CN108445902A - Unmanned plane formation control method, device and system - Google Patents
Unmanned plane formation control method, device and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of unmanned plane formation control method, device and computer storage media, the unmanned plane formation control method includes：The satellite positioning that server obtains demonstration flight ground corrects number；It is connect with multiple unmanned planes positioned at demonstration flight ground, sending the satellite positioning to the unmanned plane corrects number, to assist the unmanned plane to carry out space orientation；Multiple destination tasks for controlling multiple unmanned planes respectively are received, the destination task is sent to corresponding unmanned plane, demonstration flight is carried out to control the unmanned plane.The present invention has the effect of a large amount of unmanned plane high-precision coordinated flight performance of control.
Description
Technical field
The present invention relates to unmanned plane management domains, more particularly to unmanned plane formation control method, device and computer stored
Medium.
Background technology
It is more and more with the application of unmanned plane, it is increasingly socially reintegrated, therefore, the function of unmanned plane is also being expanded.Nothing
Man-machine application mode generally includes delivery, carries photographing device and carries out high-altitude shooting.But these application schemes, it can not
Meet user to need to carry out the requirement in terms of light show using unmanned plane.
When carrying out unmanned plane light show, it will usually it arranges tens or even hundreds of unmanned planes is carried out while being flown,
So as to form light formation in the air.
But how a large amount of unmanned plane accurately connect with a large amount of unmanned plane when carrying out demonstration flight, and control
Unmanned plane is coordinated and high-precision is flown and is a problem to be solved.
Invention content
The main object of the present invention is to provide unmanned plane formation control method, device and computer storage media, it is intended to control
Make a large amount of unmanned plane high-precision coordinated flight performance.
To achieve the above object, a kind of unmanned plane formation control method proposed by the present invention, for controlling multiple unmanned planes
Demonstration flight, the unmanned plane formation control method include：
The satellite positioning that server obtains demonstration flight ground corrects number；
It is connect with multiple unmanned planes positioned at demonstration flight ground, sending the satellite positioning to the unmanned plane corrects number,
To assist the unmanned plane to carry out space orientation；
Multiple destination tasks for controlling multiple unmanned planes respectively are received, the destination task is sent to correspondence
Unmanned plane, carry out demonstration flight to control the unmanned plane.
Optionally, the satellite positioning amendment number on server acquisition demonstration flight ground includes：
Server is connect with the geodetic type receiver positioned at demonstration flight ground；
Receive the Differential positioning data on the demonstration flight ground that the geodetic type receiver is sent out in real time；
The differential reference station information with accurate three-dimensional coordinate is obtained according to the Differential positioning data；
Satellite positioning, which is obtained, according to the differential reference station information and Differential positioning data corrects number.
Optionally, the server connect with the geodetic type receiver positioned at demonstration flight ground including：
Server presets the designated port for matching and connecting geodetic type receiver；
The designated port is connect by mobile network with the geodetic type receiver positioned at demonstration flight ground.
Optionally, described to obtain the differential reference station information packet with accurate three-dimensional coordinate according to the Differential positioning data
It includes：
In the mean 3D StdDev geometric average 3D standard deviations of the three-dimensional coordinate obtained according to the Differential positioning data
When value is less than 1, judgement obtains the differential reference station information of accurate three-dimensional coordinate.
Optionally, the unmanned plane includes the unmanned plane for carrying out demonstration flight and spare unmanned plane；
The unmanned plane formation control method further includes：
When the unmanned plane for carrying out demonstration flight breaks down, dispatches spare unmanned plane and continue to execute corresponding destination times
Business.
Optionally, described when the unmanned plane for carrying out demonstration flight breaks down, it dispatches spare unmanned plane and continues to execute pair
The destination task answered includes：
Spare unmanned plane is controlled to go up to the air to hovering region and hover standby；
When information is maked a return voyage in the unmanned plane midway for receiving progress demonstration flight automatically, corresponding destination task is obtained；
It controls the spare unmanned plane and loads obtained destination task, and continue to execute corresponding destination task.
The present invention also provides a kind of unmanned plane formation control server, the unmanned plane formation control server includes：
Memory, processor and the unmanned plane formation control program that is stored on the memory and can run on the processor,
It is realized such as the step of above-mentioned method when the unmanned plane formation control program is executed by the processor.
