CN108319283A - Flying vehicles control method and aircraft - Google Patents
Flying vehicles control method and aircraft Download PDFInfo
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- CN108319283A CN108319283A CN201810143893.3A CN201810143893A CN108319283A CN 108319283 A CN108319283 A CN 108319283A CN 201810143893 A CN201810143893 A CN 201810143893A CN 108319283 A CN108319283 A CN 108319283A
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- 238000000034 method Methods 0.000 title claims abstract description 81
- 238000004422 calculation algorithm Methods 0.000 claims description 20
- 238000002156 mixing Methods 0.000 claims description 15
- 238000007499 fusion processing Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 238000012887 quadratic function Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 6
- 238000013528 artificial neural network Methods 0.000 description 4
- 238000007500 overflow downdraw method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/08—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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of flying vehicles control method and aircraft, the method includes：Determine that aircraft enters braking state；It obtains flying speed and brake angle is calculated according to the flying speed；Aircraft brake is controlled according to the brake angle, reaching can determine that aircraft enters braking state first, then it obtains flying speed and brake angle is calculated according to the flying speed, aircraft brake is controlled further according to the brake angle, and then brake angle can be calculated according to current flying speed, it is ensured that the technique effect of the flatness that is swiftness and being transitioned into brake end state of brake.
Description
Technical field
The present invention relates to automatic control technology fields, more particularly, to a kind of flying vehicles control method and aircraft.
Background technology
Multi-rotor unmanned aerial vehicle is a kind of tool there are three and the above rotor shaft special pilotless helicopter.It passes through
Motor rotation on each axis, drives rotor, to generate a liter thrust.Rotor always away from fixation, rather than general helicopter
It is variable like that.By changing the relative rotation speed between different rotors, thus it is possible to vary the size of uniaxial propulsive force, to control flight
The running orbit of device.
However, multi-rotor unmanned aerial vehicle when being switched to floating state from motion state at present, can due to air-flow and inertia etc. because
Element causes to occur shaking or jolt during hovering, influences the operation quality of multi-rotor unmanned aerial vehicle.
Invention content
In view of this, the purpose of the present invention is to provide a kind of flying vehicles control method and aircraft, to alleviate existing skill
When multi-rotor unmanned aerial vehicle present in art is switched to floating state from motion state, it can be caused due to factors such as air-flow and inertia
The technical issues of occurring shaking or jolt, influence the operation quality of multi-rotor unmanned aerial vehicle during hovering.
In a first aspect, an embodiment of the present invention provides a kind of flying vehicles control methods, including：
Determine that aircraft enters braking state；
It obtains flying speed and brake angle is calculated according to the flying speed；
Aircraft brake is controlled according to the brake angle.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein institute
The method of stating further includes：
When the input attitude angle that the remote controler is sent is zero, determine that aircraft enters braking state.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein institute
It states and obtains flying speed and brake angle is calculated according to the flying speed, including：
Determine that brake angle, the brake angle are true based on the flying speed and preset brake angle-determining function
It is quadratic function to determine function.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiments of first aspect, wherein institute
The method of stating further includes：
When receiving the first input attitude angle of remote controler transmission, appearance is inputted by described first according to default blending algorithm
State angle carries out posture with the brake angle and merges, and first object attitude angle is obtained, in the posture fusion process, every pre-
Reduce if the brake angle is spaced by time interval according to default adjustment, up to the brake angle to zero；
The aircraft is controlled to fly according to the first object attitude angle.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein institute
The method of stating further includes：
In brake process when the flying speed is less than predetermined threshold value, the current location for obtaining the aircraft is sat
Mark；
If the current position coordinates are different from preset desired locations coordinate, according to the current position coordinates and expectation
The distance between position coordinates determine flight attitude angle, will be described every prefixed time interval in the posture fusion process
Angle of braking is spaced according to default adjustment to be reduced, up to the brake angle to zero；
The brake angle and flight attitude angle are subjected to posture fusion according to default blending algorithm, obtain the second target appearance
State angle；
Controlling the aircraft, angularly the desired locations fly according to second targeted attitude.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein institute
The method of stating further includes：
When receiving the second input attitude angle of remote controler transmission, appearance is inputted by described second according to default blending algorithm
State angle carries out posture with second object attitude angle and merges, and obtains third object attitude angle, in the posture fusion process,
The brake angle is spaced according to default adjustment every prefixed time interval and is reduced, up to the brake angle to zero；
The aircraft is controlled to fly according to the third object attitude angle.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein institute
The method of stating further includes：
When current position coordinates are identical as the desired locations coordinate, the aircraft is controlled according to third targeted attitude
Angle hovers over the desired locations.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiments of first aspect, wherein when
Receive remote controler transmission third input attitude angle when, according to default blending algorithm by the third input attitude angle with it is described
Third object attitude angle carries out posture fusion, the 4th object attitude angle is obtained, in the posture fusion process, when default
Between interval by the brake angle according to the reduction of default adjustment interval, up to the brake angle is to zero；
The aircraft is controlled to fly according to the 4th object attitude angle.
