CN108388256A - The method and device that unmanned plane is controlled in the target area by earth station - Google Patents
The method and device that unmanned plane is controlled in the target area by earth station Download PDFInfo
- Publication number
- CN108388256A CN108388256A CN201711480089.6A CN201711480089A CN108388256A CN 108388256 A CN108388256 A CN 108388256A CN 201711480089 A CN201711480089 A CN 201711480089A CN 108388256 A CN108388256 A CN 108388256A
- Authority
- CN
- China
- Prior art keywords
- control instruction
- earth station
- control
- unmanned plane
- obtains
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000004044 response Effects 0.000 claims abstract description 30
- 239000003550 marker Substances 0.000 claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 15
- 239000000203 mixture Substances 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 8
- 239000000284 extract Substances 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 18
- 238000012545 processing Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000010006 flight Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
Landscapes
- 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
An embodiment of the present invention provides a kind of method and device controlled in the target area unmanned plane by earth station, method therein includes：Earth station obtains the fundamental geological position coordinates of marker in base area；Form a circular target area；Earth station obtains the current geographic position coordinate of each unmanned plane；Earth station selects the UAV targets controlled；Obtain the first control instruction；According to preset ideal model, it converts first control instruction to the second control instruction being consistent with intended response dynamic；Earth station acquires the flight status parameter with the relevant unmanned plane of the second control instruction, and accordingly generates integrative feedback；Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；The unmanned plane is controlled according to the third control instruction.The present invention realizes the technique effect for improving unmanned aerial vehicle (UAV) control method stability and robustness.
Description
Technical field
The present invention relates to electronic technology fields, more particularly to one kind to be carried out in the target area to unmanned plane by earth station
The method and device of control.
Background technology
Currently, unmanned plane is widely used in ground mapping, Forest servey, disaster surveillance, logistics express delivery, high-altitude shooting etc.
Field.
Aircraft is substantially a complicated nonlinear system, and traditional control method is first that aircraft mathematical model is linear
Change, obtain the microvariations Linearized state equations under different modalities, is then directed to different model of flight and designs corresponding control law
And tune ginseng is carried out, all state of flights are finally connected to the control law constituted in entire envelope curve.Traditional control method
In, if aspect occurs acute variation or when by larger external interference, aircraft can not effectively be controlled,
Result even in that unmanned plane is directly out of control, thus the stability and robustness that control are poor, flight quality and safety are difficult to ensure.
As it can be seen that there are the poor technologies of stability and robustness to ask for the method controlled in the prior art to unmanned plane
Topic.
Invention content
An embodiment of the present invention provides a kind of method controlled in the target area to unmanned plane by earth station and
Device, there are stability for the method for solving in the prior art in the target area to control unmanned plane by earth station
The poor problem with robustness.
In a first aspect, the present invention provides a kind of sides controlled in the target area unmanned plane by earth station
Method, including：
Earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant UAV targets of second control instruction, and
Accordingly generate integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The earth station controls the UAV targets according to the third control instruction.
Optionally, the first control instruction and the dynamic correspondence of intended response are provided in the ideal model.
Optionally, the flight status parameter with the relevant unmanned plane of the second control instruction includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
It is one or more in speed, control surface deflection angle, atmospheric density, atmospheric temperature.
Optionally, the integrative feedback that accordingly generates includes：
The value of the flight status parameter is carried out Variational Design by the earth station, is converted to and second control instruction
Corresponding instruction changing value, using described instruction changing value as the integrative feedback.
Optionally, control errors are carried out according to second control instruction and the integrative feedback, obtains third control and refers to
Order includes：
The earth station calculates error according to second control instruction and the integrative feedback, and is obtained by controlling operation
To composition error control instruction；
The earth station parses from the composition error control instruction and extracts the physics directly related with control output
Amount is used as third control instruction.
Optionally, control errors are being carried out to second control instruction and the integrative feedback, is obtaining third control and refers to
After order, the method further includes：
The earth station predicts the uncertain or disturbing factor of unmanned plane during flying, obtains predicted value；
The earth station is modified the third control instruction based on the predicted value, obtains the 4th control instruction.
Based on same inventive concept, second aspect of the present invention provides a kind of control device of unmanned plane, including：
Fundamental geological position coordinates acquisition module obtains the fundamental geological of marker in base area for the earth station
Position coordinates；
Target area forms module, for the earth station using the fundamental geological position coordinates as coordinate origin, distance H
For radius of target, a circular target area is formed；
Current geographic position coordinate obtaining module obtains the nothing of each in several unmanned planes for the earth station
Man-machine current geographic position coordinate；
UAV targets' selecting module is sat for the earth station according to the current geographic position of unmanned plane described in each
Mark selects the UAV targets controlled；
First obtains module, obtains the first control instruction for the earth station, first control instruction is to institute
State the original control instruction that target control unmanned plane during flying reaches dbjective state；
Conversion module, for the earth station according to preset ideal model, by first control instruction be converted into
The second control instruction that intended response dynamic is consistent；
Feedback module is acquired winged with the relevant UAV targets of second control instruction for the earth station
Row state parameter, and accordingly generate integrative feedback；
Second obtains module, and error is carried out according to second control instruction and the integrative feedback for the earth station
Control obtains third control instruction；
Control module controls the UAV targets according to the third control instruction for the earth station.
