CN116088568A

CN116088568A - Accompanying control method and device of unmanned aerial vehicle, manned aircraft and storage medium

Info

Publication number: CN116088568A
Application number: CN202211665887.7A
Authority: CN
Inventors: 臧平成; 王冬妮
Original assignee: Guangdong Huitian Aerospace Technology Co Ltd
Current assignee: Guangdong Huitian Aerospace Technology Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-09

Abstract

The embodiment of the invention provides a method and a device for controlling accompanying flight of an unmanned aerial vehicle, a manned aircraft and a storage medium, wherein the method comprises the following steps: responding to a position locking instruction of at least one unmanned aerial vehicle, and determining a flight accompanying position of the at least one unmanned aerial vehicle; receiving a flight control signal aiming at the manned aircraft, and converting the flight control signal to obtain a control signal aiming at the unmanned aerial vehicle; and responding to the flight control signals to perform corresponding flight control on the manned aircraft, and responding to the control signals to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle positioned at each flight position performs flight control on the manned aircraft. Based on the conversion between the flight control signal of the manned aircraft and the control signal of the unmanned aerial vehicle, the unmanned aerial vehicle and the unmanned aerial vehicle have corresponding instantaneous advancing speeds, corresponding instantaneous translation speeds and corresponding instantaneous vertical speeds, so that the unmanned aerial vehicle can keep synchronous relative static with the unmanned aerial vehicle, and the accompanying control of the unmanned aerial vehicle on the unmanned aerial vehicle is realized.

Description

Accompanying control method and device of unmanned aerial vehicle, manned aircraft and storage medium

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method of an unmanned aerial vehicle, a flight control device of the unmanned aerial vehicle, a corresponding manned aircraft and a corresponding computer-readable storage medium.

Background

Shooting of a movable object, such as a traveling vehicle, a flying manned vehicle, a walking person, a moved object, etc., can be generally achieved by controlling an unmanned aerial vehicle, since the unmanned aerial vehicle camera, after recognizing the subject, will keep the position of the subject in the shooting screen relatively fixed, it mainly appears that the subject becomes smaller in the shooting screen as the subject is selected to move, at this time, the unmanned aerial vehicle can accelerate to follow, so that the subject becomes larger in the shooting screen, and then decelerate again, so as to keep the size of the moving subject in the shooting screen.

That is, in the related art in which the unmanned aerial vehicle photographs the movable body, the unmanned aerial vehicle is logic of the post-determination, and the movement needs to be made immediately after the movement is made based on the photographed movable body, so that the unmanned aerial vehicle performs the post-determination along with the speed increase of the photographed object, and only the follow-up photographing cannot be realized.

Disclosure of Invention

In view of the above problems, embodiments of the present invention are presented to provide a method of controlling a companion flight of an unmanned aerial vehicle, a companion flight control device of an unmanned aerial vehicle, a corresponding manned aircraft, and a corresponding computer readable storage medium that overcome or at least partially solve the above problems.

The embodiment of the invention discloses a flight control method of an unmanned aerial vehicle, which comprises the following steps:

responding to a position locking instruction of at least one unmanned aerial vehicle, and determining a flight accompanying position of the at least one unmanned aerial vehicle;

receiving a flight control signal aiming at a manned aircraft, and converting the flight control signal to obtain a control signal aiming at the unmanned aerial vehicle;

and responding to the flight control signals to perform corresponding flight control on the manned aircraft, and responding to the control signals to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle positioned at each flight accompanying position performs corresponding flight control on the manned aircraft.

Optionally, the determining, in response to the position locking instruction of the at least one unmanned aerial vehicle, a flight accompanying position of the at least one unmanned aerial vehicle includes:

responding to a position locking instruction of at least one unmanned aerial vehicle, and displaying at least one standby point position on an airborne terminal of the manned aircraft; the standby point is used for representing a flight point where the unmanned aerial vehicle carries out flight on the manned aircraft;

And responding to a confirmation instruction of the target flying spot position, and determining the flying position of at least one unmanned aerial vehicle according to the target flying spot position.

Optionally, the accompanying position is determined based on coordinate information of a target accompanying point position; the determining the flight accompanying position of at least one unmanned aerial vehicle according to the target flight accompanying point position comprises the following steps:

and carrying out positioning conversion on the target satellite flying spot position to generate coordinate information corresponding to the target satellite flying spot.

Optionally, the coordinate information includes longitude information and latitude information, the performing positioning conversion on the target satellite spot bit to generate coordinate information corresponding to the target satellite spot includes:

acquiring the axis and axis positioning coordinates of the manned aircraft, and determining the relative distance between the target flying spot position and the axis;

and determining longitude information and latitude information corresponding to the target flying spot according to the relative distance and the axis positioning coordinates of the manned aircraft.

Optionally, the on-board terminal of the manned aircraft is based on a plane display standby point, and the relative distance comprises a relative transverse distance and a relative longitudinal distance; the determining the relative distance between the target satellite spot position and the axle center comprises the following steps:

Acquiring plane information of the target companion flying spot position and the axis of the manned aircraft; the plane information includes a relative linear distance;

acquiring an included angle between the target satellite spot position and a north-south vertical axis relative to the axis;

based on a collude formula, calculating to obtain a relative transverse distance and a relative longitudinal distance between the target companion flying spot position and the axis by adopting the relative linear distance and the included angle between the relative north-south vertical axes;

the axis positioning coordinates of the manned aircraft comprise axis positioning longitude information and axis positioning latitude information; the determining longitude information and latitude information corresponding to the target satellite flying point according to the relative distance and the axis positioning coordinates of the manned aircraft comprises:

generating longitude information corresponding to the target satellite point by adopting the axis positioning longitude information and the relative transverse distance;

and generating latitude information corresponding to the target satellite point by adopting the axis positioning latitude information and the relative longitudinal distance.

