CN108319274A - A kind of graphic display method of unmanned vehicle position - Google Patents
A kind of graphic display method of unmanned vehicle position Download PDFInfo
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- CN108319274A CN108319274A CN201710027949.4A CN201710027949A CN108319274A CN 108319274 A CN108319274 A CN 108319274A CN 201710027949 A CN201710027949 A CN 201710027949A CN 108319274 A CN108319274 A CN 108319274A
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- aircraft
- operator
- angle
- deviation
- unmanned vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention discloses a kind of graphic display method of unmanned vehicle position, when operator is using the position for wearing display equipment searching unmanned plane during flying device, this method finds position of aircraft with logotype guiding operator, first according to the position of aircraft real time position and operator, the relative position of between humans and machines is calculated, relative position is with deflection and apart from indicating；Whether the deviation for calculating the direction of operator's direction of visual lines and practical between humans and machines, indicated with angle of deviation Φ, judge aircraft in the operator visual field according to angle of deviation Φ；Aircraft out of sight when, wear display equipment guide to graphically operator adjust cephalad direction so that aircraft is entered the visual field；When aircraft is in the visual field, figure guides operating personnel to adjust sight and is directed at aircraft, to find position of aircraft.The graphic display method of unmanned vehicle position proposed by the present invention, can mitigate operator's burden, quickly and intuitively determine position of aircraft, ensure the safety of flight.
Description
Technical field
The invention belongs to unmanned vehicle technical field, more particularly to a kind of graphical display side of unmanned vehicle position
Method.
Background technology
Unmanned vehicle and model plane in-flight, operator is usually with third person (the Third-person
Point of View) aircraft is visually observed and manipulates, is especially taking off, landing and near field mission phase.In order to ensure to fly
Safety, operator need to keep aircraft in the visual field of oneself.
However in some special circumstances, operator needs to divert sb.'s attention.Such as it observes unmanned aerial vehicle station information, look into
It sees flying field situation, switch flight visual angle with periphery personnel transfer or using FPV video glasses, etc..However it diverts sb.'s attention
Afterwards, operator can lose the trace of aircraft.The existing equipments such as unmanned aerial vehicle station, FPV video glasses cannot be carried intuitively
Show position of aircraft.Operator needs voluntarily actively to find, or is prompted, rediscover position of aircraft and manipulated by assistant
Aircraft.
Invention content
To solve the problems, such as to find unmanned vehicle after operator diverts sb.'s attention, the present invention proposes a kind of unmanned vehicle
The graphic display method of position, using display equipment is worn, display equipment or augmented reality AR are worn in such as more flight visual angles
Mirror prompts the position of aircraft in the visual field with graphical symbol, to guide operator to find aircraft.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of graphic display method of unmanned vehicle position, including
Following steps：
Step 1: according to the position of aircraft real time position and the operator for wearing display equipment acquisition, calculate man-machine
Between relative position, relative position is with deflection and apart from indicating；
Step 2: calculating the deviation in the direction of operator's direction of visual lines and practical between humans and machines, indicated with angle of deviation Φ, people
The half at the visible visual angle of eye is expressed as Ψ, and when each components of angle of deviation Φ are not more than each components of Ψ, judgement aircraft is in operator
In the visual field, otherwise, aircraft is outside the operator visual field；
Step 3: figure guided discovery position of aircraft
The display interface for wearing display equipment guides operator to adjust sight discovery position of aircraft, figure to graphically
Shape guidance mode includes following two：
3.1 work as aircraft out of sight, and angle of deviation Φ is shown as indicating the figure in direction by display interface, prompts to manipulate people
Member's adjustment cephalad direction angle reduces angle of deviation Φ, until each components of Φ are not more than each components of Ψ, aircraft is in the operator visual field
It is interior；
3.2 when aircraft is in the visual field, and angle of deviation Φ is shown as locative figure by display interface, and aircraft is located at
In figure, operating personnel adjust direction of visual lines, make each components of Φ no more than given threshold and can duration t when, judgement
Operator has found that aircraft, figure disappear.
As a further improvement on the present invention, the given threshold of angle of deviation Φ is 0~20 degree.
Another step as the present invention is improved, and time period t is 1~5 second.
Another step as the present invention is improved, and the cross stream component of Ψ is 100 degree, and longitudinal component is 60 degree.
As being further improved for figure of the present invention, step 3 3.1 in, when the figure of aircraft out of sight
It includes but is not limited to indicate arrow, the straight line in direction.
As figure of the present invention another step improve, step 3 3.2 in, when the figure of the aircraft in the visual field
Include but be not limited to locative picture frame, segment, picture frame and literary combinatorics on words.