With reference to first aspect, an embodiment of the present invention provides the 8th kind of possible embodiments of first aspect, wherein institute
The method of stating further includes：
When the flying speed of aircraft is zero, the aircraft hovering.
Second aspect, the embodiment of the present invention also provide a kind of flying vehicles control device, including：
Determining module, for determining that aircraft enters braking state；
Computing module is obtained, for obtaining flying speed and calculating brake angle according to the flying speed；
Control module, for controlling aircraft brake according to the brake angle.
The third aspect, the embodiment of the present invention also provide a kind of aircraft, including memory, processor, in the memory
It is stored with the computer program that can be run on the processor, the processor is realized above-mentioned when executing the computer program
The step of method described in first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of meter for the non-volatile program code that can perform with processor
Calculation machine readable medium, said program code make the processor execute the method described in first aspect.
The embodiment of the present invention brings following advantageous effect：In embodiments of the present invention, can determine first aircraft into
Enter braking state, then obtain flying speed and brake angle is calculated according to the flying speed, further according to the brake angle
Control aircraft brake.
The embodiment of the present invention can calculate brake angle according to current flying speed, it is ensured that brake swiftness and
It is transitioned into the flatness of brake end state.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of a kind of flow chart of flying vehicles control method provided in an embodiment of the present invention；
Fig. 2 is a kind of another flow chart of flying vehicles control method provided in an embodiment of the present invention；
Fig. 3 is a kind of another flow chart of flying vehicles control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structure chart of flying vehicles control device provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Currently, when multi-rotor unmanned aerial vehicle is switched to floating state from motion state, can be led due to factors such as air-flow and inertia
It causes to occur shaking or jolt during hovering, influences the operation quality of multi-rotor unmanned aerial vehicle, be based on this, the embodiment of the present invention carries
A kind of flying vehicles control method and aircraft supplied can constantly become according to current flying speed and brake angle-determining function
Brake angle is changed, the angle changing rate that brakes when flying speed is big is big and changes soon with flying speed, brakes when flying speed is small
Angle changing rate is small and variation is slow, can ensure the swiftness of brake in this way and be transitioned into the flatness of brake end state.
For ease of understanding the present embodiment, first to a kind of flying vehicles control method disclosed in the embodiment of the present invention
It describes in detail, the flying vehicles control method may comprise steps of.
Step S101 determines that aircraft enters braking state.
In embodiments of the present invention, before aircraft enters braking state, aircraft should be at state of flight, that is, flight
The rod volume of the remote controler rocking bar of device is not zero.Aircraft can refer to multi-rotor unmanned aerial vehicle etc., the current flying speed of aircraft
It can be measured by sensors such as accelerometers, flying speed can refer to forward speed or dextrad speed of aircraft etc..
When the input attitude angle that the remote controler is sent is zero, it may be determined that aircraft enters braking state.Input
Attitude angle may include pitch angle and roll angle of remote controler rocking bar etc., since roll and pitch angle are by remote controler rocking bar
Rod volume control, and angle and rod volume are proportional, and therefore, input attitude angle is the zero i.e. pitch angle of rocking bar and/or turns over
Roll angle is zero.
Step S102 obtains flying speed and calculates brake angle according to the flying speed.
In embodiments of the present invention, reversed brake angle can be calculated according to flying speed, brake angle-determining function
Can be quadratic function, i.e. the brake angle and flying speed of aircraft at quadratic function relation, flying by angle of braking in this way
Bigger and fast with flying speed variation when speed is big, and variation smaller when flying speed is small is slow.