The present invention also provides a kind of unmanned plane formation control system, the unmanned plane formation control system includes multiple nothings
Man-machine, unmanned plane formation control server and geodetic type receiver；
The geodetic type receiver is used for being set to demonstration flight, to receive satellite-signal and generate Differential positioning number
According to, and the Differential positioning data are sent to unmanned plane formation control server in real time；
The unmanned plane formation control server obtains satellite positioning according to the Differential positioning data and corrects number；It will be described
Satellite positioning corrects number and is sent to unmanned plane；The unmanned plane formation control server is received for controlling multiple nothings respectively
The destination task is sent to corresponding unmanned plane by man-machine multiple destination tasks；
The unmanned plane is positioned according to the Differential positioning module of itself, and several right according to satellite positioning amendment
Positioning is modified, to be accurately positioned；Demonstration flight is carried out according to the destination task for being accurately positioned and receiving.
Optionally, the geodetic type receiver is provided with the Internet of Things module with connection mobile network function；The geodetic
Type receiver is connect by the Internet of Things module with mobile network, and is sent out Differential positioning data in real time by mobile network
It send to unmanned plane formation control server；
The server presets the designated port for matching and connecting geodetic type receiver；The designated port passes through
Mobile network connect with the geodetic type receiver positioned at demonstration flight ground.
Optionally, the unmanned plane includes the unmanned plane for carrying out demonstration flight and spare unmanned plane；
The spare unmanned plane of unmanned plane formation control server controls goes up to the air to hovering region and hovers standby；
The unmanned plane for carrying out demonstration flight starts function of making a return voyage automatically when self detects failure, and
Report information of making a return voyage automatically halfway；
The unmanned plane formation control server is maked a return voyage information automatically receiving the unmanned plane midway for carrying out demonstration flight
When, obtain corresponding destination task；It controls the spare unmanned plane and loads obtained destination task, and continue to execute correspondence
Destination task.
Unmanned plane formation control method provided by the present invention is connect by server with multiple unmanned planes, to control
Unmanned plane；Since server possesses more powerful operational capability, therefore, it is possible to reach while controlling the effect of multiple unmanned planes
Fruit.Further, number is corrected by obtaining the satellite positioning on demonstration flight ground, and satellite positioning amendment number is sent to unmanned plane,
With so that the flight control system of unmanned plane itself can obtain accurate self poisoning, to carry out more precise control；Accordingly
, server can also obtain more accurate unmanned plane location information, to show unmanned plane in the space map of system
Position.Further, by external program effect as needed, flight plan is preset, then the flight plan is converted
For the destination task of each unmanned plane of correspondence, these destination tasks are then sent to server；Server appoints these destinations
Business is transmitted to corresponding unmanned plane, and the included flight control system of unmanned plane executes flight further according to the destination task of itself；Therefore, often
One unmanned plane flies all in accordance with itself destination task, you can completes the demonstration flight that multiple unmanned planes combinations are completed.Therefore, originally
The scheme of embodiment can achieve the effect that a large amount of unmanned plane high-precision coordinated flight performance of control.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart of one embodiment of unmanned plane formation control method of the present invention；
Fig. 2 is the unmanned plane formation control systematic difference scene for using unmanned plane formation control method shown in Fig. 1
Schematic diagram；
Fig. 3 is the flow diagram such as step S101 in Fig. 1；
Fig. 4 is the flow diagram such as step S104 in Fig. 1；
Fig. 5 is the module diagram of one embodiment of unmanned plane formation control server of the present invention；
The optional fractional hardware structural schematic diagram of unmanned plane one of Fig. 6 each embodiments to realize the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
The present embodiment first simply introduces the unmanned plane and the relevant technologies of realizing the present invention.
1. about the structure being connect with server in unmanned plane：
Fig. 6 is please referred to, shows the module diagram of Internet of Things mesh portions inside unmanned plane.Wherein, unmanned plane includes board,
And the panel light Lamp Panel being connect with board.It is provided with 4G modules on the board, controls chip MCU, unmanned plane flies
Control UVA；Wherein 4G modules are connect by serial communication with the winged control UVA of unmanned plane, and unmanned plane flies control UVA and passes through bus CAN and control
The MCU connections of coremaking piece.Control chip MCU is connect with panel light Lamp Panel.
Communication mode：Because of the up to thousands of framves of the lamp plate quantity of formation control, the lamp plate per airplane is all a control section
Point, the interference in order to avoid interplane and coupling, thus use Internet of Things 4G networking modes, come respectively to every fly control control and
Lamp plate controls；4G modules carry out data exchange node with control is flown by serial ports；Winged control receives the control instruction that bottom surface accounts for and passes through
Customized CAN protocol packet is sent to the MCU of board, and MCU receives CAN protocol packet and parses, and exports industrial standard
RGB24, to realize the combination control of a variety of colors.
Control mode：After the MCU of board receives customized protocol package, standard is obtained by analysis protocol packet
The color of RGB24 controls, and RGB24 indicates that a pixel, RGB component are all indicated with 8 using 24, value range 0
~255.To which when unmanned plane formation reaches thousands of framves, the lamp plate of each unmanned plane will form a pixel, then pass through
The movement of unmanned plane and the color control of lamp plate, to form the picture of different colours.
