CN115562339A - Aircraft obstacle avoidance method, system and computer readable storage medium - Google Patents
Aircraft obstacle avoidance method, system and computer readable storage medium Download PDFInfo
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Abstract
The application discloses an aircraft obstacle avoidance method, an aircraft obstacle avoidance system and a computer readable storage medium, wherein the method comprises the following steps: acquiring current first flight parameters of each aircraft; acquiring current second flight parameters of a plurality of flyers from the ground detection station; determining whether each aircraft is a target aircraft with a risk of collision; if the target aircraft exists, acquiring flight obstacle avoidance parameters corresponding to the target aircraft, and sending the flight obstacle avoidance parameters to the target aircraft, wherein the target aircraft carries out flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by a sensing module of the target aircraft. This application can carry out the flight control of aircraft through the barrier information of the aircraft planning result with high in the clouds output and aircraft perception fuses, and then carries out accurate low latitude aviation to the aircraft of low latitude flight and keeps away the barrier, has improved the accuracy that the barrier was kept away to the low latitude.
Description
Technical Field
The present application relates to the field of aircraft technologies, and in particular, to an aircraft obstacle avoidance method, system, and computer readable storage medium.
Background
At present, a low-altitude aircraft is a new-emerging flight field at present, and compared with the traditional civil aviation field, the low-altitude aircraft has the characteristics of low flight height, high airline flexibility, short flight distance and the like. Due to the characteristics, the low-altitude flight needs to avoid numerous static obstacles such as high buildings, tall trees, telegraph poles and the like, and is a big difficulty compared with civil aviation. Meanwhile, low-altitude flight needs to prevent collision of aircrafts of the same type in the same region, and also needs to avoid dynamic targets such as unmanned planes, flying birds and the like.
The existing aviation obstacle avoidance technology is mainly used at high altitudes, only enables two airplanes when collision risks exist, has a single dynamic scene, and is mainly used between high-altitude airplanes and airplanes, and is difficult to avoid low-altitude dynamic obstacles such as complex static obstacles, flying birds, kites, unmanned aerial vehicles and the like in low altitudes in the existing aviation obstacle avoidance mode.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The application mainly aims to provide an aircraft obstacle avoidance method, an aircraft obstacle avoidance system and a computer readable storage medium, and aims to solve the technical problem that accurate low-altitude aviation obstacle avoidance cannot be carried out in the prior art.
In order to achieve the above object, the present application provides an aircraft obstacle avoidance method, which is applied to a flight management unit, and includes the following steps:
acquiring current first flight parameters of each aircraft;
acquiring current second flight parameters of a plurality of flyers from the ground detection station;
determining whether a target aircraft with a collision risk exists in the aircraft based on the first flight parameter and the second flight parameter;
if the target aircraft exists, acquiring a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and sending the flight obstacle avoidance parameter to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameter and the obstacle information currently acquired by a sensing module of the target aircraft.
Further, the step of determining whether a target aircraft at risk of collision exists among the respective aircraft based on the first flight parameter and the second flight parameter includes:
updating an aircraft operation diagram based on the first flight parameters and updating a flight object operation diagram based on the second flight parameters;
and determining whether the target aircraft with collision risk exists in each aircraft based on the aircraft operation diagram and the flight object operation diagram.
Further, the step of determining whether there is a target aircraft at risk of collision among the respective aircraft based on the aircraft operation diagram and the flight object operation diagram includes:
acquiring a cloud map, wherein the cloud map comprises height information and position information of ground obstacles;
and determining whether the target aircraft with the collision risk exists in each aircraft based on the cloud map, the aircraft operation diagram and the flyer operation diagram.
Further, the step of updating the aircraft operation map based on the first flight parameter comprises:
acquiring an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule comprises route information and flight time information of each aircraft;
determining a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameters and the aircraft schedule;
updating the aircraft operational map based on the first predicted flight path and the first flight parameter.
Further, the step of updating the flight profile based on the second flight parameter includes:
determining a second predicted flight path corresponding to each flyer within a first preset time length based on the second flight parameters;
updating the flight plan based on the second predicted flight path and the second flight parameters.
Further, the step of obtaining the flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter includes:
determining current location information of the target aircraft based on the first flight parameter;
and acquiring the flight obstacle avoidance parameters based on the current position information, the first flight parameters and the second flight parameters.
Further, the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter includes:
acquiring a first target flight parameter in a preset area corresponding to the current position information in the first flight parameters and a second target flight parameter in the preset area in the second flight parameters;
and taking the first target flight parameter and the second target flight parameter as the flight obstacle avoidance parameters.