Optionally, the first control instruction and the dynamic correspondence of intended response are provided in the ideal model.
Optionally, the flight status parameter with the relevant UAV targets of second control instruction includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
It is one or more in speed, control surface deflection angle, atmospheric density, atmospheric temperature.
Optionally, the feedback module is additionally operable to：
The value of the flight status parameter is carried out Variational Design by the earth station, is converted to and second control instruction
Corresponding instruction changing value, using described instruction changing value as the integrative feedback.
Optionally, the second acquisition module is additionally operable to：
The earth station calculates error according to second control instruction and the integrative feedback, and is obtained by controlling operation
To composition error control instruction；
The earth station parses from the composition error control instruction and extracts the physics directly related with control output
Amount is used as third control instruction.
Optionally, described device further includes prediction module, is used for：
The earth station predicts the uncertain or disturbing factor that the UAV targets fly, and obtains predicted value；
The earth station is modified the third control instruction based on the predicted value, obtains the 4th control instruction.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, which realizes following steps when being executed by processor：
The earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate
Integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The earth station controls the unmanned plane according to the third control instruction.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
Following steps：
The earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate
Integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The earth station controls the unmanned plane according to the third control instruction.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, on the one hand, earth station can be according to preset ideal model first, will
First control instruction is converted into the second control instruction being consistent with intended response dynamic, in this way can be to avoid due to the first control
System instruction changes greatly, and leads to the unstable problem of control of unmanned plane, and on the other hand, the earth station can be according to second
The current state parameter of the relevant unmanned plane of control instruction generates integrative feedback, further according to the second control instruction and integrative feedback into
Row control errors are obtained third control instruction integrative feedback and then are controlled unmanned plane based on third control instruction, due to
The third control instruction of final control unmanned plane is by being obtained after carrying out control errors to integrative feedback and the second control instruction
, and integrative feedback is obtained according to the current state parameter of the relevant unmanned plane of the second control instruction, i.e. third control refers to
The current motion state for having considered unmanned plane is enabled, to which the earth station can be in conjunction with the current motion state pair of unmanned plane
Unmanned plane is controlled, so the stability and robustness of the control to unmanned plane can be improved, it is right in the prior art to solve
The method that unmanned plane is controlled has that stability is poor.
Description of the drawings
Fig. 1 is a kind of method controlled in the target area unmanned plane by earth station in the embodiment of the present invention
Flow chart；
Fig. 2 is a kind of structure chart of the controlling party device of unmanned plane in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of computer equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides an embodiment of the present invention provides one kind by earth station in the target area to nobody
The method and device that machine is controlled in the prior art in the target area controls unmanned plane by earth station for solving
The method of system has that stability and robustness are poor.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows：
Earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate
Integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The earth station controls the unmanned plane according to the third control instruction.
In the above method, according to preset ideal model it can convert and be expected first control instruction to first
The second control instruction that response dynamics are consistent can be changed greatly to avoid due to the first control instruction, lead to unmanned plane in this way
Unstable problem is controlled, on the other hand, can be given birth to according to the current state parameter of the relevant unmanned plane of the second control instruction
At integrative feedback, control errors are carried out further according to the second control instruction and integrative feedback, obtain third control instruction integrative feedback
And then unmanned plane is controlled based on third control instruction, the third control instruction due to finally controlling unmanned plane is by right
It is obtained after integrative feedback and the second control instruction progress control errors, and integrative feedback is relevant according to the second control instruction
What the current state parameter of unmanned plane obtained, i.e., third control instruction has considered the current motion state of unmanned plane, to
Unmanned plane can be controlled in conjunction with the current motion state of unmanned plane, so the stabilization of the control to unmanned plane can be improved
Property and robustness, solve the method that unmanned plane is controlled in the target area by earth station in the prior art exist it is steady
Qualitative poor problem.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation of description affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
First aspect present invention provides the method controlled in the target area unmanned plane by earth station, please join
Fig. 1 is examined, for the flow chart of the method controlled in the target area unmanned plane by earth station in the embodiment of the present invention.
It needing to illustrate first, the method can be applied to the communication command vehicle for controlling and monitoring unmanned plane,
Or (earth station is a portable box body to the earth station with computer operation control function, and built-in there are one integrated
Laptop) or long-range control terminal (such as control room, monitoring room).In other words, the embodiment of the present invention is upper
State step include the steps that it is following will illustrate, executive agent can be communication command vehicle, allow in this way in vehicle i.e.