Optionally, the coordinate information includes altitude information, and the performing positioning conversion on the target satellite spot bit to generate coordinate information corresponding to the target satellite spot includes:

Responding to a confirmation instruction of a target standby altitude interval of the unmanned aerial vehicle, and acquiring the current flight altitude of the manned aircraft; the standby height sections of the unmanned aerial vehicle comprise set heights for all the standby height sections, and the set heights are relatively set according to the heights of the manned aerial vehicles;

and acquiring a target set height corresponding to the target standby height interval, and generating height information corresponding to the target flying spot by adopting the current flying height of the manned aircraft and the target set height.

Optionally, the flight control signal at least includes a flight control pitch signal, a roll signal, and a throttle signal, where the flight control pitch signal is used to indicate a preset forward speed in a first direction, the roll signal is used to indicate a preset instantaneous translational speed in a second direction, and the throttle signal is used to indicate a preset instantaneous vertical speed in a third direction;

the converting the flight control signal to obtain a control signal for the unmanned aerial vehicle comprises the following steps:

based on a flight control pitching signal, a rolling signal and an accelerator signal in the flight control signals, respectively determining a preset advancing speed corresponding to a first direction, a preset instantaneous translation speed corresponding to a second direction and a preset instantaneous vertical speed corresponding to a third direction of the manned aircraft;

And respectively generating a flight control pitching signal, a rolling signal and an accelerator signal for the unmanned aerial vehicle by adopting the preset advancing speed corresponding to the first direction, the preset instantaneous translation speed corresponding to the second direction and the preset instantaneous vertical speed corresponding to the third direction of the manned aerial vehicle.

The embodiment of the invention also discloses a flight control device of the unmanned aerial vehicle, which comprises:

the accompanying position determining module is used for determining the accompanying position of at least one unmanned aerial vehicle in response to a position locking instruction of the at least one unmanned aerial vehicle;

the control signal conversion module is used for receiving the flight control signal aiming at the manned aircraft and converting the flight control signal to obtain a control signal aiming at the unmanned aerial vehicle; and the control signal response module is used for responding to the flight control signals to perform corresponding flight control on the manned aircraft and responding to the control signals to perform corresponding control on the unmanned aerial vehicle so that each unmanned aerial vehicle positioned at each flight position performs corresponding flight control on the manned aircraft.

Optionally, the accompanying position determining module includes:

the standby point position display sub-module is used for responding to a position locking instruction of at least one unmanned aerial vehicle and displaying at least one standby point position on an airborne terminal of the manned aircraft; the standby point is used for representing a flight point where the unmanned aerial vehicle carries out flight on the manned aircraft;

And the flight position determination submodule is used for responding to a confirmation instruction of the target flight point position and determining the flight position of at least one unmanned aerial vehicle according to the target flight point position.

Optionally, the accompanying position is determined based on coordinate information of a target accompanying point position; the companion flying position determining submodule includes:

and the coordinate information generating unit is used for carrying out positioning conversion on the target satellite spot bit and generating coordinate information corresponding to the target satellite spot.

Optionally, the coordinate information includes longitude information and latitude information, and the coordinate information generating unit includes:

the relative distance determining subunit is used for acquiring the axle center of the manned aircraft and the axle center positioning coordinates and determining the relative distance between the target flying spot position and the axle center;

and the longitude and latitude generation subunit is used for determining longitude information and latitude information corresponding to the target accompanying point according to the relative distance and the axis positioning coordinates of the manned aircraft.

Specifically, the airborne terminal of the manned aircraft is based on a plane display standby point, and the relative distance comprises a relative transverse distance and a relative longitudinal distance; the process for determining the relative distance between the target satellite flying spot position and the axle center comprises the steps of obtaining plane information of the target satellite flying spot position and the axle center of the manned aircraft; the plane information includes a relative linear distance; acquiring an included angle between the target satellite spot position and a north-south vertical axis relative to the axis; based on a collude formula, the relative transverse distance and the relative longitudinal distance between the target companion flying spot position and the axis are calculated by adopting the relative linear distance and the included angle between the relative north-south vertical axes. The axis positioning coordinates of the manned aircraft comprise axis positioning longitude information and axis positioning latitude information; the process of determining longitude information and latitude information corresponding to the target satellite flying point according to the relative distance and the axis positioning coordinates of the manned aircraft comprises adopting the axis positioning longitude information and the relative transverse distance to generate longitude information corresponding to the target satellite flying point; and generating latitude information corresponding to the target satellite point by adopting the axis positioning latitude information and the relative longitudinal distance.

Optionally, the coordinate information includes height information, and the coordinate information generating unit includes:

a target standby altitude interval confirmation subunit, configured to respond to a confirmation instruction for a target standby altitude interval of an unmanned aerial vehicle, and obtain a current flight altitude of the manned aerial vehicle; the standby height sections of the unmanned aerial vehicle comprise set heights for all the standby height sections, and the set heights are relatively set according to the heights of the manned aerial vehicles;

and the altitude information generation subunit is used for acquiring a target set altitude corresponding to the target standby altitude interval and generating altitude information corresponding to the target flying spot by adopting the current flying altitude of the manned aircraft and the target set altitude.