Advantageous effect of the present invention：
The graphic display method of unmanned vehicle position proposed by the present invention can mitigate operator's burden, reduce and find
The time of position of aircraft ensures the safety of flight.This method is intuitive, and operator can have found to fly according to graphical cues
Device position, without taking sb's mind off sth in flight course.Be conducive to in-flight switch visual angle at any time, i.e. first person and third
People claims the switching at visual angle, and when switching to third person, this method can help operator to be quickly found out aircraft, carries out
Visual third person flight.And this method wears display equipment as software function insertion, does not increase hardware cost additionally.
Description of the drawings
Fig. 1 is the relative position schematic diagram of between humans and machines of the present invention；
Fig. 2 is operator of the present invention and position of aircraft schematic diagram, and Fig. 2 .1 are when aircraft is not or not the operator visual field
When middle, Fig. 2 .2 are when aircraft is not in the operator visual field；
Fig. 3 is figure vectored flight device position view of the present invention, and Fig. 3 .1 are when aircraft is not in the operator visual field
When, Fig. 3 .2 are when aircraft is not in the operator visual field.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in further details.
The graphic display method of unmanned vehicle position proposed by the present invention is applied to the manipulation of unmanned vehicle, uses head
Display equipment is worn, such as display equipment or augmented reality AR glasses are worn in more flight visual angles, nobody is prompted in a manner of logotype
The position of aircraft, this method can be used as software or display equipment 2 is worn in function module implantation, in the visual field of operator 1
Show logotype.When operator 1 needs to find the position of aircraft 3, this method guides operator with logotype
It was found that 3 position of aircraft.This approach includes the following steps：
Step 1: according to the position of 3 real time position of aircraft and the operator 1 for wearing the display acquisition of equipment 2, people is calculated
Relative position between machine, relative position is with deflection and apart from indicating.
Obtain aircraft real time position：Aircraft real time position is read by positioning device.Positioning system includes but unlimited
Due to global position system, such as GPS, Glonass, dipper system, radio positioning system, inertial navigation system.Aircraft
Position is transformed into earth axes such as longitude, latitude and height, is expressed as point A (XA, YA, ZA), as shown in Figure 1.
Obtain the position of operator：Wear the included positioning system of display equipment, such as global position system, or to fly
It does as operator position row device starting point position.Operator position be expressed as in earth axes point P (XP, YP,
ZP), as shown in Figure 1.
According to the coordinate points (A points and P points) for obtaining operator 1 and aircraft 3, man-machine relative position can be calculated,
Vector representation isWherein the distance of between humans and machines is the modular representation of vector：
The deflection of between humans and machines is in the component of each axis：
Step 2: calculating the deviation in the direction of operator's direction of visual lines and practical between humans and machines, indicated with angle of deviation Φ, when
When each components of angle of deviation Φ are no more than 0 degree of given threshold, aircraft 3 is in 1 visual field of operator, and otherwise, aircraft 3 is manipulating
Outside 1 visual field of personnel.
It wears display equipment 2 and is worn on 1 head of operator, the deflection of equipment is considered as the direction of visual lines of operator
Angle.Under earth axes, the direction of visual lines of operator is by unit vectorIt indicates.The deflection of direction of visual lines three arrow
Amount and the angle of three axis are respectively α S, β S, γ S, by wearing the attitude transducer of display device, such as IMU sensors, compass
It obtains.
Direction of visual linesWith the direction of between humans and machinesBetween angle be angle of deviation Φ, as shown in Fig. 2 .1.The angle of deviation pair
The component of each axis is：
When each component (α, beta, gamma) of angle of deviation Φ is 0,WithIt overlaps.Aircraft 3 is just in operator at this time
1 central region, as shown in Fig. 2 .2.Therefore operator 1 eliminates the angle of deviation by adjusting direction of visual lines, it can be found that aircraft
3。
Step 3: figure guided discovery position of aircraft
The display interface 4 for wearing display equipment 2 guides operator 1 to adjust sight 3, aircraft of discovery to graphically
It sets, figure guidance mode includes following two：
3.1 work as aircraft out of sight, and angle of deviation Φ is expressed as the figure in direction by display interface 4, prompt operator
Head direction of visual lines angle is adjusted to reduce angle of deviation Φ, until each components of Φ are no more than 0 degree of threshold values of setting, aircraft is in the visual field
It is interior, as shown in Fig. 3 .1；
3.2 when aircraft is in the visual field, and display interface 4 indicates angle of deviation Φ in the form of picture frame, picture frame and aircraft 3
Position overlaps, i.e., picture frame includes aircraft, and picture frame indicates the distance of between humans and machines in the method for size or mark number, such as schemes
3.3 shown.
Aircraft whether field range Rule of judgment be Φ whether be more than Ψ/2, wherein Ψ be coordinate system under human eye
Visual angle, range≤200 degree of Ψ horizontal directions, range≤120 degree of vertical direction.According to the Rule of judgment, two kinds of guiding
Mode can switch.