2. the scheme for passing through satellite positioning about unmanned plane：
Geodetic type receiver is set in demonstration flight place in advance；Geodetic type receiver obtains Differential positioning data.Geodetic
Differential positioning data are sent to the designated port of server by mobile network by type receiver by 4G modules.
Server set on ground presets the designated port for matching and connecting geodetic type receiver；And pass through finger
Fixed end mouthful receives Differential positioning data.
In the mean 3D StdDev geometric averages 3D marks for the three-dimensional coordinate that server inspection is obtained according to Differential positioning data
When quasi- difference is less than 1, judgement obtains the differential reference station information of accurate three-dimensional coordinate.
Differential reference station information and Differential positioning data are sent to unmanned plane by server by mobile network；Unmanned plane
Airborne Differential positioning module receives satellite positioning signal, obtains self-position, and further according to received differential reference platform
Information, Differential positioning data, to correct self-position, to obtain more accurate location information.
3. flying the destination in air mileage and sequential about unmanned plane：
3.1, way point information includes not only spatial positional information and light change information, each destination also includes to correspond to
Timing node.When unmanned plane obtains destination task, flight is voluntarily controlled by the winged control in unmanned plane, to reach
The specified position of destination is reached in each corresponding timing node, and shows specified light.
Fly control and carry out accurate light transformation at each time point, the flight between different location destination by unmanned plane from
Oneself voluntarily configures rational flying speed according to the difference at time point, ensures right place.
Specifically, unmanned plane can calculate two differences between different location destination：One is path length difference, and one is the time
Difference.Unmanned plane adjusts flying speed according to path length difference/time difference, ensures to reach corresponding sky just in next timing node
Between location point.
The variation of light is also more accurate because there is accurately time parameter, can complete such as gradual change, timing and have a ride on a horse
The variation task of the complexity such as lamp.
3.2, the 4G function of surfing the Net that four-dimensional destination combination unmanned plane has, unmanned plane are obtained by mobile network on server
The Perfect Time information of storage realizes the accurate unification of the sequential of whole unmanned planes.
4. about unmanned plane formation route matching：
Server obtains the position point set that multiple unmanned planes are currently located, and needs the task point set reached.
A location point in the position point set is traversed into the every bit in the task point set, according to distance
It is ranked up, according to obtained clooating sequence by the task point and the location point successively line.
When the two side areas of line includes the equal location point of quantity and task point, by the position of the same side of the line
It sets a little and task point is divided into a location point subset and corresponding task point subset.Include it on the line and its extended line
When his location point and task point, using on the line and its extended line location point and task point as special points subset and
Corresponding special duty point subset.
When the two side areas of line does not include the equal location point of quantity and task point, by its in the location sets
His location point traverses the every bit in the task point set.
Judge whether the location point quantity in the location point subset is less than amount threshold；If it is not, then by the location point
Subset and corresponding task point subset divide again, are divided into two location point subsets and corresponding task point subset.
It traverses the location point subset to combine with all lines of corresponding task point subset, it is shortest described to obtain total length
Line combines.The matching relationship for obtaining location point subset and corresponding task point subset is combined according to obtained line.
Particular distance of each task point of special duty idea concentration apart from special points subset is obtained, according to described
Particular distance carries out special sort from as far as into the task point；According to the special sort, successively by the task point with
It is matched one by one apart from nearest location point；The special points subset is obtained to special duty point subset according to the matching
Special matched relationship；
Formation path is obtained according to the matching relationship.
5. the protection about unmanned plane in the takeoff and landing stage controls：
Server obtains the location information of each unmanned plane when receiving multiple unmanned plane landing instructions.
Obtain the total quantity that the multiple unmanned plane landing instructs controlled unmanned plane.
It is preset group that unmanned plane grouping, which is formed into columns,；Unmanned plane quantity is more than maximum preset in each preset group
When value, using the maximum preset value as unmanned plane maximum amount.Unmanned plane quantity is less than minimum pre- in each preset group
If when value, using the minimum preset value as unmanned plane maximum amount.Unmanned plane quantity is located at described in each preset group
When between minimum preset value and maximum preset value, using unmanned plane quantity in the preset group as unmanned plane maximum amount.
It is that a unmanned plane is grouped that spacing two-by-two, which is more than first threshold and is formed into columns less than the grouping of the unmanned plane of second threshold,.
Unmanned plane grouping is ranked up, controls the unmanned plane grouping according to the clooating sequence landing, control
Unmanned plane landing simultaneously in same unmanned plane grouping, and rise and be down to the corresponding position of each unmanned plane.