Optionally, the flight control signal at least includes a flight control pitch signal, a roll signal, and a throttle signal, where the flight control pitch signal is used to indicate a forward speed in a preset first direction, the roll signal is used to indicate an instantaneous translational speed in a preset second direction, and the throttle signal is used to indicate an instantaneous vertical speed in a preset third direction;

the control signal conversion module includes:

the speed determination submodule is used for respectively determining the forward speed corresponding to the preset first direction, the instantaneous translation speed corresponding to the preset second direction and the instantaneous vertical speed corresponding to the preset third direction of the manned aircraft based on the flight control pitching signal, the transverse rolling signal and the accelerator signal in the flight control signals;

And the control signal generation sub-module is used for respectively generating a flight control pitching signal, a rolling signal and an accelerator signal for the unmanned aerial vehicle by adopting the preset advancing speed corresponding to the first direction, the preset instant translation speed corresponding to the second direction and the preset instant vertical speed corresponding to the third direction of the manned aerial vehicle.

The embodiment of the invention also discloses a manned aircraft, which comprises: the flight control device of the unmanned aerial vehicle, a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program realizes the flight control method of any unmanned aerial vehicle when executed by the processor.

The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the accompanying flight control method of any unmanned aerial vehicle when being executed by a processor.

The embodiment of the invention has the following advantages:

in the embodiment of the invention, after the unmanned aerial vehicle is locked in position and the standby point position is determined, the unmanned aerial vehicle and the unmanned aerial vehicle have corresponding instantaneous advancing speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed based on the conversion between the flight control signal of the unmanned aerial vehicle and the control signal of the unmanned aerial vehicle, so that the problems of lag judgment and control of the unmanned aerial vehicle are avoided based on the cooperation of the unmanned aerial vehicle and the unmanned aerial vehicle, and the unmanned aerial vehicle can keep synchronous relative static with the unmanned aerial vehicle, thereby realizing the accompanying flight control of the unmanned aerial vehicle.

Drawings

Fig. 1 is a flow chart of steps of an embodiment of a method for controlling a companion flight of an unmanned aerial vehicle according to the present invention;

fig. 2 is a flowchart illustrating steps of another embodiment of a method for controlling a companion flight of a drone according to the present invention;

fig. 3 is a schematic display diagram of an on-board terminal of a manned aircraft according to an embodiment of the present invention;

fig. 4A to fig. 4B are schematic views of determining longitude and latitude of a flight point according to an embodiment of the present invention;

fig. 5 is a schematic diagram of an application scenario for controlling accompanying flight of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a accompanying control system of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a block diagram showing a configuration of an embodiment of a flight control device for an unmanned aerial vehicle according to the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Shooting of a movable object, such as a traveling vehicle, a flying manned vehicle, a walking person, a moved object, etc., can be generally achieved by controlling an unmanned aerial vehicle, since the unmanned aerial vehicle camera, after recognizing the subject, will keep the position of the subject in the shooting screen relatively fixed, it mainly appears that the subject becomes smaller in the shooting screen as the subject is selected to move, at this time, the unmanned aerial vehicle can accelerate to follow, so that the subject becomes larger in the shooting screen, and then decelerate again, so as to keep the size of the moving subject in the shooting screen. Similarly, there is also a scheme in which the object to be tracked periodically transmits a subsequent position to the unmanned aerial vehicle, the tracked object acts first, and then the unmanned aerial vehicle acts next.

That is, in the related art in which the unmanned aerial vehicle photographs the movable body, the unmanned aerial vehicle is logic of post-determination, and needs to perform actions based on the photographed movable body immediately after performing actions, resulting in that following photographing can only be achieved due to lag determination and performance limitation of the unmanned aerial vehicle, and cannot be fixed in front of the photographed object and kept in photographing, that is, photographing is gradually in following state along with the delay photographing, accompanying photographing with synchronous accompanying is not achieved, following and photographing angles are limited, and position accompanying and photographing cannot be customized.

In addition, in the related technology of unmanned aerial vehicle formation flight, basic logic mainly shows that independent task configuration is carried out on each unmanned aerial vehicle, then through assigned flight path and hover point position, unified script is executed, formation or accompanying flight can not be completed by means of cooperation between unmanned aerial vehicles, namely the realization logic of unmanned aerial vehicle formation flight depends on the front-arranged design flight route and script, and following or accompanying flight can not be flexibly carried out according to the needs at that time.

In order to realize accompanying shooting through cooperation of the unmanned aerial vehicle and the unmanned aerial vehicle, the core idea of the embodiment of the invention is that after the unmanned aerial vehicle is locked in position and the standby point position is determined, the unmanned aerial vehicle and the unmanned aerial vehicle can have corresponding instantaneous advancing speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed based on conversion between the flight control signal of the unmanned aerial vehicle and the control signal of the unmanned aerial vehicle, and the unmanned aerial vehicle cooperate to avoid the problems of hysteresis judgment and control of the unmanned aerial vehicle, so that the unmanned aerial vehicle can keep synchronous relative rest with the unmanned aerial vehicle, the unmanned aerial vehicle can keep at any position, and the accompanying control of the unmanned aerial vehicle on the unmanned aerial vehicle is realized, thereby achieving the synchronous accompanying effect.