Each components of angle of deviation Φ are less than given threshold (threshold value is 0~20 degree), and aircraft watches visual angle model attentively in operator
In enclosing.Graphical cues locking (changes picture frame color, picture frame shape variation or word variation prompt locking), when the angle of deviation is less than
After threshold duration certain period of time (period is 1~5 second), this method judges that operator has found aircraft, and locking is completed.
Guiding figure after the completion of locking in display interface disappears, and the third step of this method is completed.
Claims (6)
1. a kind of graphic display method of unmanned vehicle position, which is characterized in that include the following steps：
Step 1: according to the position of aircraft (3) real time position and the operator (1) for wearing display equipment (2) acquisition, calculate
The relative position of between humans and machines, relative position is with deflection and apart from indicating；
Step 2: calculating the deviation in the direction of operator's direction of visual lines and practical between humans and machines, indicate that human eye can with angle of deviation Φ
See that the half at visual angle is expressed as Ψ, when each components of angle of deviation Φ are not more than each components of Ψ, judgement aircraft (3) is in operator
(1) in the visual field, otherwise, aircraft (3) is outside operator (1) visual field；
Step 3: figure guided discovery position of aircraft
The display interface (4) for wearing display equipment (2) guides operator (1) to adjust sight discovery aircraft to graphically
(3) position, figure guidance mode include following two：
3.1 work as aircraft out of sight, and angle of deviation Φ is shown as indicating the figure in direction by display interface (4), prompts to manipulate people
Member's adjustment cephalad direction angle reduces angle of deviation Φ, until each components of Φ are not more than each components of Ψ, aircraft (3) is in operator
(1) in the visual field；
3.2 when aircraft is in the visual field, and angle of deviation Φ is shown as locative figure, aircraft (3) position by display interface (4)
In in figure, operating personnel adjust direction of visual lines, make each components of Φ no more than given threshold and can duration t when, sentence
Determine operator (1) and has been found that aircraft (3), figure disappear.
2. the graphic display method of unmanned vehicle position according to claim 1, which is characterized in that the angle of deviation Φ
Given threshold be 0~20 degree.
3. the graphic display method of unmanned vehicle position according to claim 1 or 2, which is characterized in that the time
Section t is 1~5 second.
4. the graphic display method of unmanned vehicle position according to claim 1, which is characterized in that the transverse direction of the Ψ
Component is 100 degree, and longitudinal component is 60 degree.
5. the graphic display method of unmanned vehicle position according to claim 1, which is characterized in that the step 3
In 3.1, when the figure of aircraft out of sight includes but is not limited to arrow, the straight line for indicating direction.
6. the graphic display method of unmanned vehicle position according to claim 1, which is characterized in that the step 3
In 3.2, when the figure of the aircraft in the visual field includes but is not limited to locative picture frame, segment, picture frame and word
Combination.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710027949.4A CN108319274A (en) | 2017-01-16 | 2017-01-16 | A kind of graphic display method of unmanned vehicle position |
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| CN201710027949.4A CN108319274A (en) | 2017-01-16 | 2017-01-16 | A kind of graphic display method of unmanned vehicle position |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110060611A (en) * | 2019-03-15 | 2019-07-26 | 深圳壹账通智能科技有限公司 | Intelligent interaction guidance method, device and storage medium, server |
| CN111207751A (en) * | 2020-01-16 | 2020-05-29 | 昆山捷亿诺自动化科技有限公司 | Warehouse navigation system and navigation method based on UWB positioning and AR technology |
| CN111273770A (en) * | 2020-01-16 | 2020-06-12 | 昆山捷亿诺自动化科技有限公司 | Warehouse management system and warehouse-in and warehouse-out method based on AR technology |
| CN114743433A (en) * | 2021-12-23 | 2022-07-12 | 中国科学院软件研究所 | Multi-channel alarm presenting method and device for simulating threats in flight training environment |
| WO2022206436A1 (en) * | 2021-04-01 | 2022-10-06 | 上海复拓知达医疗科技有限公司 | Dynamic position identification and prompt system and method |
| WO2024066752A1 (en) * | 2022-09-29 | 2024-04-04 | 歌尔股份有限公司 | Display control method and apparatus, head-mounted display device, and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111207751A (en) * | 2020-01-16 | 2020-05-29 | 昆山捷亿诺自动化科技有限公司 | Warehouse navigation system and navigation method based on UWB positioning and AR technology |
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| WO2024066752A1 (en) * | 2022-09-29 | 2024-04-04 | 歌尔股份有限公司 | Display control method and apparatus, head-mounted display device, and medium |
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Application publication date: 20180724 |
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