The control method method of unmanned plane can be controlled, can also be the ground with computer operation and Portable outgoing function
Face station, allows in this way in or beyond vehicle or movement can control the method for controlling unmanned plane；It can also be long-range
Control terminal (such as control room, monitoring room), the control method of unmanned plane can remotely controlled in this way.And pass through
Communication command vehicle, earth station and long-range control terminal carry out Communication Control according to the equipment such as communications protocol and unmanned plane, are existing
There is the normal procedure intelligent in technology to control, as the prior art, and the innovation of the invention consists in that, based on communication command vehicle, ground
It stands and long-range control terminal is applied to the control method of the present invention, is controlled unmanned plane with reaching as executive agent
Technique effect, it is therefore, winged according to communications protocol and unmanned plane etc. for communication command vehicle, earth station and long-range control terminal
Communication Control between row equipment is controlled using prior art normal procedure intelligent and is realized, the present invention is not limited, under the present invention
In face of elaborating with innovative control method and step.
This method includes：
S110；Earth station obtains the fundamental geological position coordinates of marker in base area；
S120；Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, is formed for the earth station
One circular target area；
S130；The earth station obtains the current of the unmanned plane of each in several unmanned planes in the target area
Geographical position coordinates；
S140；Current geographic position coordinate of the earth station according to unmanned plane described in each, selection are controlled
The UAV targets of system；
Specifically, the application is specifically used for controlling the unmanned plane to fly in the air, and fly simultaneously in the air
Unmanned plane have multiple, then when needing to control a certain frame unmanned plane at this time, control needed for determining first can be passed through
Unmanned plane in some base area of system, such as the Wuhan of Hubei, need nobody in the Jiangan District to Wuhan
When machine is controlled, then the Jiangan District can be base area, and a marker, the marker can be first determined in Jiangan District
It can be river bank district government or other other buildings with characteristic, eye-catching mark, then obtain base area acceptance of the bid
The fundamental geological position coordinates of will object；And using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, shape
At a circular target area；Distance H can be 100m, 200m or 300 meter.If then obtaining again in the target area
The current geographic position coordinate of each unmanned plane in dry unmanned plane；
Wherein, in the current geographic position coordinate according to unmanned plane described in each, the target controlled is selected
Unmanned plane；Following sub-step can also be specifically included：According to the current geographic position coordinate of unmanned plane described in each, to several
Current location where a unmanned plane carries out band of position classification, for example, include 2 unmanned planes in the region of first position,
Include 3 unmanned planes in the region of the second position, includes 5 unmanned planes etc. in the third place region；First position region, second
The band of position, the third place region can be understood as three sub-regions of target area.Then from first position region,
Sub-goal region is selected in two bands of position, the third place region, i.e. the sub-goal region can be needed in the area
The region that is controlled of unmanned plane, such as the especially severe region blown or rained of environment；Then from the sub-goal
The UAV targets controlled are selected in region.
S150：The earth station obtains the first control instruction, and first control instruction is to control targe unmanned plane
Flight reaches the original control instruction of dbjective state.
Specifically, the first control instruction is instructed for controlling the single or Comprehensive Control of drone status, comprehensive control
System instruction can be comprehensive amount of speed and posture, or overload, angular speed and the comprehensive amount of dynamic pressure etc., and the first control instruction can
To control the action of unmanned plane.
S160：The earth station converts and intended response first control instruction to according to preset ideal model
The second control instruction that dynamic is consistent.
In specific implementation process, since control instruction changes at any time, if directly according to control instruction to nothing
Man-machine to be controlled, then the amplitude of variation that may result in unmanned plane is excessive, or even the problem of can not execute the control instruction.It lifts
For example, if the first control instruction is the angular acceleration for controlling unmanned plane, if the flight angular acceleration of unmanned plane is 1
Degree per second, the first control instruction are 10 degree per seconds, then need the angular acceleration of unmanned plane directly becoming 10 from 1, this will lead
Cause unmanned plane during flying unstable, larger deflection etc. occurs in fuselage；And the method for the embodiment of the present invention, then it can be to the first control instruction
It is handled, such as 10 degree per seconds is processed into 7 degree per seconds.
Specifically, the first control instruction and the dynamic correspondence of intended response, Ke Yishi are provided in ideal model
According to the correspondence that existing data, knowledge and experience obtain, more specifically, can inputted according to closed loops
The lower response of driving and the requirement of flight quality determine, if the first control instruction of input is acceleration instruction, there will be with
Corresponding intended response dynamic, equally, if input the first control instruction be speed command, also have corresponding pre-
Phase response dynamics.By taking speed command as an example, when inputting some control instruction, intended response dynamic is preceding 0.3s slowly (low
In default response speed) variation, waits and is changed according to preset response speed after reaching stable 1s.