Referring to fig. 1, a step flow chart of an embodiment of a method for controlling accompanying flight of an unmanned aerial vehicle according to the present invention may specifically include the following steps:

step 101, responding to a position locking instruction of at least one unmanned aerial vehicle, and determining a companion flight position of the at least one unmanned aerial vehicle;

in the embodiment of the invention, based on the cooperation of the manned aircraft and the unmanned aerial vehicle, the unmanned aerial vehicle can keep synchronous relative static with the manned aircraft, and the unmanned aerial vehicle can fly with the manned aircraft.

The cooperative implementation of the unmanned aerial vehicle and the unmanned aerial vehicle needs to be established on the basis that the unmanned aerial vehicle and the unmanned aerial vehicle are in communication connection, and can be expressed as controlling at least one unmanned aerial vehicle to be a controlled plane of the unmanned aerial vehicle, so that corresponding control of the unmanned aerial vehicle can be realized on the basis of control signals generated by the unmanned aerial vehicle under the condition of keeping communication connection.

The unmanned aerial vehicle is used for controlling the accompanying flight of the manned aircraft, and relates to the relative position relationship between the unmanned aerial vehicle and the manned aircraft, wherein the relative position relationship is represented in the position locking process.

In practical application, generally, under the operation state that the manned aircraft is static and hovers, the user can start the plane setting function through the preset software of the airborne terminal of the manned aircraft, after the unmanned aerial vehicle and the manned aircraft are connected and bound through Bluetooth, wireless WiFi and other modes, the unmanned aerial vehicle enters a waiting setting signal input mode, the unmanned aerial vehicle can respond to a position locking instruction of the unmanned aerial vehicle, the position locking instruction can carry relevant information of a standby point position selected for the unmanned aerial vehicle, the position locking instruction can be used for determining the accompanying position of the unmanned aerial vehicle, after the unmanned aerial vehicle confirms the specific accompanying position, the position locking of the unmanned aerial vehicle and the manned aircraft can be completed, and the unmanned aerial vehicle confirmed the specific accompanying position can be regarded as a controlled plane of the unmanned aerial vehicle.

The number of the controlled-plane-type plane may be plural, and at this time, the flight position of at least one unmanned plane may be checked.

Step 102, receiving a flight control signal for the manned aircraft, and converting the flight control signal to obtain a control signal for the unmanned aerial vehicle;

the unmanned aerial vehicle is controlled to the accompanying flight of manned aircraft, except for the position locking process of guaranteeing the relative position relationship, the unmanned aerial vehicle is required to be controlled simultaneously when the manned aircraft executes the flight action, and the unmanned aerial vehicle are controlled respectively, namely the unmanned aerial vehicle further comprises a flight control process.

The flight control process is specifically characterized in that after the flight control signal for the manned aircraft is received, the flight control signal can be converted to obtain the control signal for the unmanned aerial vehicle, so that the control signal for the unmanned aerial vehicle can control the corresponding instantaneous advancing speed, the corresponding instantaneous translation speed and the corresponding instantaneous vertical speed between the unmanned aerial vehicle and the manned aircraft, and the relative static maintenance can be realized based on the corresponding speed on the follow-up condition that the converted control signal ensures the relative position of the unmanned aerial vehicle and the manned aircraft.

And 103, responding to the flight control signals to perform corresponding flight control on the manned aircraft, and responding to the control signals to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle positioned at each flight accompanying position performs corresponding flight control on the manned aircraft.

After the unmanned aerial vehicle is subjected to position locking, the standby point position is determined, and the control signals capable of controlling the corresponding instantaneous advancing speed, the corresponding instantaneous translational speed and the corresponding instantaneous vertical speed exist between the unmanned aerial vehicle and the unmanned aerial vehicle based on the conversion between the flight control signals of the unmanned aerial vehicle and the control signals of the unmanned aerial vehicle, the unmanned aerial vehicle can be subjected to corresponding flight control on the unmanned aerial vehicle in response to the flight control signals, and meanwhile, the unmanned aerial vehicle can be subjected to the same control on the unmanned aerial vehicle in response to the converted control signals, so that the unmanned aerial vehicle has the corresponding instantaneous advancing speed, the corresponding instantaneous translational speed and the corresponding instantaneous vertical speed of the unmanned aerial vehicle, and the unmanned aerial vehicle can execute the flight action.

The same control of the unmanned aerial vehicle is performed while the unmanned aerial vehicle performs the flight action, and the control of the direction is also related to the corresponding speed control, so that the unmanned aerial vehicle can have the corresponding instantaneous forward speed in the preset first direction, the corresponding instantaneous translational speed in the preset second direction and the corresponding instantaneous vertical speed in the preset third direction when the unmanned aerial vehicle has the corresponding instantaneous forward speed, the corresponding instantaneous translational speed and the corresponding instantaneous vertical speed in the manned aerial vehicle. Specifically, the corresponding speeds of the unmanned aerial vehicle and the manned aircraft may be the same speed, or may be a speed value that maintains a certain fixed relationship or linear relationship; the preset first direction, the preset second direction and the preset third direction may be the corresponding directions held in the moving process according to the preset track, or may be other different directions, which is not limited in this embodiment of the present invention.

In some embodiments of the present invention, after controlling each unmanned aerial vehicle to fly with the manned aircraft, each unmanned aerial vehicle located at each flying position may also be controlled to perform corresponding flying control on the manned aircraft, and the relevant flying control may include flying shooting, and related functions extended to the manned aircraft via the unmanned aerial vehicle, such as functions of flying illumination, flying signal reinforcement/signal provision, and the like. For example, when the unmanned aerial vehicle performs the accompanying shooting, each accompanying position where the unmanned aerial vehicle is located may be a shooting position where each unmanned aerial vehicle performs the accompanying shooting, and at this time, shooting may be completed in the accompanying shooting. Specifically, the pan-tilt camera of the unmanned aerial vehicle can keep the manned aircraft as a subject in a view-finding range through an image recognition technology. It should be noted that, for the image recognition technology in the specific photographing process, related technologies in the prior art may be used, which is not described in detail in the embodiments of the present invention.

