight state information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle relative to the observation position;
and the remote controller is used for controlling the flight of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle output by the mobile terminal and the position information of the unmanned aerial vehicle relative to the observation position.
Preferably, the observation position is the position of an operator and/or the position of the unmanned aerial vehicle takeoff;
when the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator; when the observation position is the takeoff position of the unmanned aerial vehicle, the takeoff position of the unmanned aerial vehicle is obtained through a state measurement sensor arranged on the unmanned aerial vehicle.
Preferably, the mobile terminal includes:
the information acquisition module is used for acquiring the position information of the observation position and acquiring the position information and the flight state information of the unmanned aerial vehicle through a wireless network;
the information processing module is used for obtaining the position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle;
and the information output module is used for receiving and outputting the flight state information of the unmanned aerial vehicle and the position information of the unmanned aerial vehicle relative to the observation position.
Preferably, the information output module is configured to: and displaying the flight state information of the unmanned aerial vehicle and the position information relative to the observation position on a display screen of the mobile terminal in a graphic mode.
Preferably, the position information of the unmanned aerial vehicle relative to the observation position includes a distance between the unmanned aerial vehicle and the observation position and an angle of the unmanned aerial vehicle relative to the observation position; the flight status information includes a heading of the unmanned aerial vehicle and/or altitude information of the unmanned aerial vehicle relative to the ground.
Preferably, the information acquisition module further comprises a terminal attitude measurement module, wherein: the terminal attitude measurement module is used for detecting the azimuth angle of a screen datum line of the display screen; and the information processing module is used for reversely rotating the azimuth angle of the graph relative to the front visual axis of the display screen.
Preferably, the information processing module is configured to determine whether a difference between an azimuth of a screen reference line of the display screen and an azimuth of the unmanned aerial vehicle relative to the observation position is smaller than a predetermined threshold, and a difference between an altitude of the display screen and an altitude of the unmanned aerial vehicle relative to the observation position is smaller than the predetermined threshold, and if so, generate the capture target prompt information on the screen.
Preferably, the predetermined threshold is 10 degrees.
According to another aspect of the present invention, there is provided a flight assistance method for an unmanned aerial vehicle, comprising the steps of:
measuring the position information and the flight state information of the unmanned aerial vehicle by a state measuring sensor;
the method comprises the steps that a mobile terminal obtains position information of an observation position, obtains position information and flight state information of the unmanned aerial vehicle through a wireless network, and obtains position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle; outputting flight state information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle relative to an observation position;
and controlling the flight of the unmanned aerial vehicle by the remote controller according to the flight state information of the unmanned aerial vehicle output by the mobile terminal and the position information of the unmanned aerial vehicle relative to the observation position.
Preferably, the observation position is the position of an operator and/or the position of the unmanned aerial vehicle takeoff;
when the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator;
when the observation position is the takeoff position of the unmanned aerial vehicle, the takeoff position of the unmanned aerial vehicle is obtained through a state measurement sensor arranged on the unmanned aerial vehicle.
Preferably, the outputting of the flight status information of the unmanned aerial vehicle and the position information of the unmanned aerial vehicle with respect to the observation position includes: and displaying the flight state information of the unmanned aerial vehicle and the position information relative to the observation position on a display screen of the mobile terminal in a graphic mode.
Preferably, the position information of the unmanned aerial vehicle relative to the observation position includes a distance between the unmanned aerial vehicle and the observation position and an angle of the unmanned aerial vehicle relative to the observation position; the flight status information includes a heading of the unmanned aerial vehicle and/or altitude information of the unmanned aerial vehicle relative to the ground.
Preferably, the method further comprises: and acquiring the azimuth angle of the screen reference line of the display screen, and reversely rotating the pattern relative to the front visual axis of the display screen.
Preferably, the method further comprises: and judging whether the difference value between the azimuth angle of the screen reference line of the display screen and the azimuth angle of the unmanned aerial vehicle relative to the observation position is smaller than a preset threshold value or not, and the difference value between the altitude angle of the display screen and the altitude angle of the unmanned aerial vehicle relative to the observation position is smaller than a preset threshold value, if so, generating capture target prompt information on the screen.
Preferably, the predetermined threshold is 10 degrees.
According to the unmanned aerial vehicle auxiliary system and the flight auxiliary method provided by the invention, the flight position and the flight state of the unmanned aerial vehicle are mastered, so that an operator is helped to control the flight path of the unmanned aerial vehicle, blind flight and flight loss are avoided, and the flight experience of the operator is improved.