The relationship that between first control instruction and the second control instruction can be corresponding ratio can also be other relationships, example
Such as when the first control instruction is 10, the second control instruction can be that the 8, second control instruction may be 7.Concrete condition can be with
It is arranged according to actual conditions, is not specifically limited herein.
More specifically, it is that cycle executes to process to obtain the second control instruction by the first control instruction, when obtaining the
After two control instructions, it can be handled to obtain control instruction next time to the second control instruction again, until state of flight
Until tending to the first control instruction.
S170：Earth station's acquisition and the relevant unmanned plane during flying state parameter of second control instruction, and accordingly
Generate integrative feedback；
Specifically, flight status parameter includes flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angle speed
Rate, angular acceleration, flow angle, motor speed, control surface deflection angle, atmospheric density, atmospheric temperature etc., wherein above-mentioned state parameter packet
It includes comprising can be with motion parameter measured directly and the motion parameter not directly measured, such as speed, angle is can be with
Motion parameter measured directly, angular acceleration are the motion parameter not directly measured.
For example, integrative feedback is generated according to flight status parameter to realize by following methods：
Obtain measurable first motion parameter in the flight status parameter of unmanned plane；
Immeasurablel second motion parameter in the flight status parameter is estimated based on default plant model；
According to first motion parameter and second motion parameter, integrative feedback is obtained.
Specifically, for measurable first motion parameter, unmanned plane can be surveyed by sensor device
Amount, to obtain corresponding measured value, above-mentioned measured value may include posture, speed, angular speed, rudder face degree of bias etc..For not
Measurable second motion parameter then can preset plant model to be estimated by structure, such as six degree of freedom
Model or Kalman filtering etc., above-mentioned default plant model can be linear mathematical model, or non-linear mathematics
Model.Optionally, the immeasurablel motion state that the unmanned plane is estimated using nonlinear model, so as to adapt to more
More state of flights.After obtaining the first motion parameter and the second motion parameter respectively, then it can be set by controlling variable
The mode of meter obtains integrative feedback.
S180：The earth station carries out control errors according to second control instruction and the integrative feedback, obtains the
Three control instructions.
Specifically, integrative feedback is the instruction for including identical information with the second control instruction, if the second control instruction
Be control angular acceleration instruction, then integrative feedback be also control angular acceleration instruction, then to the second control instruction with it is comprehensive
It closes feedback to be compared, obtains deviation between the two.Obtaining the deviation between second control instruction and integrative feedback
Afterwards, can third control instruction be set by deviation controller.
S190：The earth station controls unmanned plane based on the third control instruction.
Method provided in an embodiment of the present invention, first can be according to preset ideal model, by first control instruction
It is converted into the second control instruction being consistent with intended response dynamic, it is defeated that ideal model contains ideal of the aircraft under given input
Go out dynamic, ideal dynamic meets the requirements such as flight quality and performance, which ensure that control system has enough stability margins；Separately
On the one hand, integrative feedback is generated according to the flight status parameter of the relevant unmanned plane of the second control instruction, integrative feedback is more
Variable Control problem, it will ensure that aircraft under the premise of meeting control instruction, ensure other flight parameters be also at safety can
Within the scope of control, to improve the robustness of control；Second control instruction and integrative feedback are carried out error control by the third aspect
System obtains third control instruction, by selecting suitable control errors algorithm so that integrative feedback instruction follows the second control in time
System instruction, it is ensured that closed-loop system has consistent quality and performance with ideal model.So the technical solution solves existing
It is poor with the presence of the method stability and robustness controlled in the target area to unmanned plane by earth station in technology
Problem.
Since third control instruction is error, by selecting suitable control errors algorithm so that error is according to scheduled
Ideal dynamic convergence, it is ensured that closed-loop system has consistent quality and performance with ideal model.
In general, integrative feedback can be obtained by following manner, flight status parameter be carried out Variational Design, and will
It is converted to instruction changing value corresponding with second control instruction, then anti-using described instruction changing value as the synthesis
Feedback.
Specifically, if the second control instruction be pitch rate instruction, be 50deg/s, and with the second control instruction
Relevant parameter includes pitch rate, the angle of attack, normal g-load etc., then Variational Design is carried out according to above-mentioned parameter, by above-mentioned ginseng
Number is converted into instruction changing value, i.e., is converted to instruction changing value, example according to the influence degree of the second control instruction of above-mentioned parameter pair
If pitch rate is 40deg/s, angle of attack 15deg, normal g-load 5g, then it can be translated into instruction changing value 60deg/s, and will
It is as integrative feedback.
Specifically, certain pitch orientation integrative feedback method is
Wherein, p and q is rolling and pitch rate；U and v is body x and y-axis speed；It is rolling and pitch angle with θ；α
It is the angle of attack；G is acceleration of gravity；V∞It is air speed；K is scale factor, with dynamic pressure, flying speed, aerodynamic coefficient and reference
The correlations such as area.