Referring to fig. 2, a step flow chart of another embodiment of a method for controlling accompanying flight of an unmanned aerial vehicle according to the present invention may specifically include the following steps:

step 201, responding to a position locking instruction of at least one unmanned aerial vehicle, and displaying at least one standby point position on an onboard terminal of a manned aircraft;

in the embodiment of the invention, based on the cooperation of the manned aircraft and the unmanned aerial vehicle, the unmanned aerial vehicle can keep synchronous relative static with the manned aircraft, so that the accompanying control of the unmanned aerial vehicle on the manned aircraft is realized. The process of controlling the accompanying flight of the unmanned aerial vehicle relates to the relative position relation between the unmanned aerial vehicle and the manned aircraft, and the relative position relation is expressed in the position locking process.

For the position locking process, the method is characterized in that the accompanying position of at least one unmanned aerial vehicle is determined in response to a position locking instruction of the at least one unmanned aerial vehicle.

Specifically, after the unmanned aerial vehicle enters the waiting set signal input mode, at least one standby point may be displayed at the on-board terminal of the manned aircraft, i.e. the position of the unmanned aerial vehicle around the flying car during flight as a plane. As shown in fig. 3, the on-board terminal may display the waiting point location based on the plane, and the displayed waiting point location is generally located around the manned aircraft, and may be mainly used to represent the flight accompanying point location of the unmanned aerial vehicle for carrying on the manned aircraft, where the user may select the displayed waiting point location through the on-board terminal, so as to confirm the flight accompanying position of the unmanned aerial vehicle, and complete the position locking operation of the unmanned aerial vehicle and the manned aircraft.

The number of the controlled-plane-type plane may be plural, and at this time, the flight position of at least one unmanned plane may be checked. The allowed number of the controlled plane is determined mainly based on the number of the displayed standby points, and the setting of the number of the standby points is determined mainly based on the flight control performance and the network performance of the manned aircraft, i.e. the maximum value of the number of the plane is also determined based on the flight control performance and the network performance of the manned aircraft.

Step 202, responding to a confirmation instruction of a target flight point position, and determining the flight position of at least one unmanned aerial vehicle according to the target flight point position;

after the on-board terminal of the manned aircraft displays at least one standby point, the user can select the standby point for the unmanned aerial vehicle through the terminal, and at the moment, a confirmation instruction for the target flight point position is generated based on relevant information of the standby point selected by the user for the unmanned aerial vehicle, such as the target flight point position, so that the flight position of at least one unmanned aerial vehicle is determined according to the target flight point position by responding to the confirmation instruction for the target flight point position.

In practical application, the flight accompanying position can be determined based on the coordinate information of the target flight accompanying point position, the manned aircraft can perform positioning conversion on the target flight accompanying point position through the positioning conversion module, and coordinate information corresponding to the target flight accompanying point is generated, so that the subsequent aircraft can send the coordinate information to the unmanned aerial vehicle, the unmanned aerial vehicle can return the coordinate information which is going to the target in execution to the aircraft after receiving the coordinate information, the unmanned aerial vehicle is informed of being deployed according to the target coordinate information, the unmanned aerial vehicle can also return the in-situ state to the aircraft after reaching the target coordinate, the unmanned aerial vehicle is represented to be locked and confirm the flight accompanying position, and the position locking process of the unmanned aerial vehicle is completed. The position of the unmanned aerial vehicle is locked, the standby height of the unmanned aerial vehicle can be stored, when the unmanned aerial vehicle reaches a standby point and returns to the in-place state to the manned aircraft, if the standby height of the unmanned aerial vehicle is 0, the unmanned aerial vehicle can be in an unlocking state at the standby point, and if the standby height of the unmanned aerial vehicle is greater than 0, the unmanned aerial vehicle can be in a hovering state at the standby point.

The number of controlled planes may be plural, and the flight position of at least one unmanned aerial vehicle may be checked, and at this time, when checking the flight position of at least one unmanned aerial vehicle, the user generally needs to select at least one target flight point position.

In practical applications, the positioning conversion of the manned aircraft on the target satellite positions may generally include three-dimensional information such as longitude, latitude and altitude, where the coordinate information corresponds to the target satellite positions.

The method for determining the longitude and latitude information corresponding to the target flying spot can be determined mainly through the axis positioning coordinates of the manned aircraft and the relative distance between the target flying spot and the axis of the manned aircraft. The axis and the axis positioning coordinates of the manned aircraft can be obtained, the relative distance between the target flying spot position and the axis is determined, and then the longitude information and the latitude information corresponding to the target flying spot are determined according to the relative distance and the axis positioning coordinates of the manned aircraft.

Specifically, referring to fig. 4A to fig. 4B, a schematic diagram of determining longitude and latitude of a flight point location according to an embodiment of the present invention is shown.