Drawings
Fig. 1 is a schematic structural diagram of a flight assistance system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a mobile terminal according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the horizontal placement of the display screen in the east-west direction for displaying the position and heading of the UAV according to the preferred embodiment of the invention;
FIG. 4 is a schematic diagram of a display screen horizontally positioned in the north-south direction for displaying the position and heading of an unmanned aerial vehicle according to the preferred embodiment of the invention;
FIG. 5 is a schematic view of an operator facing an UAV showing the position and heading of the UAV according to a preferred embodiment of the present invention;
FIG. 6 is a schematic view of a display screen facing an unmanned aerial vehicle according to a preferred embodiment of the present invention;
FIG. 7 is a flow chart of a flight assistance method for an UAV in accordance with a preferred embodiment of the present invention;
FIG. 8 is a schematic view of an altitude angle of an UAV provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of an elevation angle of a display screen according to an embodiment of the present invention;
fig. 10 is a flowchart of a flight assistance method for an unmanned aerial vehicle according to a preferred embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic structural diagram of a flight assistance system of an unmanned aerial vehicle according to an embodiment of the present invention, the system includes a remote controller 30, a mobile terminal 20, and a state measurement sensor 101 disposed on the unmanned aerial vehicle 10, wherein:
a state measurement sensor 10 for measuring position information and flight state information of the unmanned aerial vehicle 10;
the flight position information includes longitude and latitude, and the flight status information may include pitch, roll, and heading, and may further include flight altitude information of the unmanned aerial vehicle 10.
The mobile terminal 20 is configured to acquire position information of an observation position, acquire position information and flight state information of the unmanned aerial vehicle 10 through a wireless network, and obtain position information of the unmanned aerial vehicle 10 relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle 10; and outputs flight state information of the unmanned aerial vehicle 10 and position information of the unmanned aerial vehicle 10 with respect to the observation position;
the observation position may be a position of the operator and a position where the unmanned aerial vehicle 10 takes off, or may be any one of the position of the operator and the position where the unmanned aerial vehicle takes off. When the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator; when the observation position is the position where the unmanned aerial vehicle 10 takes off, the position where the unmanned aerial vehicle 10 takes off is obtained by a state measurement sensor 101 provided on the vehicle. Specifically, since the position of the operator is the same information as the position information of the mobile terminal 20, the position information of the operator can be located by the position information of the mobile terminal 20, or can be obtained by a sensor attached to the operator or an object carried by the operator. When the mobile terminal 20 has the GPS function, the GPS coordinates of the mobile terminal are acquired as the position information of the operator. When the mobile terminal 20 does not have the GPS function, the position information of the takeoff point of the unmanned aerial vehicle is obtained, where the position information of the takeoff point is the position information recorded when the unmanned aerial vehicle searches for enough positioning satellites for the first time after being powered on.
The operator can select the position of the operator or the takeoff position of the unmanned aerial vehicle as the observation position according to the requirement, and a selection module is needed at the moment. The viewing position may be set initially and not selected by the operator.
The wireless network includes a Wi-Fi network, and of course, communication is performed through other networks, such as 2G \3G \4G and future 5G, as long as the unmanned aerial vehicle 10 and the mobile terminal 20 both support these communication protocols.
And the remote controller 30 is used for controlling the flight of the unmanned aerial vehicle 10 according to the flight state information of the unmanned aerial vehicle 10 output by the mobile terminal and the position information of the unmanned aerial vehicle 10 relative to the observation position.
Wherein the flight state information of the unmanned aerial vehicle 10 is output including the heading of the unmanned aerial vehicle 10, the position information of the unmanned aerial vehicle 10 with respect to the observation position includes the position information of the unmanned aerial vehicle 10 with respect to the observation position including the distance between the unmanned aerial vehicle 10 and the observation position and the angle of the unmanned aerial vehicle 10 with respect to the observation position, and the remote controller 30 controls the flight of the unmanned aerial vehicle 10 according to the information.
As shown in fig. 2, which is a schematic block structure diagram of a mobile terminal according to a preferred embodiment of the present invention, the mobile terminal 20 includes an information obtaining module 201, an information processing module 202, and an information output module 203, which are sequentially connected, where:
the information acquiring module 201 further includes an observing position information acquiring module 2011 and a flight position and state acquiring module 2012, wherein the observing position information acquiring module 2011 is configured to acquire position information of the observing position; the flight position and state obtaining module 2012 is configured to obtain the position information and the flight state information of the unmanned aerial vehicle.
The information processing module 202 is used for obtaining the position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle and transmitting the position information of the unmanned aerial vehicle relative to the observation position to the information output module;
and the information output module 203 is used for outputting flight state information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle relative to the observation position.