In addition, in order to achieve the above object, the present application further provides an aircraft obstacle avoidance method, which is applied to a control module of a target aircraft, and includes the following steps:
receiving flight obstacle avoidance parameters sent by a flight management unit, wherein the flight obstacle avoidance parameters are obtained based on first flight parameters and second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of a plurality of flyers obtained from a ground detection station;
obtaining obstacle information of the surrounding environment through a perception module of the target aircraft;
and carrying out flight control based on the obstacle information and the flight obstacle avoidance parameters.
Further, the step of performing flight control based on the obstacle information and the flight obstacle avoidance parameter includes:
determining whether the target aircraft has obstacle avoidance risk currently or not based on the obstacle information and the flight obstacle avoidance parameters;
and if the obstacle avoidance risk exists, determining an obstacle avoidance path and executing the obstacle avoidance path.
Further, the step of determining whether there is currently an obstacle avoidance risk based on the obstacle information includes:
and determining whether an obstacle avoidance risk obstacle located on a route corresponding to the route information exists or not based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, wherein if the obstacle avoidance risk obstacle exists, the obstacle avoidance risk is determined to exist.
Further, the step of determining an obstacle avoidance path includes:
acquiring target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameters;
and determining the obstacle avoidance path based on the flight management planning obstacle avoidance requirement, the air route information and the target obstacle information.
Further, the perception module comprises at least one of a camera, a laser radar and a millimeter wave radar.
In addition, in order to realize above-mentioned purpose, this application still provides an barrier system is kept away to aircraft, barrier system is kept away to aircraft includes flight management unit and a plurality of aircraft, wherein:
the flight management unit is used for acquiring current first flight parameters of each aircraft and acquiring current second flight parameters of a plurality of flyers from the ground detection station;
the flight management unit is further configured to determine whether there is a target aircraft with a collision risk in each aircraft based on the first flight parameter and the second flight parameter;
the flight management unit is further configured to, if a target aircraft exists, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
the target aircraft is used for carrying out flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the sensing module of the target aircraft
In addition, in order to achieve the above object, the present application also provides a computer readable storage medium, where an aircraft obstacle avoidance program is stored, and when executed by a processor, the aircraft obstacle avoidance program implements the steps of the aircraft obstacle avoidance method.
The method comprises the steps of obtaining current first flight parameters of each aircraft; then, current second flight parameters of a plurality of flyers are obtained from the ground detection station; then determining whether each aircraft has a target aircraft with collision risk based on the first flight parameter and the second flight parameter; and finally, if a target aircraft exists, acquiring a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and sending the flight obstacle avoidance parameter to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameter and the obstacle information currently acquired by the sensing module of the target aircraft, and can avoid an obstacle of the aircraft needing obstacle avoidance through the flight parameter of the aircraft, the flight parameter of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing an aircraft planning result (the flight obstacle avoidance parameter) output by a flight management unit (cloud) and the obstacle information sensed by the aircraft, so that the low-altitude aircraft is accurately subjected to low-altitude aviation obstacle avoidance, and the accuracy of the low-altitude obstacle avoidance is improved.
Drawings
Fig. 1 is a schematic structural diagram of a flight obstacle avoidance apparatus in a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flowchart of a first embodiment of an obstacle avoidance method for an aircraft according to the present application;
fig. 3 is a schematic flow chart of a seventh embodiment of an aircraft obstacle avoidance method according to the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a flight obstacle avoidance device in a hardware operating environment according to an embodiment of the present application.
The terminal can be an aircraft obstacle avoidance system, and can also be a flight management unit or a low-altitude aircraft such as an aircraft.
As shown in fig. 1, the flight obstacle avoidance apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Optionally, the flight obstacle avoidance apparatus may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the optical sensor may include a laser radar, a millimeter wave radar, or the like; certainly, other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor and the like can be configured on the flight obstacle avoidance device, and are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of a flight obstacle avoidance apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an aircraft obstacle avoidance program.
In the flight obstacle avoidance apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be used to invoke an aircraft obstacle avoidance program stored in memory 1005.
In this embodiment, the flight obstacle avoidance device includes: the system comprises a memory 1005, a processor 1001 and an aircraft obstacle avoidance program stored on the memory 1005 and operable on the processor 1001, wherein when the processor 1001 calls the aircraft obstacle avoidance program stored in the memory 1005, the steps of the aircraft obstacle avoidance method in each of the following embodiments are performed.
The application also provides an aircraft obstacle avoidance method, and with reference to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the aircraft obstacle avoidance method.