For determining the relative distance between the target flying spot position and the axis, the determined relative distance at least comprises the relative transverse distance and the relative longitudinal distance between the target flying spot position and the axis, and the plane information of the target flying spot position and the axis of the manned aircraft, such as the relative linear distance between the unmanned aerial vehicle and the axis, can be obtained at the moment, and in practical application, the accurate distance between the unmanned aerial vehicle and the manned aircraft in the plane space can be obtained through UWB technology (ultra wide band), and then the included angle between the target flying spot position and the axis relative to the north-south vertical axis can be judged through the magnetic compass, so that the relative transverse distance and the relative longitudinal distance between the target flying spot position and the axis can be calculated by adopting the relative linear distance and the relative north-south vertical axis based on the collude formula.

For example, assuming that the relative linear distance between the unmanned plane (represented as the target flight point, i.e., point B) and the axis (i.e., point a) is L1, the relative lateral distance between the target flight point (i.e., point B) and the axis (i.e., point a) is g, the relative longitudinal distance between the target flight point (i.e., point B) and the axis (i.e., point a) is j, the relative linear distance L1, the relative lateral distance g, and the relative longitudinal distance j may form a right triangle as shown in fig. 4A, and the pythagorean theorem l=j may be introduced ² +g ² The solution of the relative transverse distance g and the relative longitudinal distance j is calculated by substituting the relative linear distance L1 into L in the hooking equation.

Because two unknowns in the hook formula cannot be accurately determined based on a single known value, an included angle with the ground north can be introduced, and the relative transverse distance g and the relative longitudinal distance j can be solved by means of the included angle of the target satellite point phase relative to the north-south vertical axis, as shown in fig. 4B. It should be noted that, the introduction of a specific formula combined to the angle between the relative linear distance L1 and the north of the ground is a general calculation formula, and the embodiments of the present invention are not repeated.

After the relative transverse distance g and the relative longitudinal distance j are calculated, longitude information and latitude information corresponding to the target flying spot can be determined based on the axis positioning coordinates of the manned aircraft.

Specifically, the axis location coordinates of the manned aircraft include axis location longitude information and axis location latitude information, and at this time, the axis location longitude information and the relative lateral distance may be used to generate longitude information corresponding to the target satellite flying point, and the axis location latitude information and the relative longitudinal distance may be used to generate latitude information corresponding to the target satellite flying point.

The axle center geographic positioning coordinates of the aerocar are realized by means of RTK (real time kinematic) and are implemented by means of real-time dynamic relative positioning technology based on carrier phase observation values, for example, assuming that the axle center positioning longitude information is a and the axle center positioning latitude information is b, at this time, longitude information m=a+g corresponding to the target satellite point and latitude information n=b+j corresponding to the target satellite point can be calculated. When the geographic north is used as the fixed coordinate system direction, if the selected target satellite spot is located in the third and fourth quadrants of the coordinate system, the longitude information m=a-g corresponding to the target satellite spot or the latitude information n=b-j corresponding to the target satellite spot may be calculated at this time.

In the process of carrying out positioning conversion on the target flying spot position to obtain the coordinate information corresponding to the target flying spot, the determination mode of the height information corresponding to the target flying spot position can be expressed as responding to the confirmation instruction of the target standby height section of the unmanned aerial vehicle, acquiring the current flying height of the manned aircraft, and then adopting the current flying height of the manned aircraft and the target set height corresponding to the target standby height section to generate the height information corresponding to the target flying spot.

Specifically, while the on-board terminal displays the standby point position for the user to select for the unmanned aerial vehicle, the on-board terminal can also provide the user with the capability of setting the standby height of the unmanned aerial vehicle, which can be mainly represented by displaying the standby height section for setting the unmanned aerial vehicle on the on-board terminal, wherein the standby height section can comprise the setting heights of the standby height sections, and the setting heights are relatively set with the height of the manned aerial vehicle.

Since the set altitude is set relatively to the altitude of the manned aircraft, altitude information corresponding to the target flight point is related to the operation state of the manned aircraft. If the manned aircraft is in a hovering state, the current flying height exists, and at the moment, the height information corresponding to the target flying spot can be determined based on the sum of the corresponding set height and the current flying height of the selected standby height interval; if the vehicle is in a stationary or ground traveling state, the altitude is not present, that is, the altitude is 0, and the altitude information corresponding to the target satellite point at this time can be determined directly based on the set altitude corresponding to the selected standby altitude section.

The standby altitude interval of the unmanned aerial vehicle can allow the selection of low level, middle level and high level, and the corresponding set altitude can exist for different intervals of the low level, the middle level and the high level, the principle is that the range of signal exchange of a flight vehicle network is not exceeded, collision among unmanned aerial vehicles is avoided, the unmanned aerial vehicles can also be influenced by the running state of the manned aerial vehicles, for example, the manned aerial vehicles are in a static state, the low level can be ground altitude, namely, the corresponding set altitude is 0, the set altitude of the middle level can be expressed as 0+3m, and the set altitude of the high level can be expressed as 0+6m; and may allow for the selection of different standby heights for each different drone. The embodiments of the present invention are not limited in this regard.

In some embodiments of the present invention, after the manned aircraft determines the target flight point and performs positioning conversion to obtain the flight position corresponding to the target flight point, in order to facilitate the unmanned aerial vehicle to perform the forward operation after receiving the coordinate information corresponding to the flight position, for example, (m, n, z), the manned aircraft may further plan a unmanned aerial vehicle route from the airport to the flight position, and send the unmanned aerial vehicle route to the unmanned aerial vehicle. In order to avoid collision between the unmanned aerial vehicle and the manned aerial vehicle in the process of executing the standby point to place, the axis of the manned aerial vehicle can be specifically used as a round point to generate a pre-set-shape no-fly zone (usually circular) with the safety radius of the manned aerial vehicle or the distance q, and the flight route of the unmanned aerial vehicle is automatically calculated under the condition of avoiding the no-fly zone.

