CN109885090B - Method and device for controlling automatic flight based on base station - Google Patents
Method and device for controlling automatic flight based on base station Download PDFInfo
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Abstract
The invention provides a method and a device for controlling automatic flight based on a base station, comprising the following steps: receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; obtaining the control coverage range of the existing base station; obtaining a base station combination continuously covering the area between the flight starting point and the flight terminal point; selecting the base station combination with the shortest total distance and the minimum number of required base stations as the shortest route base station combination; sending the shortest route base station combination to a terminal; receiving waypoint coordinates and waypoint sequences fed back by a terminal, selecting the shortest route between adjacent waypoint coordinates as a waypoint track, and obtaining the flight track of the aircraft according to the waypoint sequences and the waypoint track; and controlling the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy. The invention optimizes and selects the base station with reasonable coverage, and improves the flying efficiency of the aircraft.
Description
Technical Field
The application relates to the technical field of flight control, in particular to a method and a device for controlling automatic flight based on a base station.
Background
The air region has become more and more popular with respect to the ground region, and therefore, in recent years, there has been an increasing research and development on the air region, and the flight control technology is a specific application for the air region. If the flight control technology is applied to the airplane, the airplane flight in the air area can be better managed, so that the air traffic provides more convenient and faster service for people, and specific information data can be transmitted for people by utilizing the ground low-altitude flight technology control, so that the information communication of people is improved.
Especially, the modern mobile internet is rapidly developed, and it is more and more popular to provide specially customized information or data transmission for a specific occasion by flying to a certain height through an aircraft. With the advent of the 5G mobile communication era, the high-speed mobile internet provides a better communication basis for flight control. A base station, i.e., a common mobile communication base station, is a form of a radio station, which refers to a radio transceiver station for information transfer with a mobile phone terminal through a mobile communication switching center in a certain radio coverage area. The access control technology in the unmanned aerial vehicle network is mainly based on maximum signal-to-noise ratio access, and the management control of aircraft communication can be better realized by providing data transmission of communication control for the aircraft through the base station, but how to realize the flight control with the maximum efficiency or the most stability is not effectively solved. The base stations are unreasonably arranged or the base stations cannot completely cover the flight route due to insufficient arrangement quantity, so that the flight is not controlled completely, and the base station resources are wasted and the cost is increased due to excessive arrangement quantity of the base stations.
Therefore, how to provide a flight communication control scheme with high reliability, high control efficiency and low cost is an urgent technical problem to be solved in the field.
Disclosure of Invention
The application aims to provide a method and a device for controlling automatic flight based on a base station, and the technical problem that no flight communication control scheme with strong reliability, high control efficiency and low cost exists in the prior art is solved.
In order to achieve the above object, the present application provides a method for controlling automatic flight based on a base station, comprising:
receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; the method comprises the steps that the signal coverage range of each existing base station is refined based on the communication signal strength required by an aircraft, and the control coverage range of the existing base station is obtained;
arranging according to the existing base stations and the control coverage range thereof to obtain a base station combination continuously covering the area between the flight starting point and the flight terminal point; selecting the base station combination with the shortest total distance and the minimum required base station number as the shortest route base station combination; sending the shortest route base station combination to a terminal;
receiving waypoint coordinates and waypoint sequences fed back by the terminal, selecting the shortest route between the adjacent waypoint coordinates as a waypoint track, and obtaining the flight track of the aircraft according to the waypoint sequences and the waypoint track; receiving flight control strategies of corresponding waypoint sections, which are sequentially sent to each existing base station by the terminal, and distributing the flight control strategies to the corresponding existing base stations;
and controlling the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy.
Optionally, the step of refining the signal coverage area of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage area of the existing base station includes:
and acquiring a channel gain relation of signal transmission between the aircraft and the existing base stations, and accurately covering the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station.
Optionally, wherein the method further comprises:
generating and displaying incomplete flight control information when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight terminal point; and simultaneously, finding out the communication base station combination with the least newly added communication base stations according to the information of the existing base stations for displaying.
Optionally, wherein the method further comprises:
acquiring the cruising distance of the aircraft, and comparing the cruising distance with the distance of the flight track; when the cruising distance is smaller than or equal to the distance of the flight track, generating alarm information of insufficient cruising and displaying the alarm information to the terminal;
and receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for endurance charging at a preset time when the aircraft flies to the endurance point.