The aircraft obstacle avoidance method is applied to a flight management unit of an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprises a flight management unit and a plurality of aircraft, and further the aircraft obstacle avoidance system can also comprise a ground detection station, wherein the ground detection station can use ground station radar, spectrum radar and other modes to monitor flying objects in flight motion in a region to obtain position, speed and orientation information of the flying objects, the flying objects can be low-altitude dynamic obstacles such as birds, kites, unmanned aerial vehicles and the like, the flight management unit is a scheduling system of the aircraft, the aircraft applies for flight routes to the flight management unit, the flight management unit approves a flight plan, and in the operation process, the flight management unit can continuously monitor and manage states of all the aircraft, wherein the flight management unit can be arranged in the cloud, namely the flight management unit is a cloud flight management unit. The aircraft is the aircraft that carries out communication connection with the flight management unit in high in the clouds at present, and the flyer is not established communication connection with the flight management unit in high in the clouds or can not establish communication connection with the flight management unit in high in the clouds at present, but the flight parameter of flyer can be obtained through ground detecting station.
The obstacle avoidance method of the aircraft comprises the following steps:
step S101, acquiring current first flight parameters of each aircraft;
the method comprises the steps that a flight management unit obtains a current first flight parameter of each aircraft, wherein the first flight parameter comprises current first position information, a first speed, a first acceleration (including a yaw angular velocity), a first direction (a current flight direction) and a first predicted flight path corresponding to the aircraft within a first preset time length, each aircraft reports the corresponding first flight parameter to the flight management unit in real time, the first preset time length can be reasonably set, for example, the first preset time length is 10 seconds, 30 seconds, 1 minute, 5 minutes and the like, and the flight management unit can obtain the first flight parameter in real time or at regular time.
Step S102, acquiring current second flight parameters of a plurality of flyers from a ground detection station;
the flight management unit obtains current second flight parameters of a plurality of flyers from the ground detection station, specifically, the flyers include one or more of low-altitude dynamic obstacles such as kites, unmanned planes, helicopters and the like, and may further include dynamically flying animals such as flying birds and the like, the ground detection station is provided with a plurality of ground detection stations, the ground detection station detects the second flight parameters of the flyers in the corresponding area in real time, and reports the second flight parameters to the flight management unit, and the second flight parameters at least include current second position information, second speed, second acceleration (including yaw angular velocity), second orientation and the like of each flyer.
Step S103, determining whether a target aircraft with collision risk exists in each aircraft based on the first flight parameters and the second flight parameters;
after the first flight parameter and the second flight parameter are obtained, the flight management unit determines whether a target aircraft with a collision risk exists in each aircraft based on the first flight parameter and the second flight parameter, namely determines whether the collision risk exists between each aircraft and each flyer.
Specifically, the flight management unit may determine, through each first flight parameter, a first predicted flight path corresponding to each aircraft, determine, through a second flight parameter, a second predicted flight path corresponding to each aircraft, determine whether an intersection area exists at each time between each first predicted flight path and each second predicted flight path, and if an intersection area exists, the flight management unit determines that a target aircraft exists. Or the flight management unit updates the aircraft operation diagram through the first flight parameters, updates the flight object operation diagram based on the second flight parameters, and determines whether the target aircraft with collision risk exists in each aircraft through the aircraft operation diagram and the flight object operation diagram.
And step S104, if a target aircraft exists, acquiring a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and sending the flight obstacle avoidance parameter to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameter and the obstacle information currently acquired by a sensing module of the target aircraft.
If the target aircraft exists, the flight management unit acquires a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, specifically, the flight management unit acquires current position information of the target aircraft in the first flight parameter, acquires the flight obstacle avoidance parameter in the first flight parameter and the second flight parameter according to the current position information, and then sends the flight obstacle avoidance parameter to the target aircraft.
The method comprises the steps that when a flight obstacle avoidance parameter is received, a target aircraft obtains obstacle information of a surrounding environment through a sensing module of the target aircraft, and flight control is carried out according to the flight obstacle avoidance parameter and the obstacle information, specifically, a control module of the target aircraft obtains route information, obstacle information and flight obstacle avoidance parameter of the target aircraft, whether a target obstacle located on a route corresponding to the route information exists is determined, if the target obstacle exists, the control module obtains target obstacle information corresponding to the target obstacle based on the obstacle information and the flight obstacle avoidance parameter, determines an obstacle avoidance path based on a flight pipe planning obstacle avoidance requirement, the route information and the target obstacle information, and then executes the obstacle avoidance path to carry out flight control on the target aircraft, so that the target aircraft flies according to the obstacle avoidance path.