6. about unmanned plane in demonstration flight, process flow when accident is encountered：
Server controls spare unmanned plane and goes up to the air to hovering region and hover standby in advance.
When information is maked a return voyage in the unmanned plane midway for receiving progress demonstration flight automatically, corresponding destination task is obtained.
It controls the spare unmanned plane and loads obtained destination task, and continue to execute corresponding destination task.
Based on above-mentioned unmanned plane hardware configuration, control system and control flow, each embodiment of the method for the present invention is proposed.
Hereinafter, it will be apparent from the specific implementation mode of the key technical feature about the present invention.
Incorporated by reference to referring to Fig. 1 and Fig. 2, the present invention provides a kind of unmanned plane formation control methods, for controlling multiple nothings
Man-machine demonstration flight.The unmanned plane formation control method includes：
Step S101, the satellite positioning that server 200 obtains demonstration flight ground correct number.
Satellite positioning corrects number for correcting the measurement result of user, to obtain accurate positioning result.Wherein,
It can be based on differential position principle that number is corrected in satellite status, and pseudo range difference principle or carrier phase difference principle etc. obtain
.The mode that the satellite positioning corrects number is obtained, can be that query history record carries out assessment acquisition again, or passes through net
The real-time download information in network address obtains, or is passed by network or by mobile storage medium after being acquired by particular device
It is defeated and obtain.
Step S102 is connect with multiple unmanned planes 100 positioned at demonstration flight ground, is sent to the unmanned plane 100 described
Satellite positioning corrects number, to assist the unmanned plane 100 to carry out space orientation.
The control of near radio electric wave, such as 1KM, 2KM may be used in the scheme being attached with multiple unmanned planes 100
Or 3KM is setting server 200 and unmanned plane 100 in the range of radius；It can also be connected to by multiple unmanned planes 100
On mobile network, then it is attached by the server 200 of mobile network and distant place.
Step S103 receives multiple destination tasks for controlling multiple unmanned planes 100 respectively, and the destination is appointed
Business is sent to corresponding unmanned plane 100, and demonstration flight is carried out to control the unmanned plane 100.
Wherein, destination task includes multiple destinations, the three-dimensional coordinate of each destination, and the residence time at destination is being navigated
Point place needs the lighting effects shown and sound effect etc.；And when including from a destination to another destination, nothing
Man-machine 100 flying speed, flight path, the in-flight variation effect of light and sound effect etc..Each unmanned plane 100
When receiving destination task, then the flight control system of itself executes the destination task.
The present embodiment is connect by server 200 with multiple unmanned planes 100, to control unmanned plane 100；Due to service
Device 200 possesses more powerful operational capability, therefore, it is possible to achieve the effect that while controlling multiple unmanned planes 100.Further,
Satellite positioning by obtaining demonstration flight ground corrects number, and satellite positioning amendment number is sent to unmanned plane 100, with so that
The flight control system of itself of unmanned plane 100 can obtain accurate self poisoning, to carry out more precise control；Correspondingly, clothes
Business device 200 can also obtain 100 location information of more accurate unmanned plane, to show unmanned plane in the space map of system
100 position.Further, by external program effect as needed, flight plan is preset, then by the flight plan
Then these destination tasks are sent to server 200 by the destination task for being converted to corresponding each unmanned plane 100；Server 200
By these destination multiplexed transports to corresponding unmanned plane 100, the included flight control system of unmanned plane 100 is further according to the destination task of itself
To execute flight；Therefore, each unmanned plane 100 flies all in accordance with itself destination task, you can completes 100 groups of multiple unmanned planes
Close the demonstration flight completed.Therefore, the scheme of the present embodiment can reach a large amount of 100 high-precision coordinated flight tables of unmanned plane of control
The effect drilled.
Fig. 3 is please referred to, optionally, the step S101, the satellite positioning that server 200 obtains demonstration flight ground corrects number
Including：
Step S1011, server 200 are connect with the geodetic type receiver 300 positioned at demonstration flight ground.
Wherein, geodetic type receiver 300 can be placed on demonstration flight ground before demonstration flight；Can also be solid
It is scheduled near demonstration flight ground.
Step S1012 receives the Differential positioning data on the demonstration flight ground that the geodetic type receiver 300 is sent out in real time.
Step S1013 obtains the differential reference station information with accurate three-dimensional coordinate according to the Differential positioning data.
Step S1014 obtains satellite positioning according to the differential reference station information and Differential positioning data and corrects number.