In method provided in an embodiment of the present invention, error is carried out according to second control instruction and the integrative feedback
Control, obtaining third control instruction includes：
Error is calculated according to second control instruction and the integrative feedback, and composition error is obtained by controlling operation
Control instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output as third
Control instruction.
It specifically, can be by designing the second control instruction of controller pair and integrative feedback after obtaining integrative feedback
Control errors are carried out, then composition error control instruction is obtained by controlling operation, then composition error control instruction is solved
Analysis, and the physical quantity directly related with control output, such as composition error control instruction are extracted, can include pitch angle speed
Rate, normal g-load, the angle of attack, the ratio shared by control Variational Design each section is different according to actual conditions, such as
80% pitch rate, 10% normal g-load, 10% the angle of attack, the instruction of above-mentioned Comprehensive Control is parsed, and is extracted
The physical quantity directly related with control output, angular acceleration is generally to the control of unmanned plane.
Specifically, if pitch orientation integrative feedback is as shown in Equation 1, that first carries out differential to formula 1 and approximation can obtain：
At this point, writing out the expression formula of pitching angular acceleration instruction
Wherein,It is the composition error control instruction that control errors obtain；U and v is body x and y-axis speed；It is
Rolling angular acceleration instructs；It is the instruction of pitching angular acceleration.
In method provided in an embodiment of the present invention, obtaining between second control instruction and the integrative feedback
After deviation, the method further includes：
The disturbing factor of unmanned plane during flying is predicted, predicted value is obtained；
The deviation is modified based on the predicted value.
Specifically, above-mentioned disturbing factor, which includes noise, wind-force, modeling inaccuracy etc., may influence unmanned plane during flying
Factor, then estimated to obtain predicted value to these factors, and be modified to obtain the 4th control to third control instruction
Instruction, so that control instruction carries out adaptive correction, to improve the accuracy of control.
Embodiment two
Based on same as the method controlled in the target area unmanned plane by earth station in aforementioned first aspect
Inventive concept, the embodiment of the present invention two additionally provides the control device of unmanned plane, as shown in Fig. 2, including：
Fundamental geological position coordinates acquisition module 210 obtains the fundamental geological of marker in base area for earth station
Position coordinates；
Target area forms module 220, for the earth station using the fundamental geological position coordinates as coordinate origin, away from
It is radius of target from H, forms a circular target area；
Current geographic position coordinate obtaining module 230 obtains each institute in several unmanned planes for the earth station
State the current geographic position coordinate of unmanned plane；
UAV targets' selecting module 240 is used for current geographic position of the earth station according to unmanned plane described in each
Coordinate is set, the UAV targets controlled are selected；
First obtain module 250, for the earth station obtain the first control instruction, first control instruction be to
Control unmanned plane during flying reaches the original control instruction of dbjective state；
Conversion module 260 converts first control instruction to for the earth station according to preset ideal model
The second control instruction being consistent with intended response dynamic；
Feedback module 270, the flight shape for earth station acquisition and the relevant unmanned plane of the second control instruction
State parameter, and accordingly generate integrative feedback；
Second obtains module 280, is carried out according to second control instruction and the integrative feedback for the earth station
Control errors obtain third control instruction；
Control module 290 controls the unmanned plane according to the third control instruction for the earth station.
The first control instruction and intended response dynamic are provided in control device provided in this embodiment, in ideal model
Correspondence.
In control device provided in this embodiment, the flight status parameter packet with the relevant unmanned plane of the second control instruction
It includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
Speed, control surface deflection angle, atmospheric density, atmospheric temperature etc..
In control device provided in this embodiment, the feedback module is additionally operable to：
The value of the flight status parameter is carried out Variational Design by the earth station, is converted to and second control instruction
Corresponding instruction changing value, using described instruction changing value as the integrative feedback.
In control device provided in this embodiment, the second acquisition module is additionally operable to：
The earth station calculates error according to second control instruction and the integrative feedback, and is obtained by controlling operation
To composition error control instruction；
The earth station parses from the composition error control instruction and extracts the physics directly related with control output
Amount is used as third control instruction.
Control device provided in this embodiment further includes prediction module, is used for：
The earth station predicts the uncertain or disturbing factor of unmanned plane during flying, obtains predicted value；
The earth station is modified the third control instruction based on the predicted value, obtains the 4th control instruction.
The various changes of the method that unmanned plane is controlled in the target area by earth station in 1 embodiment of earlier figures
Change mode and specific example are equally applicable to the control device of the unmanned plane of the present embodiment, by it is aforementioned to by earth station in mesh
The detailed description of the method controlled unmanned plane in mark region, those skilled in the art are clear that the present embodiment
The implementation of the control device of middle unmanned plane, so in order to illustrate the succinct of book, this will not be detailed here.