Obtaining current first flight parameters of each aircraft; then, current second flight parameters of a plurality of flyers are obtained from the ground detection station; then determining whether a target aircraft with collision risk exists in each aircraft based on the first flight parameters and the second flight parameters; and finally, if the target aircraft exists, acquiring a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and sending the flight obstacle avoidance parameter to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameter and obstacle information currently acquired by a sensing module of the target aircraft, and can avoid the obstacle of the aircraft needing obstacle avoidance through the flight parameter of the aircraft, the flight parameter of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing an aircraft planning result (flight obstacle avoidance parameter) output by a flight management unit (cloud) and the obstacle information sensed by the aircraft, so that the low-altitude aviation obstacle avoidance is performed on the low-altitude aircraft, and the accuracy of the low-altitude obstacle avoidance is improved.
Based on the first embodiment, a second embodiment of the aircraft obstacle avoidance method of the present application is provided, which includes all the contents of the first embodiment, where step S103 includes:
step S201, updating an aircraft running chart based on the first flight parameters, and updating a flyer running chart based on the second flight parameters;
step S202, determining whether a target aircraft with collision risk exists in each aircraft based on the aircraft operation diagram and the flight object operation diagram.
The method comprises the steps that a first flight parameter and a second flight parameter are obtained, a flight management unit updates an aircraft operation diagram based on the first flight parameter and updates a flight object operation diagram based on the second flight parameter, specifically, the flight management unit determines a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameter and updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter, namely, first position information, a first speed, a first acceleration, a first orientation and a first predicted flight path of each aircraft are updated in the aircraft operation diagram; meanwhile, the flight management unit determines a second predicted flight path corresponding to each flyer within the first preset time period based on the second flight parameter, and updates the flyer operation diagram based on the second predicted flight path and the second flight parameter, namely, updates the second position information, the second speed, the second acceleration, the second orientation and the second predicted flight path of each flyer in the flyer operation diagram.
Then, the flight management unit determines whether a target aircraft with a collision risk exists in each aircraft based on the aircraft operation diagram and the flight object operation diagram, specifically, the flight management unit determines whether a junction area exists between each first predicted flight path and each second predicted flight path at each time and whether a junction area exists between each first predicted flight path and each second predicted flight path at each time based on the updated aircraft operation diagram and the updated flight object operation diagram, and if any junction area exists, the flight management unit determines that the target aircraft exists.
Updating an aircraft operating map based on the first flight parameter and updating a flyer operating map based on the second flight parameter; and then, whether the target aircraft with collision risk exists in each aircraft is determined based on the aircraft operation diagram and the flyer operation diagram, the target aircraft can be accurately determined according to the updated aircraft operation diagram and the updated flyer operation diagram, low-altitude aviation obstacle avoidance of the aircraft flying at low altitude is further accurately realized, and the accuracy of low-altitude obstacle avoidance is further improved.
Based on the second embodiment, a third embodiment of the aircraft obstacle avoidance method of the present application is provided, which includes all the contents of the second embodiment, where step S202 includes:
step S301, acquiring a cloud map, wherein the cloud map comprises height information and position information of ground obstacles;
step S302, determining whether each aircraft has a target aircraft with collision risk based on the cloud map, the aircraft operation diagram and the flight object operation diagram.
When the aircraft operation diagram and the flying object operation diagram are obtained, the flight management unit also obtains a cloud map, wherein the cloud map comprises height information and position information of the ground obstacle.
Then, the flight management unit determines whether a target aircraft with a collision risk exists in each aircraft based on the cloud map, the aircraft operation map and the aircraft operation map, specifically, the flight management unit determines whether a junction area exists between each first predicted flight path and whether a junction area exists between each first predicted flight path and each second predicted flight path at each time based on the updated aircraft operation map and the updated aircraft operation map, determines whether a collision risk exists between each aircraft and a ground obstacle based on the updated aircraft operation map, the updated aircraft operation map and the cloud map, that is, whether a junction area exists between each first predicted flight path of each aircraft and the ground obstacle, and if any junction area exists, the flight management unit determines that the target aircraft exists.
The method comprises the steps of obtaining a cloud map, wherein the cloud map comprises height information and position information of ground obstacles; and then, whether the target aircraft with collision risk exists in each aircraft is determined based on the cloud map, the aircraft operation diagram and the flyer operation diagram, the target aircraft can be accurately determined according to the cloud map, the updated aircraft operation diagram and the updated flyer operation diagram, the low-altitude aviation obstacle avoidance of the aircraft flying at low altitude is accurately realized, and the accuracy of the low-altitude obstacle avoidance is further improved.
Based on the second embodiment, a fourth embodiment of the aircraft obstacle avoidance method of the present application is provided, which includes all the contents of the second embodiment, where step S201 includes:
step S401, acquiring an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule comprises route information and flight time information of each aircraft;
step S402, determining a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameters and the aircraft schedule;
step S403, updating the aircraft operation diagram based on the first predicted flight path and the first flight parameter.