Step 203, converting the flight control signal to obtain a control signal for the unmanned aerial vehicle, responding to the flight control signal to perform corresponding flight control on the manned aircraft, and responding to the control signal to perform corresponding control on the unmanned aerial vehicle.

In the embodiment of the invention, in the process of realizing the accompanying control of the unmanned aerial vehicle on the manned aircraft, besides the position locking process for ensuring the relative position relationship, the unmanned aerial vehicle is required to be controlled in the same way while the unmanned aerial vehicle executes the flight action, and the unmanned aerial vehicle are controlled respectively, namely the unmanned aerial vehicle also comprises a flight control process.

The flight control process is specifically characterized in that after the flight control signal for the manned aircraft is received, the flight control signal can be converted to obtain the control signal for the unmanned aerial vehicle, so that the control signal for the unmanned aerial vehicle can control the corresponding instantaneous advancing speed, the corresponding instantaneous translation speed and the corresponding instantaneous vertical speed between the unmanned aerial vehicle and the manned aircraft, and the unmanned aerial vehicle can be controlled in the same manner while the unmanned aerial vehicle executes the flight action based on the same speed under the condition that the converted control signal ensures the relative position of the unmanned aerial vehicle and the manned aircraft.

The control of the advancing speed, the instantaneous translation speed and the instantaneous vertical speed is realized by controlling the pitching angle, the rolling angle and the accelerator of the machine body.

Specifically, the flight control signals at least comprise a flight control pitch signal, a roll signal and an accelerator signal. The flight control pitching signal can be used for determining the advancing speed of a preset first direction, and particularly, when the manned aircraft is subjected to corresponding pitching control according to the flight control pitching signal, the manned aircraft moves in an advancing displacement mode in the preset first direction, so that the manned aircraft has a certain advancing speed; the transverse rolling signal can be used for determining the instantaneous translation speed of the preset second direction, and is specifically characterized in that when the manned aircraft is subjected to corresponding transverse rolling control according to the transverse rolling signal, the manned aircraft is subjected to translational displacement movement in the preset second direction, so that the manned aircraft has a certain instantaneous translation speed; the throttle signal can be used for determining the instantaneous vertical speed in the preset third direction, and the method is particularly characterized in that when the manned aircraft is subjected to corresponding throttle control according to the throttle signal, the manned aircraft is subjected to displacement movement in the vertical direction in the preset third direction, so that the manned aircraft has a certain instantaneous vertical speed.

When the flight control signals are converted, in order to ensure that corresponding instantaneous forward speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed exist between the unmanned aerial vehicle and the manned aerial vehicle, at the moment, based on flight control pitching signals, rolling signals and accelerator signals in the flight control signals, the corresponding forward speed, the corresponding instantaneous translation speed and the corresponding instantaneous vertical speed in the preset second direction of the manned aerial vehicle can be respectively determined, then the corresponding forward speed, the corresponding instantaneous translation speed and the corresponding instantaneous vertical speed in the preset third direction of the manned aerial vehicle can be adopted, and the flight control pitching signals, the rolling signals and the accelerator signals for the unmanned aerial vehicle can be respectively generated, so that the unmanned aerial vehicle can have the corresponding instantaneous forward speed, the corresponding instantaneous translation speed and the corresponding instantaneous vertical speed in the preset third direction of the manned aerial vehicle, and the unmanned aerial vehicle can be controlled simultaneously in the same manner as the unmanned aerial vehicle.

Specifically, the corresponding speeds of the unmanned aerial vehicle and the manned aircraft may be the same speed, or may be a speed value that maintains a certain fixed relationship or linear relationship; the preset first direction, the preset second direction and the preset third direction may be the corresponding directions held in the moving process according to the preset track, or may be other different directions, which is not limited in this embodiment of the present invention.

For example, assuming that the instantaneous forward speed of the manned aircraft is V1, the instantaneous traversing speed is V2, the instantaneous vertical speed is V3, the instantaneous forward speed of the controlled plane is V1, the instantaneous translating speed is V2, and the instantaneous vertical speed is V3, v1=v1, v2=v2, v3=v3 may be controlled by converting the signal.

For the flight control signals of the manned aircraft, such as the flight control pitch signal, the roll signal and the throttle signal, the adjustment of the power W output of the rotor power motor is involved, at this time, it is assumed that the received flight control signal for the manned aircraft is S, and there is a conversion relationship v=f1 (S, x) between the control signal and the flight speed for both the manned aircraft and the unmanned aircraft, where x may include other same type variables (such as weight, power, etc.) of the rotor aircraft.

In the embodiment of the invention, V is required _{Manned aircraft} ＝V _{Unmanned plane} ，f1(S _{Manned aircraft} ，x _{Manned aircraft} )＝f1(S _{Unmanned plane} ，x _{Unmanned plane} )，x _{Manned aircraft} 、x _{Unmanned plane} For a fixed parameter, i.e. presence of S _{Unmanned plane} ＝f2(S _{Manned aircraft} ) The conversion relation of the unmanned aerial vehicle and the unmanned aerial vehicle is the same, or a certain fixed relation/linear relation is maintained.