Embodiment three
Based on same as the method controlled in the target area unmanned plane by earth station in previous embodiment one
Inventive concept, the embodiment of the present invention three additionally provides a kind of computer readable storage medium, as shown in figure 3, being stored thereon with
Computer program, the program realize following steps when being executed by processor：
The earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate
Integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The unmanned plane is controlled according to the third control instruction.
The various changes of the method that unmanned plane is controlled in the target area by earth station in 1 embodiment of earlier figures
Change mode and specific example are equally applicable to the computer readable storage medium of the unmanned plane of the present embodiment, by aforementioned to passing through
The detailed description for the method that earth station in the target area controls unmanned plane, those skilled in the art can clearly know
The implementation of road the present embodiment Computer readable storage medium storing program for executing, so in order to illustrate the succinct of book, this will not be detailed here.
Example IV
Based on same as the method controlled in the target area unmanned plane by earth station in previous embodiment one
Inventive concept, the embodiment of the present invention four additionally provides a kind of computer equipment, including memory 401, processor 402 and storage
On a memory and the computer program 403 that can run on a processor, the processor are realized following when executing described program
Step：
The earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, and it is round to form one for the earth station
Target area；
The earth station obtains the current geographic of the unmanned plane of each in several unmanned planes in the target area
Position coordinates；
Current geographic position coordinate of the earth station according to unmanned plane described in each selects the mesh controlled
Mark unmanned plane；
The earth station obtains the first control instruction, and first control instruction is to fly to control the UAV targets
Row reaches the original control instruction of dbjective state；
The earth station converts and intended response dynamic phase first control instruction to according to preset ideal model
Second control instruction of symbol；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate
Integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control
Instruction；
The earth station controls the unmanned plane according to the third control instruction.For convenience of description, only show
Go out and do not disclosed with the relevant part of the embodiment of the present invention, particular technique details, has please referred to present invention method part.
Memory 401 can be used for storing computer program 403, and above computer program includes software program, module and data, processor
402 execute the computer program 403 for being stored in memory 401 by running, to execute the various function application of electronic equipment
And data processing.
In specific implementation process, memory 401 can be used for storing software program and module, processor 402 pass through
Operation is stored in the software program and module of memory 401, to execute the various function application and data of electronic equipment
Processing.Memory 401 can include mainly storing program area and storage data field, wherein storing program area can storage program area,
Application program etc. needed at least one function；Storage data field can be stored uses created data according to electronic equipment
Deng.In addition, memory 401 may include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipment
Center is stored in memory using the various pieces of various interfaces and the entire electronic equipment of connection by running or executing
Software program in 401 and/or module, and the data being stored in memory 401 are called, execute the various work(of electronic equipment
Data can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processing
Unit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong Hujie
Face and application program etc..
The various changes of the method that unmanned plane is controlled in the target area by earth station in 1 embodiment of earlier figures
Change mode and specific example are equally applicable to the computer equipment of the unmanned plane of the present embodiment, by aforementioned to being existed by earth station
The detailed description of the method controlled unmanned plane in target area, those skilled in the art are clear that this implementation
The implementation of example Computer equipment, so in order to illustrate the succinct of book, this will not be detailed here.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention：On the one hand, earth station can be according to preset ideal model first, will
First control instruction be converted into the second control instruction for being consistent of intended response dynamic, ideal model contain aircraft to
Ideal output dynamic under fixed input, ideal dynamic meets the requirements such as flight quality and performance, which ensure that control system has
Enough stability margins；On the other hand, synthesis is generated according to the flight status parameter of the relevant unmanned plane of the second control instruction
Feedback, integrative feedback is multivariable Control problem, it will ensure that aircraft under the premise of meeting control instruction, ensures other flights
Parameter be also at it is safely controllable within the scope of, to improve the robustness of control；The third aspect, by the second control instruction and comprehensive
It closes feedback and carries out control errors acquisition third control instruction, pass through and select suitable control errors algorithm so that integrative feedback refers to
Order follows the second control instruction in time, it is ensured that closed-loop system has consistent quality and performance with ideal model.So described
Technical solution, which solves to exist by the method that earth station in the target area controls unmanned plane in the prior art, to be stablized
Property and the poor problem of robustness.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method controlled in the target area unmanned plane by earth station, which is characterized in that including：
Earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular mesh for the earth station
Mark region；
The earth station obtains the current geographic position of the unmanned plane of each in several unmanned planes in the target area
Coordinate；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station converts first control instruction to and is consistent with intended response dynamic according to preset ideal model
Second control instruction；
The flight status parameter of the earth station acquisition and the relevant UAV targets of second control instruction, and accordingly
Generate integrative feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control and refers to
It enables；
The earth station controls the UAV targets according to the third control instruction.