In the present embodiment, geodetic type receiver 300 may be used carrier phase difference technology and be also known as RTK technologies
(real time kinematic).By geodetic type receiver 300 by data-link in real time by its carrier observations amount (Differential positioning
Data) send server 200 to.Server 200 determines that geodetic type connects according to the carrier observations amount that geodetic type receiver 300 uploads
The exact position of receipts machine 300.In the carrier observations amount and geodetic type receiver 300 for obtaining the upload of geodetic type receiver 300
When the two parameters of exact position, you can the positional parameter for correcting unmanned plane 100.
There are two types of modified mode has：Revised law and calculus of finite differences.One is server 200 directly by carrier observations amount and
The exact position of geodetic type receiver 300 is sent to unmanned plane 100, and unmanned plane 100 is voluntarily resolved and repaiied according to calculation result
Positive own coordinate.Another kind is that server 200 is resolved by the exact position of carrier observations amount and geodetic type receiver 300
Correction value, then correction value is sent to unmanned plane 100, unmanned plane 100 directly corrects own coordinate according to correction value.
Therefore, it can be a correction value that satellite positioning in this step, which corrects number, or by carrier observations amount and
The value that the exact position of geodetic type receiver 300 obtains after being packaged.
The present embodiment, by presetting geodetic type receiver 300 in demonstration flight place, so as to be defended by measuring
Star positions difference location data, and the accurate three-dimensional coordinate of differential reference station information is obtained by Differential positioning data, obtains
It after accurate three-dimensional coordinate, then is compared with the Differential positioning data obtained in real time, you can obtain gap between the two, and be somebody's turn to do
Gap is that satellite positioning corrects number, can be used for other neighbouring mobile satellite location equipments and carries out positioning amendment.Therefore, server
Satellite positioning amendment number is sent to unmanned plane 100 by 200 by data link.It is fixed that the inside of unmanned plane 100 is also configured with difference
Position module, to which when receiving satellite positioning amendment number, the positioning number of itself is corrected by number is corrected in conjunction with the satellite positioning
According to achieve the effect that unmanned plane 100 is accurately positioned own coordinate.
Optionally, the step S1011, server 200 connect packet with the geodetic type receiver 300 positioned at demonstration flight ground
It includes：
Step S10111, server 200 preset the designated port for matching and connecting geodetic type receiver 300.
The designated port can be a hardware port, can also be a software port.
Step S10112, the designated port is by mobile network and positioned at the geodetic type receiver on demonstration flight ground
300 connections.
In the present embodiment, by the way that designated port is arranged, it is connect, then can with geodetic type receiver 300 by mobile network
The position where server 200 itself is not limited, and server 200 can be fixed on computer room, and transmit information by mobile network
.
Optionally, the step S1013 obtains the difference base with accurate three-dimensional coordinate according to the Differential positioning data
Quasi- station information includes：
In the mean 3D StdDev geometric average 3D standard deviations of the three-dimensional coordinate obtained according to the Differential positioning data
When value is less than 1, judgement obtains the differential reference station information of accurate three-dimensional coordinate.
The present embodiment, by obtaining geometric average 3D standard deviations, and when the standard deviation is less than 1, judgement obtains essence
The differential reference station information of true three-dimensional coordinate；More accurate information can be obtained under the standard, so that follow-up step
Can have there are one more accurate basis, avoid the accumulation of error too fast and excessive.Certainly, in other embodiments, can also
Determine whether to obtain accurate three-dimensional coordinate using other modes, for example, obtaining the measurement data or more long of a hour
More measurement data of time, then be averaging and obtained.
Optionally, referring again to Fig. 1 and Fig. 2, the unmanned plane 100 includes 110 He of unmanned plane for carrying out demonstration flight
Spare unmanned plane 120；
The unmanned plane formation control method further includes：
Step S104 dispatches spare unmanned plane 120 and continues to hold when the unmanned plane 110 for carrying out demonstration flight breaks down
The corresponding destination task of row.
Wherein, failure may include performing lamp damage, and not enough power supply or positioning accuracy fluctuate widely etc..It dispatches standby
Can notify failure unmanned plane 100 is withdrawn from the arena to enter the court with spare unmanned plane 120 simultaneously with the mode of unmanned plane 120.
The present embodiment can then improve the steady of 100 demonstration flight project of unmanned plane by being equipped with spare unmanned plane 100
Fixed system, enabling the case where overcoming the unmanned plane 110 of which part demonstration flight to break down.
Optionally, it incorporated by reference to referring to Fig. 4, the step S104, breaks down in the unmanned plane 110 for carrying out demonstration flight
When, it dispatches spare unmanned plane 120 and continues to execute corresponding destination task and include：
Step S1041 controls the lift-off of spare unmanned plane 120 to hovering region and hovers standby.