Optionally, the receiving of the flight control policy of the corresponding waypoint segment sequentially sent by the terminal to each of the existing base stations, and distributing the flight control policy to each of the corresponding existing base stations is:
receiving flight control strategies and task strategies to be executed, which are sent by the terminal to each existing base station in sequence and correspond to the waypoint sections; distributing the flight control strategy and the task execution strategy to the corresponding existing base stations;
when the aircraft flies to the coverage range of the existing base station, the existing base station sends a flight control strategy of the next stage and a task strategy to be executed to the aircraft;
and the aircraft controls the flight of the aircraft in the next stage based on the flight control strategy, and executes corresponding task operation according to the task strategy.
In another aspect, the present invention further provides a device for controlling automatic flight based on a base station, including: the flight information receiver, the base station combination selection processor, the flight control strategy distribution processor and the flight controller;
the flight information receiver is connected with the base station combination selection processor, receives flight destination information and flight starting point information of the aircraft, and acquires the existing base station information between the flight starting point and the flight destination; the method comprises the steps that the signal coverage range of each existing base station is refined based on the communication signal strength required by an aircraft, and the control coverage range of the existing base station is obtained;
the base station combination selection processor is connected with the flight information receiver and the flight control strategy distribution processor, and is arranged according to the existing base stations and the control coverage range thereof to obtain a base station combination continuously covering the area between the flight starting point and the flight destination; selecting the base station combination with the shortest total distance and the minimum required base station number as the shortest route base station combination; sending the shortest route base station combination to a terminal;
the flight control strategy distribution processor is connected with the base station combination selection processor and the flight controller, receives waypoint coordinates and waypoint sequences fed back by the terminal, selects the shortest route between the adjacent waypoint coordinates as a waypoint track, and obtains the flight track of the aircraft according to the waypoint sequences and the waypoint track; receiving flight control strategies of corresponding waypoint sections, which are sequentially sent to each existing base station by the terminal, and distributing the flight control strategies to the corresponding existing base stations;
and the flight controller is connected with the flight control strategy distribution processor and controls the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy.
Optionally, wherein the flight information receiver is:
receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; and acquiring a channel gain relation of signal transmission between the aircraft and the existing base stations, and accurately covering the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station.
Optionally, wherein the apparatus further comprises: a base station supplemental processor; the base station combination selection processor is connected with the base station combination selection processor, and when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight terminal point, incomplete flight control information is generated and displayed; and simultaneously, finding out the communication base station combination with the least newly added communication base stations according to the information of the existing base stations for displaying.
Optionally, wherein the apparatus further comprises: a endurance control processor connected with the flight control strategy distribution processor and the flight controller,
acquiring the cruising distance of the aircraft, and comparing the cruising distance with the distance of the flight track; when the cruising distance is smaller than or equal to the distance of the flight track, generating alarm information of insufficient cruising and displaying the alarm information to the terminal;
and receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for endurance charging at a preset time when the aircraft flies to the endurance point.
Optionally, wherein the flight control strategy distribution processor is:
receiving flight control strategies and task strategies to be executed, which are sent by the terminal to each existing base station in sequence and correspond to the waypoint sections; distributing the flight control strategy and the task execution strategy to the corresponding existing base stations;
when the aircraft flies to the coverage range of the existing base station, the existing base station sends a flight control strategy of the next stage and a task strategy to be executed to the aircraft; and the aircraft controls the flight of the aircraft in the next stage based on the flight control strategy, and executes corresponding task operation according to the task strategy.
The method and the device for controlling automatic flight based on the base station have the following beneficial effects:
(1) according to the method and the device for controlling automatic flight based on the base station, the communication base station between the flight starting point and the flight destination is utilized, the control strategy corresponding to the flight stage is sent to the aircraft, the defects that the traditional unmanned aerial vehicle point-to-point communication mode is low in speed, high in delay and weak in reliability are effectively overcome, the coverage range of the optimally selected base station is reasonable, the flight track of the aircraft is stable, and the flight efficiency of the aircraft is improved.
(2) According to the method and the device for controlling automatic flight based on the base station, different flight control strategies and task strategies to be executed are respectively set in each flight phase of each aircraft flying between the base station waypoints, the base station is directly transmitted to the aircraft for control, and the stability and the efficiency of aircraft control are improved.