As a preferable scheme of this embodiment, the information output module 203 may display the distance between the unmanned aerial vehicle and the observation position, the angle of the unmanned aerial vehicle relative to the observation position, and the heading of the unmanned aerial vehicle on the display screen in the form of graphics. Wherein the angle of the unmanned aerial vehicle relative to the observation position comprises an azimuth angle relative to the observation position and an altitude angle relative to the observation position, and the figure can be a plane figure or a stereo figure. Referring to fig. 3 and 4, in the displayed graphs, an arrow indicates the position of the unmanned aerial vehicle, the direction of the arrow indicates the heading of the unmanned aerial vehicle, the center of the circle indicates the position of the observation position, the line connecting the arrow and the center of the circle indicates the projection of the line connecting the position of the unmanned aerial vehicle and the observation position on the ground plane, the included angle a between the line and the north of the ground indicates the azimuth angle of the unmanned aerial vehicle relative to the observation position, several circles with the observation position as the center of the circle indicate that the distance from the observation position to the unmanned aerial vehicle is from near to far from inside to outside (for example, the radius difference between adjacent circles is 50 meters), wherein the range of the dashed circle indicates the safe distance for flying, when the unmanned aerial vehicle is out of the safe distance, in addition to the graphical display, the operator can be reminded by voice or text, the operator can control the control model to fly within the safe range through the flight path, thereby avoiding blind flight and loss (in the case shown in fig. 3, the operator only needs to strike the pole at the lower left to fly the unmanned aerial vehicle back).
As another preferable scheme of this embodiment, the information obtaining module 201 further includes a terminal attitude measuring module 2013, configured to measure an azimuth angle of the display screen relative to a screen reference line of the display screen, and send the rotation angle to the information processing module 202; information processing module 202 rotates the displayed graphic in a reverse direction relative to the front viewing axis of the display screen by the azimuth angle. So that the relative position and the heading angle of the unmanned aerial vehicle displayed on the display screen are kept with reference to the ground, regardless of the horizontal placement direction and the vertical placement direction of the display screen of the mobile terminal.
The screen reference line of the display screen refers to a reference line parallel to one side of the display screen, and may be a connection line of midpoints of upper and lower sides of the display screen, where the upper and lower sides refer to when the displayed graph is in a forward direction, and the screen reference line is in the forward direction (as shown in fig. 3 and 4). The azimuth angle of the screen reference line of the display screen refers to an included angle (e.g., angle B shown in fig. 5) between the projection of the screen reference line on the ground plane and the due north direction. The front view axis of the display screen is an axis perpendicular to the display screen, and may also be considered as an axis that is viewed by human eyes at an angle perpendicular to the display screen (as shown in fig. 7).
When the display screen of the mobile terminal is horizontally placed, the terminal attitude measurement module 2013 can be implemented by the magnetometer 20131, and the azimuth angle of the screen reference line of the display screen rotating in the horizontal direction relative to the due north direction is obtained by taking the pointing direction of the magnetometer 20131 as a reference. Information processing module 202 rotates the displayed graphic in a reverse direction relative to the front viewing axis of the display screen by the azimuth angle. Here, the azimuth angle of the screen reference line actually refers to an included angle between the screen reference line and the due north direction, please refer to fig. 3 and 4, the magnetometer can be implemented by the compass, for example, the position of the unmanned aerial vehicle displayed on the display screen in real time is determined by using the pointing direction of the compass as a reference, so as to ensure that the angle of the connection line between the arrow and the circle center on the display screen relative to the ground plane can be kept unchanged as long as the position and the heading of the unmanned aerial vehicle are not changed and no matter how the operator holds the mobile terminal to rotate and change the angle in the horizontal placement direction, as long as the displayed figure is rotated reversely relative to the forward viewing axis of the display screen in real time according to the azimuth angle of the screen, that is, the azimuth angle a of the unmanned aerial vehicle in fig. 3 and 4 with respect to the observation position remains constant, and the angle of the pointing direction of the arrow with respect to the ground plane also remains constant. If the compass function is not available, the angle a cannot be kept unchanged, but the arrow and the circle center can reflect the actual relative position of the unmanned aerial vehicle and the mobile terminal when the display screen is horizontally placed in the east-west direction (as shown in fig. 3).
When the display screen of the mobile terminal is not horizontally placed, the terminal attitude measurement module 2013 may obtain an azimuth angle of a screen reference line of the display screen through the magnetometer 20131 and the accelerometer 20132, where the azimuth angle of the screen reference line of the display screen refers to an included angle between a projection of the screen reference line on a ground plane and a due north direction. For example, the magnetometer and the accelerometer can be used to calculate the attitude Rbg of the display screen relative to the ground, a vector Pg is obtained by calculating the difference between the position of the unmanned aerial vehicle and the current position of the display screen, and the vector direction displayed on the display screen is as follows: and the x and y coordinates of the vector (Pb, Rbg and Pg) are obtained, so that the azimuth angle of the projection of the screen reference line of the display screen on the ground plane relative to the true north direction is obtained. The displayed graphic is then rotated in a reverse direction relative to the elevational axis of the display screen by the azimuth angle such that the relative position and heading angle of the unmanned aerial vehicle displayed on the display screen remains referenced to the ground plane regardless of the horizontal placement direction or the vertical placement direction of the display screen of the mobile terminal.