It is right to obtain institute when information is maked a return voyage in 110 midway of unmanned plane for receiving progress demonstration flight automatically by step S1042
The destination task answered.
Step S1043 controls the spare unmanned plane 120 and loads obtained destination task, and continues to execute corresponding
Destination task.
In the present embodiment, gone up to the air by controlling spare unmanned plane 120 in advance, so that 120 energy of spare unmanned plane
Enough quick responses.Further, server 200 is maked a return voyage information automatically receiving the midway of unmanned plane 110 for carrying out demonstration flight
When, just subsequently sent the action of spare unmanned plane 120.Therefore, although can be produced in the unmanned plane 110 for carrying out demonstration flight
Raw failure but in the case of being the failure to return, the case where avoiding server 200 that spare unmanned plane 120 has been sent to be replaced, from
And two 100 destination tasks having the same of unmanned plane are avoided, and the accident for generating bigger occurs.Further, before
Destination task is sent to unmanned plane 100 by server 200, wherein carries out the unmanned plane 110 of demonstration flight and spare unmanned plane
120 all receive corresponding destination task.And when carry out demonstration flight unmanned plane 110 make a return voyage automatically halfway when, it is spare nobody
Machine 120 can quickly load corresponding destination task, to continue to execute flight, and then achieve the effect that quick response.
According to the example of the present embodiment, the label of above-mentioned steps is not used to limit the priority of each step in the present embodiment
Sequentially, the number of each step is intended merely to allow the general label progress for quoting step when describing each step convenient
Reference, as long as the sequence that each step executes, which does not influence the logical relation of the present embodiment, indicates claimed in the application
Within the scope of.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to be realized by hardware, but very much
In the case of the former be more preferably embodiment.Based on this understanding, technical scheme of the present invention is substantially in other words to existing
The part that technology contributes can be expressed in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be mobile phone, calculate
Machine, server 200, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
Please refer to Fig. 5,200 1 embodiment of unmanned plane formation control server of the present invention.
The unmanned plane formation control server 2000 includes：Memory 2100, processor 2200 and it is stored in described deposit
On reservoir 2100 and the unmanned plane formation control program 2300 that can be run on the processor 2200, the unmanned plane is formed into columns control
The step of method as described in above-mentioned each embodiment is realized when processing procedure sequence 2300 is executed by the processor 2200.
Specific steps may refer to above-described embodiment, and details are not described herein.
The present embodiment is connect by server with multiple unmanned planes, to control unmanned plane；Since server possesses more
Powerful operational capability, therefore, it is possible to achieve the effect that while controlling multiple unmanned planes.Further, by obtaining demonstration flight
The satellite positioning on ground corrects number, and satellite positioning amendment number is sent to unmanned plane, use so that unmanned plane itself winged control system
System can obtain accurate self poisoning, to carry out more precise control；Correspondingly, server can also obtain more accurately
Unmanned plane location information, to show the position of unmanned plane in the space map of system.Further, pass through external program
Effect as needed presets flight plan, then the flight plan is converted to the destination task of corresponding each unmanned plane, so
These destination tasks are sent to server afterwards；For server by these destination multiplexed transports to corresponding unmanned plane, unmanned plane is included
Flight control system execute flight further according to the destination task of itself；Therefore, each unmanned plane comes all in accordance with itself destination task
Flight, you can complete the demonstration flight that multiple unmanned plane combinations are completed.Therefore, it is a large amount of can to reach control for the scheme of the present embodiment
The effect of unmanned plane high-precision coordinated flight performance.
Incorporated by reference to referring to Fig. 2, a kind of unmanned plane formation control system, which is characterized in that unmanned plane formation control system
System includes multiple unmanned planes 100, unmanned plane formation control server 200 and geodetic type receiver 300；
The geodetic type receiver 300 with receiving satellite-signal and generating difference for being set to demonstration flight, being determined
Position data, and the Differential positioning data are sent to unmanned plane formation control server 200 in real time.
The unmanned plane formation control server 200 obtains satellite positioning according to the Differential positioning data and corrects number；It will
Satellite positioning corrects number and is sent to unmanned plane 100；The unmanned plane formation control server 200 receives multiple for controlling respectively
The destination task is sent to corresponding unmanned plane 100 by multiple destination tasks of the unmanned plane 100.
The unmanned plane 100 is positioned according to the Differential positioning module of itself, and according to the satellite positioning amendment
It is several that positioning is modified, to be accurately positioned；It is flown according to the destination task for being accurately positioned and receiving
Performance.
The elaboration of specific steps may refer to above-described embodiment.
The present embodiment is connect by server 200 with multiple unmanned planes 100, to control unmanned plane 100；Due to service
Device 200 possesses more powerful operational capability, therefore, it is possible to achieve the effect that while controlling multiple unmanned planes 100.