(3) According to the method and the device for controlling automatic flight based on the base station, the communication base station between the flight starting point and the flight finishing point is utilized, the control strategy corresponding to the flight stage is sent to the aircraft, the aircraft endurance monitoring and the base station coverage monitoring are set, and the flight integrity of the aircraft for communication control based on the base station is further guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic flow chart illustrating a first method for controlling automatic flight based on a base station according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a second method for controlling automatic flight based on a base station according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a third method for controlling automatic flight based on a base station according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a fourth method for controlling automatic flight based on a base station according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a fifth method for controlling automatic flight based on a base station according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an apparatus for controlling automatic flight based on a base station according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a second apparatus for controlling automatic flight based on a base station according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a third apparatus for controlling automatic flight based on a base station according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
The embodiment provides a method for controlling automatic flight based on a base station, which provides flight control for an aircraft by setting the base station, so that the coverage range of base station signals is accurately provided with flight control for users, and the stability is stronger. Can be applied to agricultural unmanned aerial vehicle seeding, fertilization, make pesticides etc. can also be used for strengthening the network environment in some regions, for example gather certain regional network service environment, carry the network enhancement signal through unmanned aerial vehicle when the user is many and provide better network service, and stop using when the user is few, can the utilization ratio of high efficiency and accurately promote the network, at the network acceleration, especially 5G network era is coming, has important practical meaning. The mobile terminal selects and controls the flight route and the flight strategy, so that the flight control system can be used for realizing flight at any time and any place, and the use efficiency of automatic flight is improved. The method for controlling automatic flight based on the base station comprises the following steps:
Each base station has a specific signal coverage range, and the cost for building too many base stations can be reduced on the premise of ensuring the coverage area through different signal coverage ranges. Now that mobile base stations are well used, it becomes easier and faster to set the coverage area of the base station. Meanwhile, the base stations can be used in a cross mode, even multiple purposes of the base stations can be achieved, the mobile communication base stations are used for providing base station communication service for automatic flight, and limited resources are utilized to a greater extent.
102, arranging according to each existing base station and the control coverage range thereof to obtain a base station combination continuously covering the area between the flight starting point and the flight terminal point; selecting the base station combination with the shortest total distance and the minimum number of required base stations as the shortest route base station combination from the base station combinations; and sending the shortest route base station combination to the terminal.
The shortest route of aircraft flight has extremely important effect to aircraft control, both can reduce flight time, can also save the flight cost, is favorable to controlling of aircraft more, has more important meaning to unmanned aerial vehicle flight.
And 103, after receiving the shortest route base station combination, the terminal generates a feedback message according to the waypoint coordinates and the waypoint sequence selected by the user and sends the feedback message to the flight control system.
104, receiving waypoint coordinates and waypoint sequences fed back by the terminal, selecting the shortest route between adjacent waypoint coordinates as a waypoint track, and obtaining the flight track of the aircraft according to the waypoint sequences and the waypoint track; and the receiving terminal sequentially sends the flight control strategies of the corresponding waypoint sections to each existing base station and distributes the flight control strategies to each corresponding existing base station.
The control strategies of all flight segments are sent to the base station for storage, and the base station transmits the flight route control and the flight strategies of the next stage to the aircraft for flight control when the aircraft reaches the position, so that the smoothness and the stability of the aircraft control are improved, and the inconvenience of flight inconvenience caused by disordered control of the aircraft is avoided.
And 105, controlling the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy.
It is also possible to set a position point for automatically flying to the starting point after the aircraft completes all the flights and connect the charging device. And sending the state information of the connected charging equipment to the terminal, and generating a charging instruction according to the charging instruction of the user after the terminal receives the instruction to be charged and transmitting the charging instruction to the aircraft so as to charge the aircraft. Preferably, the charging equipment is connected in a flying mode and automatically charged, and when charging is not detected within preset time after the charging equipment is connected in the flying mode, the charging equipment is automatically disconnected, and charging failure is generated to remind the terminal.
In some optional embodiments, as shown in fig. 2, which is a schematic flow chart of a second method for controlling automatic flight based on a base station in this embodiment, different from fig. 1, the method for obtaining the control coverage of the existing base station by refining the signal coverage of each existing base station based on the communication signal strength required by the aircraft includes:
In some optional embodiments, as shown in fig. 3, which is a schematic flow chart of a third method for controlling automatic flight based on a base station in this embodiment, different from fig. 1, the method further includes:
and 301, generating and displaying incomplete flight control information when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight ending point.
In some optional embodiments, as shown in fig. 4, a schematic flowchart of a fourth method for controlling automatic flight based on a base station in this embodiment is different from that in fig. 1, further including:
And step 402, receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for a preset time to perform endurance charging when the aircraft flies to the endurance point.
In some optional embodiments, as shown in fig. 5, a schematic flowchart of a fifth method for controlling automatic flight based on a base station in this embodiment is shown, which is different from fig. 1, further includes:
the method comprises the steps that a receiving terminal sequentially sends flight control strategies of corresponding waypoint sections to each existing base station, and distributes the flight control strategies to the corresponding existing base stations, and comprises the following steps:
And 502, when the aircraft flies to the coverage area of the existing base station, the existing base station sends the flight control strategy of the next stage and the task strategy to be executed to the aircraft.