Step S103 controls aircraft brake according to the brake angle.
In practical applications, the brake process of aircraft is dynamic process, and the flying speed of aircraft can constantly subtract
Small, brake angle can also reduce with the reduction of flying speed.
In embodiments of the present invention, it can determine that aircraft enters braking state first, then obtain flying speed and root
Brake angle is calculated according to the flying speed, aircraft brake is controlled further according to the brake angle.
The embodiment of the present invention can calculate brake angle according to current flying speed, it is ensured that brake swiftness and
It is transitioned into the flatness of brake end state.
Moreover, the embodiment of the present invention can constantly convert brake according to current flying speed and brake angle-determining function
Angle, the angle changing rate that brakes when flying speed is big is big and changes fast, the brake angle ratio when flying speed is small with flying speed
Smaller and variation is slow, can ensure the swiftness of brake in this way and be transitioned into the flatness of brake end state.
When aircraft starts brake, user may be not intended to unmanned plane to brake suddenly, but unmanned plane is allowed to restore movement
State, to execute other tasks, user stirs the rocking bar of remote controler, and at this moment unmanned plane may receive remote controler and be sent to
First input attitude angle, so, in another embodiment of the present invention, the method can also include：
When receiving the first input attitude angle of remote controler transmission, appearance is inputted by described first according to default blending algorithm
State angle carries out posture with the brake angle and merges, and first object attitude angle is obtained, in the posture fusion process, every pre-
Reduce if the brake angle is spaced by time interval according to default adjustment, up to the brake angle to zero, first object appearance
State angle can every prefixed time interval export one, in order to when aircraft according to continually changing first object attitude angle fly
Row；Default blending algorithm can refer to data anastomosing algorithm commonly used in the prior art, such as：Bayes rationalistic methods, voting method, D-S
Rationalistic method and neural network fusion method etc..
The aircraft is controlled to fly according to the first object attitude angle.
In embodiments of the present invention, the first input attitude angle may include pitch angle and roll angle of remote controler rocking bar etc..
In embodiments of the present invention, in posture fusion process, the proportion for angle of braking can be gradually reduced to zero, finally
Aircraft enters state of flight, flies according to first object attitude angle.
In aircraft after entering braking state for a period of time, flying speed can be down to predetermined threshold value, illustratively, preset
Threshold value can be 0 etc., and at this moment, aircraft will enter brake end state namely aircraft hovers over a certain position, therefore, such as
Shown in Fig. 2, in another embodiment of the present invention, the method can also include：
Step S201 obtains working as the aircraft in brake process when the flying speed is less than predetermined threshold value
Front position coordinate.
In embodiments of the present invention, GPS positioning, barometer, light stream positioning and the first-class sensor of binocular camera shooting can be passed through
The current position coordinates of aircraft are measured, current position coordinates include geographical position coordinates (longitude, latitude) and height coordinate etc..
Step S202, if the current position coordinates are different from preset desired locations coordinate, according to the current location
The distance between coordinate and desired locations coordinate determine flight attitude angle.
In embodiments of the present invention, desired locations can refer to the position for it is expected aircraft hovering that user pre-enters, phase
Hope that position coordinates can also include geographical position coordinates (longitude, latitude) and height coordinate etc..Current position coordinates and desired position
It includes horizontal distance and vertical distance etc. to set the distance between coordinate, then can determine flight in the way of trigonometric function etc.
Attitude angle.
The brake angle and flight attitude angle are carried out posture fusion according to default blending algorithm, obtained by step S203
Second object attitude angle, in the posture fusion process, every prefixed time interval by the brake angle according to default tune
Whole interval reduces, until the brake angle to zero, second object attitude angle can export one every prefixed time interval, with
Convenient for when aircraft fly to it is expected until coordinate during according to continually changing second object attitude angle fly；It is default to melt
Hop algorithm can refer to data anastomosing algorithm commonly used in the prior art, such as：Bayes rationalistic methods, voting method, D-S rationalistic methods and
Neural network fusion method etc..
Step S204, controlling the aircraft, angularly the desired locations fly according to second targeted attitude.