It should be noted that this solution is not applicable to the special case when the display screen is placed vertically.
As another preferable scheme of this embodiment, the information processing module 202 is further configured to determine whether a difference between an azimuth angle of a screen reference line of the display screen and an azimuth angle of the unmanned aerial vehicle relative to the observation position is smaller than a predetermined threshold, and a difference between an altitude angle of the display screen and an altitude angle of the unmanned aerial vehicle relative to the observation position is also smaller than the predetermined threshold, and if so, generate the capture target prompt information on the screen. The screen reference line of the display screen refers to a reference line parallel to one side of the display screen, and may be a connection line of midpoints of upper and lower sides of the display screen, where the upper and lower sides refer to when the displayed graph is in a forward direction, and the screen reference line is in the forward direction (as shown in fig. 3 and 4). The azimuth angle of the screen reference line of the display screen refers to an included angle (e.g., angle B shown in fig. 5) between the projection of the screen reference line on the ground plane and the due north direction. The altitude angle of the display screen refers to an included angle between a front visual axis of the display screen and a ground plane (an rb angle shown in fig. 9), the azimuth angle of the unmanned aerial vehicle relative to the observation position refers to an included angle between a projection of a connecting line of the unmanned aerial vehicle and the observation position on the ground plane and a direction due to the ground plane (an angle a shown in fig. 3, 4 and 5), the altitude angle of the unmanned aerial vehicle refers to an included angle between the connecting line of the unmanned aerial vehicle and the observation position and the ground plane (an angle ra shown in fig. 8), and the predetermined threshold value is 10 degrees.
For example, there is the relationship: vv2 ═ v2x v2y v2z ] ^ T ^ Rgb ([ 001 ] ^ T)
The display screen comprises a first two coordinates of v2 ═ vv2, v1 ═ x2-x1, y2-y1] < Lambda > T, v1 represents erecting vectors, v2 represents a z-axis of the display screen in a world coordinate system, the first two numbers represent projection in x and y directions, x1 and y1 represent coordinates of the display screen, x2 and y2 represent coordinates of the unmanned aerial vehicle, T is transposition, Rgb represents a display screen attitude matrix, and when an angle difference between v2 and v1 is smaller than a certain threshold value, the position of the display screen relative to the unmanned aerial vehicle is represented.
Referring to fig. 6, when the display screen of the mobile terminal is horizontally disposed, the operator may hold the display screen to rotate along with the arrow in the horizontal direction to find the unmanned aerial vehicle, and when the display screen rotates along with the arrow until the azimuth angle of the screen reference line of the display screen is consistent with the azimuth angle of the unmanned aerial vehicle relative to the observation position (i.e., an angle a), the arrow should be located right above the display screen. Referring to fig. 7, when the operator holds the display screen and rotates the display screen in the vertical direction to the position where the altitude angle of the display screen is consistent with the altitude angle of the unmanned aerial vehicle relative to the observation position on the basis that the azimuth angle of the screen reference line of the display screen in fig. 6 is consistent with the azimuth angle of the unmanned aerial vehicle relative to the observation position, the front viewing axis of the display screen placed non-horizontally points to the position of the unmanned aerial vehicle, the prompt message for capturing the target is generated on the screen, the target can be captured by the disappearance of the arrow or the color change of the arrow, and the flight experience of the operator is improved.
In practical applications, the display screen may also be considered to be an unmanned aerial vehicle when the front view axis of the display screen is approaching alignment with the unmanned aerial vehicle (the angle difference is smaller than a predetermined threshold). It will be understood that the center of the circle in fig. 7 is the vertex of a vertical cone, the line connecting the center of the circle to the unmanned aerial vehicle is the central axis of the vertical cone, the predetermined threshold is the vertex angle of the vertical cone, and thus, when the operator holds the display screen and rotates along the direction of the arrow until the position of the unmanned aerial vehicle falls within the space range of the vertical cone, the display screen can be prompted to face the unmanned aerial vehicle, at the moment, the azimuth angle of the screen reference line of the display screen and the azimuth angle of the unmanned aerial vehicle relative to the observation position tend to be consistent, the altitude angle of the display screen and the altitude angle of the unmanned aerial vehicle relative to the observation position tend to be consistent, the front viewing axis of the display screen tends to point to the position of the unmanned aerial vehicle, and the capture target prompt information is also generated on the screen, the prompt message can be the disappearance of the arrow or the color change of the arrow, so that the flight experience of the operator is improved.