Further, the Differential positioning data on demonstration flight ground are obtained by geodetic type receiver 300, and by Differential positioning number
According to server 200 is sent to, server 200 obtains the accurate three-dimensional coordinate of differential reference station information by Differential positioning data,
After obtaining accurate three-dimensional coordinate, then compared with the Differential positioning data obtained in real time, you can gap between the two is obtained,
And the gap is satellite positioning amendment number.Then again by satellite positioning amendment number be sent to unmanned plane 100, with so that nobody
The flight control system of itself of machine 100 can obtain accurate self poisoning, to carry out more precise control；Correspondingly, server
200 can also obtain 100 location information of more accurate unmanned plane, to show unmanned plane 100 in the space map of system
Position.
Further, by external program effect as needed, flight plan is preset, then the flight plan is turned
It is changed to the destination task of corresponding each unmanned plane 100, these destination tasks are then sent to server 200；Server 200 will
These destination multiplexed transports to corresponding unmanned plane 100, the included flight control system of unmanned plane 100 is come further according to the destination task of itself
Execute flight；Therefore, each unmanned plane 100 flies all in accordance with itself destination task, you can completes the combination of multiple unmanned planes 100
The demonstration flight of completion.
Therefore, the scheme of the present embodiment can achieve the effect that a large amount of 100 high-precision coordinated flight of the unmanned plane performance of control.
Optionally, the geodetic type receiver 300 is provided with the Internet of Things module with connection mobile network function；The survey
Ground type receiver 300 is connect by the Internet of Things module with mobile network, and by mobile network by Differential positioning data
It is sent to unmanned plane formation control server 200 in real time.
The server 200 presets the designated port for matching and connecting geodetic type receiver 300；The designated ends
Mouth is connect by mobile network with the geodetic type receiver 300 positioned at demonstration flight ground.
In the present embodiment, by the arranging thing networking module on geodetic type receiver 300, and it is connect with mobile network,
So that geodetic type receiver 300 can voluntarily upload measurement data in real time by network.Further, by servicing
Designated port is arranged in device 200, is connect with geodetic type receiver 300 by mobile network, then can not limit server 200 itself
The position at place, server 200 can be fixed on computer room, and transmit information by mobile network.
Optionally, the unmanned plane 100 includes the unmanned plane 110 and spare unmanned plane 120 for carrying out demonstration flight.
The unmanned plane formation control server 200 controls the lift-off of spare unmanned plane 120 extremely hovering region and hovers and waits for
Machine.
The unmanned plane 110 for carrying out demonstration flight starts function of making a return voyage automatically when self detects failure, and
And report information of making a return voyage automatically halfway.
The unmanned plane formation control server 200 returns automatically in 110 midway of unmanned plane for receiving progress demonstration flight
When information of navigating, corresponding destination task is obtained；It controls the spare unmanned plane 120 and loads obtained destination task, and after
It is continuous to execute corresponding destination task.
In the present embodiment, gone up to the air by controlling spare unmanned plane 120 in advance, so that 120 energy of spare unmanned plane
Enough quick responses.
Further, server 200 receive the unmanned plane 110 for carrying out demonstration flight midway make a return voyage automatically information when,
Just subsequently sent the action of spare unmanned plane 120.Therefore, although can be generated in the unmanned plane 110 for carrying out demonstration flight
Failure but in the case of being the failure to return, the case where avoiding server 200 that spare unmanned plane 120 has been sent to be replaced, to
Two 100 destination tasks having the same of unmanned plane are avoided, and the accident for generating bigger occurs.
Further, destination task is sent to unmanned plane 100 in server 200 before, wherein carry out demonstration flight
Unmanned plane 110 and spare unmanned plane 120 all receive corresponding destination task.And when the unmanned plane 110 for carrying out demonstration flight exists
When midway is maked a return voyage automatically, spare unmanned plane 120 can quickly load corresponding destination task, to continue to execute flight, in turn
Achieve the effect that quick response.
Further, when detecting setting failure by being set in unmanned plane 100, then start and make a return voyage automatically, and
Report information of making a return voyage automatically halfway.So that setting can detected by carrying out the unmanned plane 110 of demonstration flight
Fast reaction when failure, it is rapid to be detached from 100 queue of unmanned plane, it avoids causing flight to yaw due to failure and then generates flying for bigger
Act event.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal (can be mobile phone, computer, server
200, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of unmanned plane formation control method, for controlling multiple unmanned plane during flying performance, which is characterized in that the unmanned plane
Formation control method includes：
The satellite positioning that server obtains demonstration flight ground corrects number；
It is connect with multiple unmanned planes positioned at demonstration flight ground, sending the satellite positioning to the unmanned plane corrects number, to
The unmanned plane is assisted to carry out space orientation；
Multiple destination tasks for controlling multiple unmanned planes respectively are received, the destination task is sent to corresponding nothing
It is man-machine, carry out demonstration flight to control the unmanned plane.