In aircraft when braking end state, user may be not intended to unmanned plane to brake suddenly, but make unmanned plane extensive
Multiple motion state, to execute other tasks, user stirs the rocking bar of remote controler, and at this moment unmanned plane may receive remote controler
It is sent to the second input attitude angle, so, in another embodiment of the present invention, the method can also include：
When receiving the second input attitude angle of remote controler transmission, appearance is inputted by described second according to default blending algorithm
State angle carries out posture with second object attitude angle and merges, and obtains third object attitude angle, in the posture fusion process,
The brake angle is spaced according to default adjustment every prefixed time interval and is reduced, up to the brake angle to zero, third
Object attitude angle can every prefixed time interval export one, in order to when aircraft fly to it is expected until coordinate process
According to continually changing third object attitude angle fly；Default blending algorithm can refer to data fusion commonly used in the prior art
Algorithm, such as：Bayes rationalistic methods, voting method, D-S rationalistic methods and neural network fusion method etc..
The aircraft is controlled to fly according to the third object attitude angle.
When aircraft enters floating state, in another embodiment of the present invention, as shown in figure 3, the method may be used also
To include：
Step S301 controls the aircraft according to when current position coordinates are identical as the desired locations coordinate
Three object attitude angles hover over the desired locations.
In practical applications, there is also a kind of application scenarios, i.e.,：When the flying speed of aircraft is zero, no matter currently
Whether position coordinates are identical as the desired locations coordinate, and the aircraft can also directly hover.
When aircraft enters floating state, user may be not intended to unmanned plane to brake suddenly, but make unmanned plane extensive
Multiple motion state, to execute other tasks, user stirs the rocking bar of remote controler, and at this moment unmanned plane may receive remote controler
It is sent to third input attitude angle, so, in another embodiment of the present invention, the method can also include：
When the third for receiving remote controler transmission inputs attitude angle, the third is inputted into appearance according to default blending algorithm
State angle carries out posture with the third object attitude angle and merges, and obtains the 4th object attitude angle, in the posture fusion process,
The brake angle is spaced according to default adjustment every prefixed time interval and is reduced, up to the brake angle to zero, the 4th
Object attitude angle can every prefixed time interval export one, in order to when aircraft fly to it is expected until coordinate process
According to continually changing 4th object attitude angle fly；Default blending algorithm can refer to data fusion commonly used in the prior art
Algorithm, such as：Bayes rationalistic methods, voting method, D-S rationalistic methods and neural network fusion method etc..
The aircraft is controlled to fly according to the 4th object attitude angle.
In another embodiment of the present invention, as shown in figure 4, a kind of flying vehicles control device is also provided, including：
Determining module 11 is used for determining module, for determining that aircraft enters braking state；
Computing module 12 is obtained, for obtaining flying speed and calculating brake angle according to the flying speed；
Control module 13, for controlling aircraft brake according to the brake angle.
The technique effect and preceding method embodiment phase of the device that the embodiment of the present invention is provided, realization principle and generation
Together, to briefly describe, device embodiment part does not refer to place, can refer to corresponding contents in preceding method embodiment.
In another embodiment of the present invention, a kind of aircraft, including memory, processor, the memory are also provided
In be stored with the computer program that can be run on the processor, the processor is realized when executing the computer program
The step of stating the method described in embodiment of the method.
The technique effect and preceding method embodiment phase of the device that the embodiment of the present invention is provided, realization principle and generation
Together, to briefly describe, device embodiment part does not refer to place, can refer to corresponding contents in preceding method embodiment.
In another embodiment of the present invention, a kind of non-volatile program code that can perform with processor is also provided
Computer-readable medium, said program code make the processor execute the method described in embodiment of the method.
The computer program product of flying vehicles control method and aircraft that the embodiment of the present invention is provided, including store
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing in previous methods embodiment
The method, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of flying vehicles control method, which is characterized in that including：
Determine that aircraft enters braking state；
It obtains flying speed and brake angle is calculated according to the flying speed；
Aircraft brake is controlled according to the brake angle.
2. flying vehicles control method according to claim 1, which is characterized in that the method further includes：
When the input attitude angle that remote controler is sent is zero, determine that aircraft enters braking state.
3. flying vehicles control method according to claim 2, which is characterized in that the acquisition flying speed and according to described
Flying speed calculates brake angle, including：
Brake angle, the brake angle-determining letter are determined based on the flying speed and preset brake angle-determining function
Number is quadratic function.