When the first flight parameter is obtained, the flight management unit obtains an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule comprises route information and flight time information of each aircraft. The flight management unit determines a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameters and the aircraft schedule; the first predicted flight path corresponding to each aircraft is predicted according to the first position information, the first speed, the first acceleration, the first direction and the aircraft schedule in the first flight parameters.
Then, the flight management unit updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter, and specifically, the flight management unit may update the first position information, the first speed, the first acceleration, the first orientation, and the first predicted flight path of each aircraft on the aircraft operation diagram.
Acquiring an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule comprises course information and flight time information of each aircraft; then, determining a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameters and the aircraft schedule; and then updating the aircraft operation diagram based on the first predicted flight path and the first flight parameter, and accurately updating the aircraft operation diagram in real time according to the first flight parameter so as to accurately determine a target aircraft according to the updated aircraft operation diagram, thereby accurately realizing low-altitude aviation obstacle avoidance of the aircraft flying at low altitude, and further improving the accuracy of low-altitude obstacle avoidance.
Based on the second embodiment, a fifth embodiment of the aircraft obstacle avoidance method according to the present application is provided, which includes all contents of the second embodiment, where step S201 includes:
step S501, determining a second predicted flight path corresponding to each flyer within a first preset time length based on the second flight parameters;
step S502, updating the flight object operation diagram based on the second predicted flight path and the second flight parameters.
When the second flight parameter is acquired, the flight management unit determines a second predicted flight path corresponding to each flyer within the first preset duration based on the second flight parameter, and predicts the second predicted flight path corresponding to each flyer according to second position information, a second speed, a second acceleration and a second orientation in the second flight parameter.
Then, the flight management unit updates the flight object running diagram based on the second predicted flight path and the second flight parameters, namely, updates the second position information, the second speed, the second acceleration, the second direction and the second predicted flight path of each aircraft in the flight object running diagram.
Determining a second predicted flight path corresponding to each flyer within a first preset time length based on the second flight parameters; and then updating the flight object running diagram based on the second predicted flight path and the second flight parameters, and accurately updating the flight object running diagram in real time according to the second flight parameters so as to accurately determine the target aircraft according to the updated flight object running diagram, thereby accurately realizing low-altitude aviation obstacle avoidance of the aircraft flying at low altitude, and further improving the accuracy of low-altitude obstacle avoidance.
Based on the above embodiments, a sixth embodiment of the aircraft obstacle avoidance method of the present application is provided, where step S104 includes:
step S601, determining the current position information of the target aircraft based on the first flight parameters;
step S602, obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter.
When the target aircraft exists in the aircrafts, the flight management unit determines the current position information of the target aircraft based on the first flight parameters, namely, the current position information of the target aircraft is obtained from the first flight parameters.
Next, obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter, specifically, in an embodiment, the step S602 includes:
step S6021, obtaining a first target flight parameter in the first flight parameter, which is located in a preset area corresponding to the current position information, and a second target flight parameter in the second flight parameter, which is located in the preset area;
step S6022, taking the first target flight parameter and the second target flight parameter as the flight obstacle avoidance parameters.
When the current position information of the target aircraft is acquired, the flight management unit determines that the current position information corresponds to a preset area, and the preset area may be determined according to the current first speed, the first orientation and the current position information of the target aircraft, for example, the radius of the preset area is determined according to the current first speed of the target aircraft, and the circle center of the preset area is determined based on the first orientation and the current position information, where the circle center of the preset area may be at a position ahead of the current orientation, so as to determine the preset area. Then, a first target flight parameter in the first flight parameter, which is located in a preset area and does not include the flight parameter of the target aircraft, is obtained, namely the first target flight parameter in the preset area and a second target flight parameter in the second flight parameter, which is located in the preset area, are obtained from other flight parameters of the first flight parameter except the flight parameter of the target aircraft, and then the first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters, so that the flight obstacle avoidance parameters of the target aircraft are accurately obtained, and the accuracy of low-altitude obstacle avoidance is further improved.
The current position information of the target aircraft is determined based on the first flight parameter, and then the flight obstacle avoidance parameter is obtained based on the current position information, the first flight parameter and the second flight parameter, so that the flight obstacle avoidance parameter of the target aircraft can be accurately obtained, and the accuracy of low-altitude obstacle avoidance is further improved.
The application also provides an aircraft obstacle avoidance method, and referring to fig. 3, fig. 3 is a schematic flow chart of a seventh embodiment of the aircraft obstacle avoidance method.