And 503, controlling the next stage of flight of the aircraft based on the flight control strategy by the aircraft, and executing corresponding task operation according to the task strategy.
In other alternative embodiments, as shown in fig. 6, a schematic structural diagram of an apparatus 600 for controlling automatic flight based on a base station in this embodiment is provided, where the apparatus 600 may be used to implement the method for controlling automatic flight based on a base station, and the apparatus 600 includes: the flight information receiver 601, the base station combination selection processor 602, the flight control strategy distribution processor 603, and the flight controller 604.
The flight information receiver 601 is connected with the base station combination selection processor 602, receives flight destination information and flight starting point information of the aircraft, and acquires the existing base station information between the flight starting point and the flight destination; the signal coverage range of each existing base station is refined based on the communication signal strength required by the aircraft to obtain the control coverage range of the existing base station.
Optionally, the flight information receiver 601 may also be: receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; and acquiring a channel gain relation of signal transmission between the aircraft and the existing base stations, and accurately covering the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station.
A base station combination selection processor 602, connected to the flight information receiver 601 and the flight control strategy distribution processor 603, for performing arrangement according to each existing base station and its control coverage area to obtain a base station combination continuously covering the area between the flight starting point and the flight ending point; selecting the base station combination with the shortest total distance and the minimum number of required base stations as the shortest route base station combination from the base station combinations; and sending the shortest route base station combination to the terminal.
A flight control strategy distribution processor 603 connected with the base station combination selection processor 602 and the flight controller 604, receiving the waypoint coordinates and the waypoint sequence fed back by the terminal, selecting the shortest route between the adjacent waypoint coordinates as a waypoint track, and obtaining the flight track of the aircraft according to the waypoint sequence and the waypoint track; and the receiving terminal sequentially sends the flight control strategies of the corresponding waypoint sections to each existing base station and distributes the flight control strategies to each corresponding existing base station.
Optionally, the flight control strategy distribution processor 603 may further be: receiving flight control strategies and task strategies to be executed, which are sent by a terminal to each existing base station in sequence and correspond to the waypoint sections; and distributing the flight control strategy and the task execution strategy to the corresponding existing base stations.
When the aircraft flies to the coverage area of the existing base station, the existing base station sends a flight control strategy of the next stage and a task strategy to be executed to the aircraft; and controlling the next stage of flight of the aircraft based on the flight control strategy, and executing corresponding task operation according to the task strategy.
And the flight controller 604 is connected to the flight control strategy distribution processor 603, and controls the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight trajectory and the flight control strategy.
In other alternative embodiments, as shown in fig. 7, a schematic structural diagram of a second apparatus 700 for controlling automatic flight based on a base station in this implementation is different from that in fig. 6, further including: a base station supplemental processor 701; is connected with a base station combination selection processor 602, and generates and displays incomplete flight control information when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight ending point; and simultaneously, finding out the communication base station combination with the least newly added communication base stations according to the information of the existing base stations for displaying.
In other alternative embodiments, as shown in fig. 8, a schematic structural diagram of a third apparatus 800 for controlling automatic flight based on a base station in this implementation further includes: the cruising control processor 801 is connected with the flight control strategy distribution processor 603 and the flight controller 604, and is used for acquiring the cruising distance of the aircraft and comparing the cruising distance with the distance of the flight trajectory; and when the cruising distance is less than or equal to the distance of the flight track, generating alarm information of insufficient cruising and displaying the alarm information to the terminal.
And receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for endurance charging at a preset time when the aircraft flies to the endurance point.
In the embodiment, the method and the device for controlling automatic flight based on the base station based on the network can also automatically select the most suitable cellular network version for controlling flight according to environmental conditions based on the communication base station, so that unmanned flight control under various different environments is realized, and the applicability of flight control is improved.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (8)
1. A method for controlling automatic flight based on a base station is characterized by comprising the following steps:
receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; the method comprises the steps that the signal coverage range of each existing base station is refined based on the communication signal strength required by an aircraft, and the control coverage range of the existing base station is obtained;
arranging according to the existing base stations and the control coverage range thereof to obtain a base station combination continuously covering the area between the flight starting point and the flight terminal point; selecting the base station combination with the shortest total distance and the minimum required base station number as the shortest route base station combination; sending the shortest route base station combination to a terminal;
receiving waypoint coordinates and waypoint sequences fed back by the terminal, selecting the shortest route between the adjacent waypoint coordinates as a waypoint track, and obtaining the flight track of the aircraft according to the waypoint sequences and the waypoint track; receiving flight control strategies and task strategies to be executed, which are sent by the terminal to each existing base station in sequence and correspond to the waypoint sections; distributing the flight control strategy and the task execution strategy to the corresponding existing base stations;
when the aircraft flies to the coverage range of the existing base station, the existing base station sends a flight control strategy of the next stage and a task strategy to be executed to the aircraft;
the aircraft controls the next-stage flight based on the flight control strategy, and executes corresponding task operation according to the task strategy;
and controlling the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy.