Referring to fig. 7, an operator may hold the mobile terminal to rotate in the direction of the arrow displayed on the screen to search for the unmanned aerial vehicle, and when the display screen rotates in the direction of the arrow to the point that the azimuth of the screen reference line of the display screen is consistent with the azimuth of the unmanned aerial vehicle relative to the observation position, and the altitude of the display screen is consistent with the altitude of the unmanned aerial vehicle relative to the observation position, the front viewing axis of the display screen placed non-horizontally points to the position of the unmanned aerial vehicle, and a target capturing prompt message is generated on the screen. In practical applications, the display screen may also be considered to be an unmanned aerial vehicle when the front view axis of the display screen is approaching alignment with the unmanned aerial vehicle (the angle difference is smaller than a predetermined threshold). Target capturing prompt information is generated on a screen, and flight experience of an operator is improved.
Certainly, the mobile terminal may further include a voice module for voice-prompting the position information and the flight attitude information of the unmanned aerial vehicle, including how many degrees the unmanned aerial vehicle is in which direction of the operator, how many meters the unmanned aerial vehicle is away from the operator, how many altitude angles the unmanned aerial vehicle is, and the like, for example, voice-broadcasting "the unmanned aerial vehicle is 30 degrees in the northeast of your, please see the unmanned aerial vehicle by lifting 50 degrees at the head", thereby better improving the flight experience of the operator. Through the flight auxiliary system of unmanned vehicles of this embodiment, the operator just can easily know the position that unmanned vehicles is located according to relative position information and the course that shows on the display screen, and eyes need not leave mobile terminal's display screen just can carry out the flight path of controlling unmanned vehicles freely to unmanned vehicles, have avoided blind flying and have flown to lose, have improved operator's flight experience simultaneously.
Fig. 10 is a flowchart of a flight assistance method for an unmanned aerial vehicle of an unmanned aerial vehicle according to a preferred embodiment of the present invention, where the method includes:
s1002, measuring the position information and the flight state information of the unmanned aerial vehicle by a state measuring sensor;
the flight position information includes longitude and latitude, and the flight state information includes pitch, roll, and heading, and further includes the flight altitude information of the unmanned aerial vehicle 10.
S1004, the mobile terminal acquires the position information of the observation position, and also acquires the position information and the flight state information of the unmanned aerial vehicle through a wireless network;
specifically, the mobile terminal and the unmanned aerial vehicle establish a Wi-Fi network to carry out point-to-point communication, and acquire the current position information and flight state information of the unmanned aerial vehicle in real time.
The observation position may be a position of the operator and a position where the unmanned aerial vehicle takes off, or may be any one of the position of the operator and the position where the unmanned aerial vehicle takes off. When the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator; of course, since the position of the operator and the position information of the mobile terminal are the same information, it is preferable to locate the position information of the operator through the GPS module of the mobile terminal. When the observation position is the takeoff position of the unmanned aerial vehicle, the takeoff position of the unmanned aerial vehicle is obtained through a state measurement sensor arranged on the unmanned aerial vehicle.
S1006, obtaining the position information of the unmanned aerial vehicle relative to the observation position according to the position information and the observation position information of the unmanned aerial vehicle;
specifically, the position information of the unmanned aerial vehicle relative to the observation position includes a distance between the unmanned aerial vehicle and the observation position and an angle of the unmanned aerial vehicle relative to the observation position, and the flight state information includes a heading of the unmanned aerial vehicle.
S1008, displaying the distance, the angle and the heading of the unmanned aerial vehicle relative to the observation position on a display screen in a graphical mode;
specifically, the azimuth angle refers to an angle of rotation of the display screen in a horizontal direction with respect to the ground, and the elevation angle refers to an elevation angle of rotation of the display screen in a vertical direction with respect to the ground.
S1010, acquiring an azimuth angle of a screen reference line of the display screen, and reversely rotating the pattern relative to the front visual axis of the display screen.
The screen reference line of the display screen refers to a reference line parallel to one side of the display screen, and may be a connection line of midpoints of upper and lower sides of the display screen, where the upper and lower sides refer to when the displayed graph is in a forward direction, and the screen reference line is in the forward direction (as shown in fig. 3 and 4). The azimuth angle of the screen reference line of the display screen refers to an included angle (e.g., angle B shown in fig. 5) between the projection of the screen reference line on the ground plane and the due north direction. The front view axis of the display screen is an axis perpendicular to the display screen, and may also be considered as an axis that is viewed by human eyes at an angle perpendicular to the display screen (as shown in fig. 7).