The aircraft obstacle avoidance method is applied to a control module of a target aircraft in an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprises a flight management unit and a plurality of aircraft, and further the aircraft obstacle avoidance system can also comprise a ground detection station, wherein the ground detection station can monitor the flying object in flying motion in a region by using ground station radars, frequency spectrum radars and other modes to obtain the position, speed and orientation information of the flying object, the flying object can be a low-altitude dynamic obstacle such as a bird, a kite, an unmanned aerial vehicle and the like, the flight management unit is a scheduling system of the aircraft, the aircraft applies for a flight route to the flight management unit, the flight management unit approves a flight plan, the flight management unit can continuously monitor and manage all the states of the aircraft in the operation process, the flight management unit can be arranged in the cloud, namely the flight management unit is the cloud flight management unit.
The obstacle avoidance method of the aircraft comprises the following steps:
step S701, receiving flight obstacle avoidance parameters sent by a flight management unit, wherein the flight obstacle avoidance parameters are obtained by the flight management unit based on first current flight parameters of each aircraft and second current flight parameters of a plurality of flying objects acquired from a ground detection station when the target aircraft is determined to have collision risks;
step S702, obtaining obstacle information of the surrounding environment through a perception module of the target aircraft;
and S703, performing flight control based on the obstacle information and the flight obstacle avoidance parameters.
Each aircraft flies, and a flight line which needs to fly at this time is requested, namely, a flight request comprising line information is sent to a flight management unit, the flight management unit records the line information and returns confirmation information to the aircraft, and then the aircraft flies based on the line information, wherein the flight management unit can also determine whether the line information is safe, for example, whether the line information corresponding to the flight request is safe is determined according to the stored line information of all the aircraft in the flying state and the line information corresponding to the flight request, and when the line information corresponding to the flight request is safe, the confirmation information is fed back.
The method includes that a control module of a target aircraft receives flight obstacle avoidance parameters sent by a flight management unit, wherein the flight obstacle avoidance parameters are obtained by the flight management unit based on first current flight parameters of the aircraft and second current flight parameters of multiple flyers obtained from a ground detection station when the flight management unit determines that the target aircraft has a collision risk, the process of determining that the target aircraft has the collision risk is similar to the process of determining whether the target aircraft has the collision risk in the above embodiment, and the process of obtaining the flight obstacle avoidance parameters is similar to the process of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft in the above embodiment, and details are not repeated here.
Then, the control module obtains obstacle information of the surrounding environment through the sensing module of the target aircraft, the obstacle information includes information of dynamic obstacles and information of static obstacles, and specifically obtains the obstacle information of the surrounding environment in real time through the sensing module of the aircraft, the sensing module may include at least sensors such as a camera, a laser radar and a millimeter wave radar, and the obstacle information includes position information, height information, size information and the like of the obstacles.
And then, the control module performs flight control on the basis of the obstacle information and the flight obstacle avoidance parameters, the control module of the target aircraft determines whether a target obstacle located on a flight line corresponding to the flight line information exists or not according to the flight line information, the obstacle information and the flight obstacle avoidance parameters of the target aircraft, if the target obstacle exists, the control module acquires the target obstacle information corresponding to the target obstacle on the basis of the obstacle information and the flight obstacle avoidance parameters, determines an obstacle avoidance path on the basis of a flight management planning obstacle avoidance requirement, the flight line information and the target obstacle information, and then executes the obstacle avoidance path to perform flight control on the target aircraft so that the target aircraft flies according to the obstacle avoidance path.
Receiving flight obstacle avoidance parameters sent by a flight management unit, wherein the flight obstacle avoidance parameters are obtained based on first flight parameters and second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of a plurality of flyers obtained from a ground detection station; then acquiring obstacle information of the surrounding environment through a perception module of the target aircraft; and then, carrying out flight control based on the obstacle information and the flight obstacle avoidance parameters, avoiding obstacles of the aircraft needing to be avoided through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft, and carrying out flight control on the aircraft by fusing an aircraft planning result (flight obstacle avoidance parameters) output by a flight management unit (cloud) and the obstacle information sensed by the aircraft, so as to accurately carry out low-altitude aviation obstacle avoidance on the aircraft flying in low altitude, thereby improving the accuracy of low-altitude obstacle avoidance.
Based on the seventh embodiment, an eighth embodiment of the aircraft obstacle avoidance method of the present application is provided, which includes all contents of the seventh embodiment, where step S703 includes:
step S801, determining whether the target aircraft has obstacle avoidance risk currently or not based on the obstacle information and the flight obstacle avoidance parameters;
and S802, if the obstacle avoidance risk exists, determining an obstacle avoidance path and executing the obstacle avoidance path.