2. it is dynamic with intended response it to be provided with the first control instruction the method as described in claim 1, in the ideal model
Correspondence.
3. the method as described in claim 1, the flight with the relevant UAV targets of second control instruction
State parameter includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor speed, rudder
It is one or more in deflecting facet angle, atmospheric density, atmospheric temperature.
4. method according to claim 3, the integrative feedback that accordingly generates includes：
The value of the flight status parameter is carried out Variational Design by the earth station, is converted to corresponding with second control instruction
Instruction changing value, using described instruction changing value as the integrative feedback.
5. it is according to claim 4, control errors are carried out according to second control instruction and the integrative feedback, are obtained
Third control instruction includes：
The earth station calculates error according to second control instruction and the integrative feedback, and by control operation obtain it is comprehensive
Close control errors instruction；
The earth station, which parses from the composition error control instruction and extracts the physical quantity directly related with control output, to be made
For third control instruction.
6. the method as described in claim 1, which is characterized in that carried out to second control instruction and the integrative feedback
Control errors, after obtaining third control instruction, the method further includes：
The earth station predicts the uncertain or disturbing factor that the UAV targets fly, and obtains predicted value；
The earth station is modified the third control instruction based on the predicted value, obtains the 4th control instruction.
7. a kind of device for being controlled unmanned plane, which is characterized in that including：
Fundamental geological position coordinates acquisition module, the fundamental geological position that marker in base area is obtained for earth station are sat
Mark；
Target area forms module, and for the earth station using the fundamental geological position coordinates as coordinate origin, distance H is mesh
Radius is marked, a circular target area is formed；
Current geographic position coordinate obtaining module, for every in several unmanned planes in the earth station acquisition target area
The current geographic position coordinate of one unmanned plane；
UAV targets' selecting module is used for current geographic position coordinate of the earth station according to unmanned plane described in each,
Select the UAV targets controlled；
First obtains module, obtains the first control instruction for the earth station, first control instruction is to control
State the original control instruction that UAV targets' flight reaches dbjective state；
Conversion module for the earth station according to preset ideal model converts and is expected first control instruction to
The second control instruction that response dynamics are consistent；
Feedback module acquires the flight status parameter with the relevant unmanned plane of the second control instruction for the earth station,
And accordingly generate integrative feedback；
Second obtains module, and error control is carried out according to second control instruction and the integrative feedback for the earth station
System obtains third control instruction；
Control module controls the unmanned plane according to the third control instruction for the earth station.
8. it is dynamic with intended response it to be provided with the first control instruction device as claimed in claim 7, in the ideal model
Correspondence.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Following steps are realized when row：
Earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular mesh for the earth station
Mark region；
The earth station obtains the current geographic position of the unmanned plane of each in several unmanned planes in the target area
Coordinate；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station converts first control instruction to and is consistent with intended response dynamic according to preset ideal model
Second control instruction；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate synthesis
Feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control and refers to
It enables；
The earth station controls the unmanned plane according to the third control instruction.
10. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, which is characterized in that the processor realizes following steps when executing described program：
The earth station obtains the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular mesh for the earth station
Mark region；
The earth station obtains the current geographic position of the unmanned plane of each in several unmanned planes in the target area
Coordinate；
Current geographic position coordinate of the earth station according to unmanned plane described in each, select the target that is controlled without
It is man-machine；
The earth station obtains the first control instruction, and first control instruction is to be reached to control UAV targets' flight
To the original control instruction of dbjective state；
The earth station converts first control instruction to and is consistent with intended response dynamic according to preset ideal model
Second control instruction；
The flight status parameter of the earth station acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate synthesis
Feedback；
The earth station carries out control errors according to second control instruction and the integrative feedback, obtains third control and refers to
It enables；
The earth station controls the unmanned plane according to the third control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711480089.6A CN108388256A (en) | 2017-12-29 | 2017-12-29 | The method and device that unmanned plane is controlled in the target area by earth station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711480089.6A CN108388256A (en) | 2017-12-29 | 2017-12-29 | The method and device that unmanned plane is controlled in the target area by earth station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108388256A true CN108388256A (en) | 2018-08-10 |