Specifically, when the display screen of the mobile terminal is horizontally placed, the display screen can be implemented by a magnetometer, and the azimuth angle of the screen reference line of the display screen, which is rotated in the horizontal direction relative to the due north direction, is acquired by taking the pointing direction of the magnetometer as a reference. And by rotating the graphic in the opposite direction relative to the front viewing axis of the display screen, the relative position and the heading of the unmanned aerial vehicle displayed on the display screen are kept with reference to the ground plane, and are irrelevant to the horizontal placement direction of the display screen. Here, the azimuth angle of the screen reference line actually refers to an included angle between the screen reference line and the due north direction, please refer to fig. 3 and 4, the magnetometer can be implemented by the compass, for example, the position of the unmanned aerial vehicle displayed on the display screen in real time is determined by using the pointing direction of the compass as a reference, so as to ensure that the angle of the connection line between the arrow and the circle center on the display screen relative to the ground plane can be kept unchanged as long as the position and the heading of the unmanned aerial vehicle are not changed and no matter how the operator holds the mobile terminal to rotate and change the angle in the horizontal placement direction, as long as the displayed figure is rotated reversely relative to the forward viewing axis of the display screen in real time according to the azimuth angle of the screen, that is, the azimuth angle a of the unmanned aerial vehicle in fig. 3 and 4 with respect to the observation position remains constant, and the angle of the pointing direction of the arrow with respect to the ground plane also remains constant. If the compass function is not available, the angle a cannot be kept unchanged, but the arrow and the circle center can reflect the actual relative position of the unmanned aerial vehicle and the mobile terminal when the display screen is horizontally placed in the east-west direction (as shown in fig. 3).
When the display screen of the mobile terminal is not horizontally arranged, the azimuth angle of the screen reference line of the display screen can be acquired through the magnetometer and the accelerometer, wherein the azimuth angle of the screen reference line of the display screen refers to an included angle between the projection of the screen reference line on the ground plane and the true north direction. For example, the magnetometer and the accelerometer can be used to calculate the attitude Rbg of the display screen relative to the ground, a vector Pg is obtained by calculating the difference between the position of the unmanned aerial vehicle and the current position of the display screen, and the vector direction displayed on the display screen is as follows: and the x and y coordinates of the vector (Pb, Rbg and Pg) are obtained, so that the azimuth angle of the projection of the screen reference line of the display screen on the ground plane relative to the true north direction is obtained. The displayed graphic is then rotated in a reverse direction relative to the elevational axis of the display screen by the azimuth angle such that the relative position and heading angle of the unmanned aerial vehicle displayed on the display screen remains referenced to the ground plane regardless of the horizontal placement direction or the vertical placement direction of the display screen of the mobile terminal.
It should be noted that step S1010 in the present embodiment is an optional step, and when the rotation of the display screen in the horizontal direction and the vertical direction is not considered, the step may be omitted, and the step is not applicable to the special case when the display screen is vertically placed.
And S1012, controlling the flight of the unmanned aerial vehicle by the remote controller according to the relative position and the course of the unmanned aerial vehicle output by the mobile terminal.
As another preferred embodiment of the present invention, the method further includes determining whether a difference between an azimuth of a screen reference line of a display screen of the mobile terminal and an azimuth of the unmanned aerial vehicle relative to the observation position is smaller than a predetermined threshold, and a difference between an altitude of the display screen and an altitude of the unmanned aerial vehicle relative to the observation position is also smaller than the predetermined threshold, and if so, generating a capture target prompt message on the screen. The azimuth angle of the screen reference line of the display screen is an included angle between the projection of the front viewing axis of the display screen on the ground and the true north direction of the ground, the altitude angle of the display screen is an included angle between the front viewing axis of the display screen and the ground, the azimuth angle of the unmanned aerial vehicle relative to the observation position is an included angle between the projection of a connecting line of the unmanned aerial vehicle and the observation position on the ground and the true north direction of the ground, the altitude angle of the unmanned aerial vehicle is an included angle between the connecting line of the unmanned aerial vehicle and the observation position and the ground, and the preset threshold value is 10 degrees. That is to say, when an operator holds the mobile terminal and rotates in the direction of the arrow displayed on the screen to search for the unmanned aerial vehicle, when the front visual axis of the display screen points to the position facing the unmanned aerial vehicle, the target capturing prompt information is generated and captured on the screen. Referring to fig. 7, an operator may hold the mobile terminal to rotate in the direction of the arrow displayed on the screen to search for the unmanned aerial vehicle, and when the display screen rotates in the direction of the arrow to the position of the screen reference line of the display screen is consistent with the azimuth of the unmanned aerial vehicle relative to the observation position, and the altitude of the display screen is consistent with the altitude of the unmanned aerial vehicle relative to the observation position, the front view axis of the display screen points to the position of the unmanned aerial vehicle, and a capture target prompt message is generated on the screen. In practical applications, the display screen may also be considered to be an unmanned aerial vehicle when the front view axis of the display screen is approaching alignment with the unmanned aerial vehicle (the angle difference is smaller than a predetermined threshold). Target capturing prompt information is generated on the screen, the target can be captured through disappearance of the arrow or color change of the arrow, and flight experience of an operator is improved.