When obtaining the obstacle information, the control module determines whether the target aircraft has an obstacle avoidance risk currently based on the obstacle information and the flight obstacle avoidance parameter, specifically, step S801 includes: and determining whether a target obstacle located on a route corresponding to the route information exists or not based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, wherein if the target obstacle exists, determining that an obstacle avoidance risk exists.
When the obstacle information is acquired, obtaining route information of a target aircraft, determining whether a target obstacle located on a route corresponding to the route information exists or not according to the route information, flight obstacle avoidance parameters and the obstacle information, namely determining whether an obstacle avoidance risk obstacle exists on the route corresponding to the route information or not, and determining that an obstacle avoidance risk exists if the obstacle avoidance risk obstacle exists, wherein the obstacle avoidance risk obstacle can be an aircraft corresponding to the flight obstacle avoidance parameters or an obstacle corresponding to the obstacle information.
And then, if the obstacle avoidance risk exists, controlling to determine an obstacle avoidance path, and executing the obstacle avoidance path, namely controlling the target aircraft to fly according to the obstacle avoidance path so as to avoid or bypass the obstacle avoidance risk obstacle, and further realizing low-altitude obstacle avoidance of the target aircraft.
Specifically, in one embodiment, step S802 includes:
step S8021, acquiring target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameters;
step S8021, determining the obstacle avoidance path based on the flight management planning obstacle avoidance requirement, the flight path information and the target obstacle information.
When determining that the obstacle avoidance risk exists, the control module acquires target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameter, wherein the target obstacle information can be the orientation and the speed of an aircraft if the obstacle avoidance risk obstacle is the aircraft corresponding to the flight obstacle avoidance parameter, and the target obstacle information can be information such as the position, the height and the size of the obstacle if the obstacle avoidance risk obstacle is the obstacle corresponding to the obstacle information; and then, determining an obstacle avoidance path based on the flight control planning obstacle avoidance requirement, the route information and the target obstacle information, specifically, determining an obstacle avoidance path meeting the flight control planning obstacle avoidance requirement according to the target obstacle information and the size information of the target aircraft, and further accurately obtaining the obstacle avoidance path.
Determining whether the target aircraft has obstacle avoidance risk currently or not by means of the flight obstacle avoidance parameters based on the obstacle information; and then if the obstacle avoidance risk exists, determining an obstacle avoidance path, executing the obstacle avoidance path, and accurately determining the obstacle avoidance path according to the flight tube planning obstacle avoidance requirement and the target obstacle information, thereby further improving the accuracy of low-altitude obstacle avoidance.
In addition, this application embodiment still provides an obstacle avoidance system of aircraft, obstacle avoidance system of aircraft includes flight management unit and a plurality of aircraft, wherein:
the flight management unit is used for acquiring current first flight parameters of each aircraft and acquiring current second flight parameters of a plurality of flyers from the ground detection station;
the flight management unit is further configured to determine whether each aircraft has a target aircraft at a collision risk based on the first flight parameter and the second flight parameter;
the flight management unit is further configured to, if a target aircraft exists, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
and the target aircraft is used for carrying out flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the sensing module of the target aircraft.
The method executed by each program unit may refer to each embodiment of the aircraft obstacle avoidance method of the present application, and is not described herein again.
In addition, the present application also provides a computer readable storage medium, on which an aircraft obstacle avoidance program is stored, and when being executed by a processor, the aircraft obstacle avoidance program implements the steps of the aircraft obstacle avoidance method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all the equivalent structures or equivalent processes that can be directly or indirectly applied to other related technical fields by using the contents of the specification and the drawings of the present application are also included in the scope of the present application.
Claims (14)
1. An aircraft obstacle avoidance method is characterized by being applied to a flight management unit and comprising the following steps:
acquiring current first flight parameters of each aircraft;
acquiring current second flight parameters of a plurality of flyers from the ground detection station;
determining whether a target aircraft with a collision risk exists in each aircraft based on the first flight parameters and the second flight parameters;
if the target aircraft exists, acquiring a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and sending the flight obstacle avoidance parameter to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameter and the obstacle information currently acquired by a sensing module of the target aircraft.
2. An aircraft obstacle avoidance method according to claim 1, wherein the step of determining whether there is a target aircraft at risk of collision among the respective aircraft based on the first flight parameter and the second flight parameter comprises:
updating an aircraft operation diagram based on the first flight parameter and updating a flight object operation diagram based on the second flight parameter;
and determining whether the target aircraft with collision risk exists in each aircraft based on the aircraft operation diagram and the flight object operation diagram.