Family
ID=63076592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711480089.6A Pending CN108388256A (en) | 2017-12-29 | 2017-12-29 | The method and device that unmanned plane is controlled in the target area by earth station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108388256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187720A (en) * | 2019-06-03 | 2019-08-30 | 深圳铂石空间科技有限公司 | Unmanned plane guidance method, device, system, medium and electronic equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004607A (en) * | 2007-01-19 | 2007-07-25 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| CN102495634A (en) * | 2011-12-07 | 2012-06-13 | 中国南方航空工业(集团)有限公司 | Method and device for controlling unmanned aerial vehicle and operating device for unmanned aerial vehicle |
| US20120221179A1 (en) * | 2011-02-24 | 2012-08-30 | Hon Hai Precision Industry Co., Ltd. | Unmanned aerial vehicle and method for adjusting flight direction of the same |
| CN104991564A (en) * | 2015-05-27 | 2015-10-21 | 杨珊珊 | Flight control method and device for unmanned aerial vehicle |
| CN106227226A (en) * | 2016-08-30 | 2016-12-14 | 西安瑞日电子发展有限公司 | A kind of control apparatus and method of integration unmanned plane during flying |
| CN106647780A (en) * | 2016-10-19 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) flight control method, UAV flight control device and UAV |
| CN107169608A (en) * | 2017-05-27 | 2017-09-15 | 合肥工业大学 | Multiple no-manned plane performs the distribution method and device of multitask |
| CN107272742A (en) * | 2017-08-07 | 2017-10-20 | 深圳市华琥技术有限公司 | A kind of navigation control method of unmanned aerial vehicle group work compound |
-
2017
- 2017-12-29 CN CN201711480089.6A patent/CN108388256A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004607A (en) * | 2007-01-19 | 2007-07-25 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| US20120221179A1 (en) * | 2011-02-24 | 2012-08-30 | Hon Hai Precision Industry Co., Ltd. | Unmanned aerial vehicle and method for adjusting flight direction of the same |
| CN102495634A (en) * | 2011-12-07 | 2012-06-13 | 中国南方航空工业(集团)有限公司 | Method and device for controlling unmanned aerial vehicle and operating device for unmanned aerial vehicle |
| CN104991564A (en) * | 2015-05-27 | 2015-10-21 | 杨珊珊 | Flight control method and device for unmanned aerial vehicle |
| CN106227226A (en) * | 2016-08-30 | 2016-12-14 | 西安瑞日电子发展有限公司 | A kind of control apparatus and method of integration unmanned plane during flying |
| CN106647780A (en) * | 2016-10-19 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) flight control method, UAV flight control device and UAV |
| CN107169608A (en) * | 2017-05-27 | 2017-09-15 | 合肥工业大学 | Multiple no-manned plane performs the distribution method and device of multitask |
| CN107272742A (en) * | 2017-08-07 | 2017-10-20 | 深圳市华琥技术有限公司 | A kind of navigation control method of unmanned aerial vehicle group work compound |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187720A (en) * | 2019-06-03 | 2019-08-30 | 深圳铂石空间科技有限公司 | Unmanned plane guidance method, device, system, medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108388270A (en) | Cluster unmanned plane track posture cooperative control method towards security domain | |
| CN108388257A (en) | Control the method and device of unmanned plane in the target area based on earth station | |
| CN108089597A (en) | The method and device controlled based on earth station unmanned plane | |
| CN108153330A (en) | Unmanned aerial vehicle three-dimensional track self-adaptive tracking method based on feasible region constraint | |
| CN108287557A (en) | Method and device based on ground station control aircraft | |
| CN108287559A (en) | The method and device controlled for the unmanned plane in target area | |
| Luo et al. | In-flight wind identification and soft landing control for autonomous unmanned powered parafoils | |
| CN108388256A (en) | The method and device that unmanned plane is controlled in the target area by earth station | |
| CN108319279A (en) | Control the method and device of aircraft in the target area based on earth station | |
| CN108594835A (en) | Unmanned aerial vehicle (UAV) control method and device based on earth station | |
| CN108334105A (en) | The method and device that unmanned plane is controlled based on communication command vehicle | |
| CN108363403A (en) | It is directed to the method and device that default type controls aircraft based on earth station | |
| CN108268051A (en) | The method and device controlled for type unmanned plane | |
| CN108196560A (en) | The method and device of default type control unmanned plane is directed to based on earth station | |
| CN108388255A (en) | Unmanned aerial vehicle (UAV) control method and device based on earth station | |
| CN108388259A (en) | The method and device that unmanned plane is controlled in the target area by communication command vehicle | |
| CN106774370B (en) | Realize dirigible according to the speed tracking control method of given speed stabilized flight | |
| CN108287560A (en) | It is directed to the method and device that default type controls unmanned plane by earth station | |
| CN108287558A (en) | The method and device that unmanned plane is controlled based on target area | |
| CN108196557A (en) | The control method and device of unmanned plane | |
| CN108363438A (en) | Method and device for being controlled unmanned plane | |
| CN108287561A (en) | Control the method and device of aircraft in the target area based on communication command vehicle | |
| CN108363402A (en) | It is directed to the method and device that default type controls unmanned plane by command car | |
| CN108363440A (en) | Unmanned aerial vehicle (UAV) control method and device based on communication command vehicle | |
| CN108363437A (en) | Control the method and device of unmanned plane in the target area based on communication command vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180810 |
|
| RJ01 | Rejection of invention patent application after publication |