Certainly, in the method, the position information and the flight attitude information of the unmanned aerial vehicle can be notified to the operator in a voice or screen text manner, for example, how many degrees the unmanned aerial vehicle is in which direction of the operator, how many meters the unmanned aerial vehicle is away from the operator, how many altitude angles the unmanned aerial vehicle is, and the like, for example, voice broadcasting "the unmanned aerial vehicle is 30 degrees in your north east, please see the unmanned aerial vehicle by lifting the head by 50 degrees", so that the flight experience of the operator is better improved.
According to the flight auxiliary system and method of the unmanned aerial vehicle, provided by the embodiment of the invention, the flight position and the flight state of the unmanned aerial vehicle are mastered, so that an operator is helped to control the flight path of the unmanned aerial vehicle, blind flight and flight loss are avoided, and the flight experience of the operator is improved.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not to be construed as limiting the scope of the invention. Those skilled in the art can implement the invention in various modifications, such as features from one embodiment can be used in another embodiment to yield yet a further embodiment, without departing from the scope and spirit of the invention. Any modification, equivalent replacement and improvement made within the technical idea of using the present invention should be within the scope of the right of the present invention.
Claims (22)
1. A flight assistance system for an unmanned aerial vehicle, the system comprising a mobile terminal and a state measurement sensor provided on the unmanned aerial vehicle, wherein:
the state measurement sensor is used for measuring the position information of the unmanned aerial vehicle;
the mobile terminal is used for acquiring the position information of the observation position, acquiring the position information of the unmanned aerial vehicle through a wireless network, and acquiring the position information of the unmanned aerial vehicle relative to the observation position according to the position information of the unmanned aerial vehicle and the observation position information; wherein the positional information of the UAV relative to the observation location comprises: an azimuth angle of the unmanned aerial vehicle relative to the observation position and an altitude angle of the unmanned aerial vehicle relative to the observation position; and judging whether the difference value between the azimuth angle of the screen reference line of the display screen of the mobile terminal and the azimuth angle of the unmanned aerial vehicle relative to the observation position is smaller than a first preset threshold value or not, and the difference value between the altitude angle of the display screen and the altitude angle of the unmanned aerial vehicle relative to the observation position is smaller than a second preset threshold value, if so, generating target capturing prompt information on the screen.
2. A flight assistance system for an unmanned aerial vehicle as claimed in claim 1 wherein the viewing position is a position of an operator and/or a position of takeoff of the unmanned aerial vehicle;
when the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator;
when the observation position is the takeoff position of the unmanned aerial vehicle, the takeoff position of the unmanned aerial vehicle is obtained through a state measurement sensor arranged on the unmanned aerial vehicle.
3. A flight assistance system for an unmanned aerial vehicle according to claim 1, wherein the system further comprises a remote controller;
the state measurement sensor is also used for measuring flight state information of the unmanned aerial vehicle;
the mobile terminal is further used for acquiring flight state information of the unmanned aerial vehicle and outputting the flight state information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle relative to an observation position;
and the remote controller is used for controlling the flight of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle output by the mobile terminal and the position information of the unmanned aerial vehicle relative to the observation position.
4. The UAV flight assistance system of claim 3, wherein the mobile terminal is further configured to: displaying the flight state information of the unmanned aerial vehicle and the position information relative to the observation position on a display screen of the mobile terminal in a graphic mode.
5. The UAV flight assistance system of claim 4 wherein the displayed graphical arrows indicate where the UAV is located;
the generating of the capture target prompt information on the screen comprises: the control arrow disappears on the screen or the color of the control arrow changes on the screen.
6. The flight assistance system for an unmanned aerial vehicle of any one of claims 1-5, wherein the first predetermined threshold is 10 degrees;
or/and the second predetermined threshold is 10 degrees.
7. The flight assistance system for an unmanned aerial vehicle of any one of claims 1 to 5, wherein the screen reference line of the display screen is a reference line parallel to one side of the display screen.