3. The aircraft obstacle avoidance method of claim 2, wherein the step of determining whether there is a target aircraft at risk of collision among the respective aircraft based on the aircraft operational diagram and the flying object operational diagram comprises:
acquiring a cloud map, wherein the cloud map comprises height information and position information of ground obstacles;
and determining whether each aircraft has a target aircraft with collision risk based on the cloud map, the aircraft operation diagram and the flyer operation diagram.
4. The aircraft obstacle avoidance method of claim 2, wherein the step of updating the aircraft operational map based on the first flight parameter comprises:
acquiring an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule comprises route information and flight time information of each aircraft;
determining a first predicted flight path corresponding to each aircraft within a first preset time length based on the first flight parameters and the aircraft schedule;
updating the aircraft operational map based on the first predicted flight path and the first flight parameter.
5. The aircraft obstacle avoidance method of claim 2, wherein the step of updating the flight plan based on the second flight parameter comprises:
determining a second predicted flight path corresponding to each flyer within a first preset time length based on the second flight parameters;
updating the flight plan based on the second predicted flight path and the second flight parameters.
6. The aircraft obstacle avoidance method according to any one of claims 1 to 5, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameter and the second flight parameter includes:
determining current location information of the target aircraft based on the first flight parameters;
and acquiring the flight obstacle avoidance parameters based on the current position information, the first flight parameters and the second flight parameters.
7. The aircraft obstacle avoidance method of claim 6, wherein the step of obtaining the flight obstacle avoidance parameters based on the current location information, the first flight parameters, and the second flight parameters comprises:
acquiring a first target flight parameter in the first flight parameter, which is located in a preset area corresponding to the current position information, and a second target flight parameter in the second flight parameter, which is located in the preset area;
and taking the first target flight parameter and the second target flight parameter as the flight obstacle avoidance parameters.
8. An obstacle avoidance method of an aircraft is characterized in that a control module applied to a target aircraft comprises the following steps:
receiving flight obstacle avoidance parameters sent by a flight management unit, wherein the flight obstacle avoidance parameters are obtained based on first flight parameters and second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of a plurality of flyers obtained from a ground detection station;
obtaining obstacle information of the surrounding environment through a perception module of the target aircraft;
and carrying out flight control based on the obstacle information and the flight obstacle avoidance parameters.
9. The aircraft obstacle avoidance method of claim 8, wherein the step of flight control based on the obstacle information and the flight obstacle avoidance parameters comprises:
determining whether the target aircraft has obstacle avoidance risk currently or not based on the obstacle information and the flight obstacle avoidance parameters;
and if the obstacle avoidance risk exists, determining an obstacle avoidance path and executing the obstacle avoidance path.
10. An aircraft obstacle avoidance method according to claim 9, wherein the step of determining whether there is currently an obstacle avoidance risk based on the obstacle information comprises:
and determining whether an obstacle avoidance risk obstacle located on a flight path corresponding to the flight path information exists or not based on the flight path information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, wherein if the obstacle avoidance risk obstacle exists, the obstacle avoidance risk is determined to exist.
11. An aircraft obstacle avoidance method according to claim 10, wherein the step of determining an obstacle avoidance path comprises:
acquiring target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameters;
and determining the obstacle avoidance path based on the flight management planning obstacle avoidance requirement, the air route information and the target obstacle information.
12. An aircraft obstacle avoidance method according to any one of claims 8 to 11, wherein the sensing module comprises at least one of a camera, a lidar and a millimeter wave radar.
13. An aircraft obstacle avoidance system, comprising a flight management unit and a plurality of aircraft, wherein:
the flight management unit is used for acquiring current first flight parameters of each aircraft and acquiring current second flight parameters of a plurality of flyers from the ground detection station;
the flight management unit is further configured to determine whether there is a target aircraft with a collision risk in each aircraft based on the first flight parameter and the second flight parameter;
the flight management unit is further configured to, if a target aircraft exists, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
and the target aircraft is used for carrying out flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the sensing module of the target aircraft.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an aircraft obstacle avoidance program, which when executed by a processor implements the steps of the aircraft obstacle avoidance method of any of claims 1 to 7 or 8 to 12.
Priority Applications (2)
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| CN202211271105.1A CN115562339A (en) | 2022-10-17 | 2022-10-17 | Aircraft obstacle avoidance method, system and computer readable storage medium |
| PCT/CN2022/133004 WO2024082369A1 (en) | 2022-10-17 | 2022-11-18 | Aircraft obstacle avoidance method and system and computer readable storage medium |
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| CN202211271105.1A CN115562339A (en) | 2022-10-17 | 2022-10-17 | Aircraft obstacle avoidance method, system and computer readable storage medium |
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