2. The method for controlling automatic flight based on base station according to claim 1, wherein the step of refining the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station comprises:
and acquiring a channel gain relation of signal transmission between the aircraft and the existing base stations, and accurately covering the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station.
3. The method for controlling automatic flight based on base station according to claim 1, further comprising:
generating and displaying incomplete flight control information when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight terminal point; and simultaneously, finding out the communication base station combination with the least newly added communication base stations according to the information of the existing base stations for displaying.
4. The method for controlling automatic flight based on base station according to claim 1, further comprising:
acquiring the cruising distance of the aircraft, and comparing the cruising distance with the distance of the flight track; when the cruising distance is smaller than or equal to the distance of the flight track, generating alarm information of insufficient cruising and displaying the alarm information to the terminal;
and receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for endurance charging at a preset time when the aircraft flies to the endurance point.
5. An apparatus for controlling automatic flight based on a base station, comprising: the flight information receiver, the base station combination selection processor, the flight control strategy distribution processor and the flight controller;
the flight information receiver is connected with the base station combination selection processor, receives flight destination information and flight starting point information of the aircraft, and acquires the existing base station information between the flight starting point and the flight destination; the method comprises the steps that the signal coverage range of each existing base station is refined based on the communication signal strength required by an aircraft, and the control coverage range of the existing base station is obtained;
the base station combination selection processor is connected with the flight information receiver and the flight control strategy distribution processor, and is arranged according to the existing base stations and the control coverage range thereof to obtain a base station combination continuously covering the area between the flight starting point and the flight destination; selecting the base station combination with the shortest total distance and the minimum required base station number as the shortest route base station combination; sending the shortest route base station combination to a terminal;
the flight control strategy distribution processor is connected with the base station combination selection processor and the flight controller, receives waypoint coordinates and waypoint sequences fed back by the terminal, selects the shortest route between the adjacent waypoint coordinates as a waypoint track, and obtains the flight track of the aircraft according to the waypoint sequences and the waypoint track;
receiving flight control strategies and task strategies to be executed, which are sent by the terminal to each existing base station in sequence and correspond to the waypoint sections; distributing the flight control strategy and the task execution strategy to the corresponding existing base stations;
when the aircraft flies to the coverage range of the existing base station, the existing base station sends a flight control strategy of the next stage and a task strategy to be executed to the aircraft; the aircraft controls the next-stage flight based on the flight control strategy, and executes corresponding task operation according to the task strategy;
and the flight controller is connected with the flight control strategy distribution processor and controls the aircraft to automatically fly from the position of the flight starting point to the position of the flight ending point according to the flight track and the flight control strategy.
6. The base station-based automatic flight control device according to claim 5, wherein the flight information receiver is:
receiving flight destination information and flight starting point information of an aircraft, and acquiring existing base station information between a flight starting point and a flight destination; and acquiring a channel gain relation of signal transmission between the aircraft and the existing base stations, and accurately covering the signal coverage of each existing base station based on the communication signal strength required by the aircraft to obtain the control coverage of the existing base station.
7. The apparatus for controlling automatic flight based on base station according to claim 5, further comprising: a base station supplemental processor; the base station combination selection processor is connected with the base station combination selection processor, and when all the existing base station combinations in the flight range cannot continuously cover the area between the flight starting point and the flight terminal point, incomplete flight control information is generated and displayed; and simultaneously, finding out the communication base station combination with the least newly added communication base stations according to the information of the existing base stations for displaying.
8. The apparatus for controlling automatic flight based on base station according to claim 5, further comprising: a endurance control processor connected with the flight control strategy distribution processor and the flight controller,
acquiring the cruising distance of the aircraft, and comparing the cruising distance with the distance of the flight track; when the cruising distance is smaller than or equal to the distance of the flight track, generating alarm information of insufficient cruising and displaying the alarm information to the terminal;
and receiving a endurance control instruction of the terminal, analyzing and obtaining endurance point information of endurance charging when the flight is suspended, and controlling the aircraft to suspend for endurance charging at a preset time when the aircraft flies to the endurance point.
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