8. The flight assistance system of the UAV of any one of claims 1-5, wherein the azimuth angle of the screen reference line of the display screen is the angle between the projection of the screen reference line on the ground plane and the true north direction.
9. The flight assistance system of an unmanned aerial vehicle of any one of claims 1 to 5, wherein the altitude angle of the display screen is an angle between a front viewing axis of the display screen and a ground plane, and the front viewing axis of the display screen is an axis perpendicular to the display screen.
10. The flight assistance system of an unmanned aerial vehicle of any one of claims 1 to 5, wherein the azimuth angle of the unmanned aerial vehicle relative to the observation position is an angle between a projection of a connecting line of the unmanned aerial vehicle and the observation position on the ground plane and a direction due north of the ground plane.
11. The flight assistance system of an unmanned aerial vehicle of any one of claims 1 to 5, wherein the altitude angle of the unmanned aerial vehicle is an angle between a line connecting the unmanned aerial vehicle and the observation position and a ground plane.
12. A flight assistance method for an unmanned aerial vehicle, the method comprising the steps of:
measuring position information of the unmanned aerial vehicle by a state measurement sensor;
the method comprises the steps that a mobile terminal obtains position information of an observation position, the position information of the unmanned aerial vehicle is obtained through a wireless network, and the position information of the unmanned aerial vehicle relative to the observation position is obtained according to the position information of the unmanned aerial vehicle and the observation position information; wherein the positional information of the UAV relative to the observation location comprises: an azimuth angle of the unmanned aerial vehicle relative to the observation position and an altitude angle of the unmanned aerial vehicle relative to the observation position; and judging whether the difference value between the azimuth angle of the screen reference line of the display screen of the mobile terminal and the azimuth angle of the unmanned aerial vehicle relative to the observation position is smaller than a first preset threshold value or not, and the difference value between the altitude angle of the display screen and the altitude angle of the unmanned aerial vehicle relative to the observation position is smaller than a second preset threshold value, if so, generating target capturing prompt information on the screen.
13. The method of flight assistance for an UAV according to claim 12 wherein the viewing position is a position of an operator and/or a position of UAV takeoff;
when the observation position is the position of the operator, the position information of the operator is obtained by a sensor attached to the operator or an object carried by the operator;
when the observation position is the takeoff position of the unmanned aerial vehicle, the takeoff position of the unmanned aerial vehicle is obtained through a state measurement sensor arranged on the unmanned aerial vehicle.
14. The flight assistance method for an unmanned aerial vehicle according to claim 12, further comprising:
measuring flight state information of the unmanned aerial vehicle by the state measurement sensor;
outputting, by the mobile terminal, flight status information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle relative to an observation position;
and controlling the flight of the unmanned aerial vehicle by the remote controller according to the flight state information of the unmanned aerial vehicle output by the mobile terminal and the position information of the unmanned aerial vehicle relative to the observation position.
15. The flight assistance method for an unmanned aerial vehicle according to claim 14, further comprising: displaying the flight state information of the unmanned aerial vehicle and the position information relative to the observation position on a display screen of the mobile terminal in a graphic mode by the mobile terminal.
16. The method of assisting a flight of an unmanned aerial vehicle as claimed in claim 15, wherein an arrow in the displayed figure indicates a position where the unmanned aerial vehicle is located;
the generating of the capture target prompt information on the screen comprises: the control arrow disappears on the screen or the color of the control arrow changes on the screen.
17. The method of flight assistance for an unmanned aerial vehicle of any one of claims 12-16, wherein the first predetermined threshold is 10 degrees;
or/and the second predetermined threshold is 10 degrees.
18. The flight assist method for an unmanned aerial vehicle according to any one of claims 12 to 16, wherein the screen reference line of the display screen is a reference line parallel to one side of the display screen.
19. The flight assist method of the unmanned aerial vehicle of any one of claims 12 to 16, wherein the azimuth angle of the screen reference line of the display screen is an angle between a projection of the screen reference line on the ground plane and a true north direction.
20. The flight assistance method for an unmanned aerial vehicle according to any one of claims 12 to 16, wherein the altitude angle of the display screen is an angle between a front view axis of the display screen and a ground plane, and the front view axis of the display screen is an axis perpendicular to the display screen.
21. The flight assistance method for the unmanned aerial vehicle according to any one of claims 12 to 16, wherein the azimuth angle of the unmanned aerial vehicle with respect to the observation position is an angle between a projection of a connecting line between the unmanned aerial vehicle and the observation position on the ground plane and a direction due north of the ground plane.
22. The flight assistance method for an unmanned aerial vehicle according to any one of claims 12 to 16, wherein the altitude angle of the unmanned aerial vehicle is an angle between a line connecting the unmanned aerial vehicle and the observation position and a ground plane.
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