2. unmanned plane formation control method as described in claim 1, which is characterized in that the server is with obtaining demonstration flight
Satellite positioning correct number include：
Server is connect with the geodetic type receiver positioned at demonstration flight ground；
Receive the Differential positioning data on the demonstration flight ground that the geodetic type receiver is sent out in real time；
The differential reference station information with accurate three-dimensional coordinate is obtained according to the Differential positioning data；
Satellite positioning, which is obtained, according to the differential reference station information and Differential positioning data corrects number.
3. unmanned plane formation control method as claimed in claim 2, which is characterized in that the server be located at demonstration flight
The geodetic type receiver on ground connects：
Server presets the designated port for matching and connecting geodetic type receiver；
The designated port is connect by mobile network with the geodetic type receiver positioned at demonstration flight ground.
4. unmanned plane formation control method as claimed in claim 2, which is characterized in that described according to the Differential positioning data
Obtaining the differential reference station information with accurate three-dimensional coordinate includes：
It is small in the mean 3D StdDev geometric average 3D standard deviations of the three-dimensional coordinate obtained according to the Differential positioning data
When 1, judgement obtains the differential reference station information of accurate three-dimensional coordinate.
5. unmanned plane formation control method as described in claim 1, which is characterized in that the unmanned plane includes carrying out flight table
The unmanned plane and spare unmanned plane drilled；
The unmanned plane formation control method further includes：
When the unmanned plane for carrying out demonstration flight breaks down, dispatches spare unmanned plane and continue to execute corresponding destination task.
6. unmanned plane formation control method as claimed in claim 5, which is characterized in that it is described carry out demonstration flight nobody
When machine breaks down, dispatches spare unmanned plane and continue to execute corresponding destination task and include：
Spare unmanned plane is controlled to go up to the air to hovering region and hover standby；
When information is maked a return voyage in the unmanned plane midway for receiving progress demonstration flight automatically, corresponding destination task is obtained；
It controls the spare unmanned plane and loads obtained destination task, and continue to execute corresponding destination task.
7. a kind of unmanned plane formation control server, which is characterized in that the unmanned plane formation control server includes：Storage
Device, processor and the unmanned plane formation control program that is stored on the memory and can run on the processor, it is described
The step such as method according to any one of claims 1 to 6 is realized when unmanned plane formation control program is executed by the processor
Suddenly.
8. a kind of unmanned plane formation control system, which is characterized in that the unmanned plane formation control system include multiple unmanned planes,
Unmanned plane formation control server and geodetic type receiver；
The geodetic type receiver is used for being set to demonstration flight, to receive satellite-signal and generate Differential positioning data,
And the Differential positioning data are sent to unmanned plane formation control server in real time；
The unmanned plane formation control server obtains satellite positioning according to the Differential positioning data and corrects number；By the satellite
Positioning corrects number and is sent to unmanned plane；The unmanned plane formation control server is received for controlling multiple unmanned planes respectively
Multiple destination tasks, the destination task is sent to corresponding unmanned plane；
The unmanned plane is positioned according to the Differential positioning module of itself, and several to positioning according to satellite positioning amendment
It is modified, to be accurately positioned；Demonstration flight is carried out according to the destination task for being accurately positioned and receiving.
9. unmanned plane formation control system as claimed in claim 8, which is characterized in that the geodetic type receiver is provided with tool
There is the Internet of Things module of connection mobile network function；The geodetic type receiver is connected by the Internet of Things module and mobile network
It connects, and Differential positioning data is sent to by unmanned plane formation control server by mobile network in real time；
The server presets the designated port for matching and connecting geodetic type receiver；The designated port passes through movement
Network is connect with the geodetic type receiver positioned at demonstration flight ground.
10. unmanned plane formation control system as claimed in claim 8, which is characterized in that the unmanned plane includes flying
The unmanned plane of performance and spare unmanned plane；
The spare unmanned plane of unmanned plane formation control server controls goes up to the air to hovering region and hovers standby；
The unmanned plane for carrying out demonstration flight starts function of making a return voyage automatically, and report when self detects failure
Automatically it makes a return voyage information midway；
The unmanned plane formation control server is obtained when information is maked a return voyage in the unmanned plane midway for receiving progress demonstration flight automatically
Obtain corresponding destination task；It controls the spare unmanned plane and loads obtained destination task, and continue to execute corresponding boat
Point task.
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