4. flying vehicles control method according to claim 3, which is characterized in that the method further includes：
When receiving the first input attitude angle of remote controler transmission, attitude angle is inputted by described first according to default blending algorithm
Posture is carried out with the brake angle to merge, and first object attitude angle is obtained, in the posture fusion process, when default
Between interval by the brake angle according to the reduction of default adjustment interval, up to the brake angle is to zero；
The aircraft is controlled to fly according to the first object attitude angle.
5. flying vehicles control method according to claim 1, which is characterized in that the method further includes：
In brake process when the flying speed is less than predetermined threshold value, the current position coordinates of the aircraft are obtained；
Flight attitude angle is determined according to the distance between the current position coordinates and desired locations coordinate；
If the current position coordinates are different from preset desired locations coordinate, according to default blending algorithm by the brake angle
Posture fusion is carried out with flight attitude angle, the second object attitude angle is obtained, in the posture fusion process, every preset time
The brake angle is spaced by interval according to default adjustment to be reduced, up to the brake angle to zero；
Controlling the aircraft, angularly the desired locations fly according to second targeted attitude.
6. flying vehicles control method according to claim 5, which is characterized in that the method further includes：
When receiving the second input attitude angle of remote controler transmission, attitude angle is inputted by described second according to default blending algorithm
Posture is carried out with second object attitude angle to merge, and obtains third object attitude angle, in the posture fusion process, every
The brake angle is spaced by prefixed time interval according to default adjustment to be reduced, up to the brake angle to zero；
The aircraft is controlled to fly according to the third object attitude angle.
7. flying vehicles control method according to claim 5, which is characterized in that the method further includes：
When current position coordinates are identical as the desired locations coordinate, it is outstanding according to third object attitude angle to control the aircraft
It is parked in the desired locations.
8. flying vehicles control method according to claim 7, which is characterized in that the method further includes：
When the third for receiving remote controler transmission inputs attitude angle, the third is inputted into attitude angle according to default blending algorithm
Posture is carried out with the third object attitude angle to merge, and obtains the 4th object attitude angle, in the posture fusion process, every
The brake angle is spaced by prefixed time interval according to default adjustment to be reduced, up to the brake angle to zero；
The aircraft is controlled to fly according to the 4th object attitude angle.
9. flying vehicles control method according to claim 5, which is characterized in that the method further includes：
When the flying speed of aircraft is zero, the aircraft hovering.
10. a kind of aircraft, including memory, processor, be stored in the memory to run on the processor
Computer program, which is characterized in that the processor realizes that the claims 1 to 9 are any when executing the computer program
Described in method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143893.3A CN108319283A (en) | 2018-02-09 | 2018-02-09 | Flying vehicles control method and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143893.3A CN108319283A (en) | 2018-02-09 | 2018-02-09 | Flying vehicles control method and aircraft |
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| CN108319283A true CN108319283A (en) | 2018-07-24 |
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| CN201810143893.3A Withdrawn CN108319283A (en) | 2018-02-09 | 2018-02-09 | Flying vehicles control method and aircraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111435255A (en) * | 2019-10-23 | 2020-07-21 | 珠海全志科技股份有限公司 | Unmanned aerial vehicle brake control method and device and unmanned aerial vehicle |
| CN111552307A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Rapid hovering method for unmanned aerial vehicle |
| CN113485445A (en) * | 2021-08-11 | 2021-10-08 | 深圳微希科技有限公司 | Unmanned aerial vehicle deceleration hovering control method and device, electronic equipment and storage medium |
-
2018
- 2018-02-09 CN CN201810143893.3A patent/CN108319283A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111435255A (en) * | 2019-10-23 | 2020-07-21 | 珠海全志科技股份有限公司 | Unmanned aerial vehicle brake control method and device and unmanned aerial vehicle |
| CN111435255B (en) * | 2019-10-23 | 2023-08-18 | 珠海全志科技股份有限公司 | Unmanned aerial vehicle braking control method and device and unmanned aerial vehicle |
| CN111552307A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Rapid hovering method for unmanned aerial vehicle |
| CN113485445A (en) * | 2021-08-11 | 2021-10-08 | 深圳微希科技有限公司 | Unmanned aerial vehicle deceleration hovering control method and device, electronic equipment and storage medium |
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