It should be noted that the above conversion relation can be obtained by measuring the control signals S of the unmanned aerial vehicle and the unmanned aerial vehicle at the same speeds v1 to vn in the test environment _{Manned aircraft 1} ～S _{Manned aircraft n} And S _{Unmanned plane 1} ～S _{Unmanned plane n} Since both sets of logical formulas are v=f1 (S, x), S can be calculated by data statistics _{Unmanned plane} ＝f2(S _{Manned aircraft} ). For example, assuming that the manned aircraft is a flying automobile, under the condition that the endurance speed of the flying automobile is 30 km/h, the control signal input of the unmanned aerial vehicle is w, and under the condition that the unmanned aerial vehicle is 30 km/h, which can be measured through experiments, the control signal input of the unmanned aerial vehicle is u, and in the flying control process, the control signals of w and u can be synchronously sent to the flying automobile and the unmanned aerial vehicle at the same time, so that the synchronization of the two unmanned aerial vehicles is realized.

In some embodiments of the present invention, the unmanned aerial vehicle is controlled identically while the unmanned aerial vehicle performs the flight actions, i.e. after controlling each unmanned aerial vehicle to fly with the unmanned aerial vehicle, each unmanned aerial vehicle located at each flying location may also be controlled to perform a corresponding flying control on the unmanned aerial vehicle, the relevant flying control may include flying shooting, and related functions such as flying lighting, flying signal reinforcement/signal provision, etc. extended via the unmanned aerial vehicle on the unmanned aerial vehicle, i.e. the provided standby point and the determined flying point may be related to the functions provided by the unmanned aerial vehicle at this location accordingly. For example, when the unmanned aerial vehicle performs the accompanying shooting, each accompanying position where the unmanned aerial vehicle is located may be a shooting position where each unmanned aerial vehicle performs the accompanying shooting, and at this time, shooting may be completed in the accompanying shooting. Specifically, the pan-tilt camera of the unmanned aerial vehicle can keep the manned aircraft as a subject in a view-finding range through an image recognition technology. It should be noted that, for the image recognition technology in the specific photographing process, related technologies in the prior art may be used, which is not described in detail in the embodiments of the present invention.

Referring to fig. 5, a schematic diagram of an application scenario for controlling a flying unmanned aerial vehicle according to an embodiment of the present invention relates to a scenario in which the unmanned aerial vehicle shoots a flying unmanned aerial vehicle, and when the unmanned aerial vehicle shoots the flying unmanned aerial vehicle, the provided standby point may be a point for representing the unmanned aerial vehicle to fly the unmanned aerial vehicle, and each flying position where the unmanned aerial vehicle is located may be a shooting position of each unmanned aerial vehicle in the flying shooting process. The manned aircraft may include, but is not limited to, common manned aircraft (such as rotorcraft, etc.), and vehicles such as aeroplane cars, and the embodiments of the present invention are not limited in this respect.

In the embodiment of the invention, the flying automobile is taken as an example, at least one unmanned aerial vehicle can be controlled to be a controlled plane, so that the unmanned aerial vehicle can keep synchronous relative static with the photographed aircraft or the flying automobile, can be kept and photographed at any position, and realizes synchronous accompanying effect.

Referring to fig. 6, a schematic diagram of a flight control system of an unmanned aerial vehicle according to an embodiment of the present invention is shown, where a process of implementing flight control based on the flight control system may include a position locking process and a flight control process, where the flight control system relates to a flying car standby conversion module, a flying car flight control signal conversion module, a data signal module, and an unmanned aerial vehicle flight control module, and the position locking process may be implemented mainly based on the flying car standby conversion module, the flying car flight control signal conversion module, the data signal module, and the unmanned aerial vehicle flight control module.

Specifically, the aerocar standby conversion module is mainly used for carrying out positioning conversion on the target shooting point position after the user selects the standby point position for the unmanned aerial vehicle, namely, the target shooting point position is determined, so that coordinate information corresponding to the target shooting point position is obtained, an unmanned aerial vehicle standby position signal is sent to the unmanned aerial vehicle, the signal carries the coordinate information, the unmanned aerial vehicle is conveniently controlled to go to the standby point based on the standby positioning point coordinates, and position locking is completed.

The flying car flight control module is mainly used for generating a flight control signal aiming at the flying car based on a control signal input by a user. The motion control logic of the flying automobile mainly controls the forward speed, the instantaneous translation speed and the instantaneous vertical speed by controlling the pitching angle, the rolling angle and the accelerator of the engine body, and the received flight control signals at least comprise flight control pitching signals, rolling signals and accelerator signals.

The flight vehicle and flight control signal conversion module is mainly used for converting flight control signals to obtain control signals for the unmanned aerial vehicle, so that the control signals for the unmanned aerial vehicle, which are obtained through conversion, can be used for controlling at least the same instantaneous forward speed, the same instantaneous translation speed and the same instantaneous vertical speed between the unmanned aerial vehicle and the manned aerial vehicle.

The data signal module is mainly used for sending commands to the unmanned aerial vehicle with the locked position and mainly sending converted control signals for the unmanned aerial vehicle.

The unmanned aerial vehicle flight control module is mainly used for responding to the control signal to correspondingly control the unmanned aerial vehicle, and the control time of the unmanned aerial vehicle flight control module can be the same as the time of the flight control module responding to the flight control signal to correspondingly control the manned aerial vehicle, so that the unmanned aerial vehicle is controlled identically while the flight vehicle executes the flight action.

The unmanned aerial vehicle is controlled identically when the manned aerial vehicle executes the flying action, namely after each unmanned aerial vehicle and the flying vehicle are controlled to fly, each unmanned aerial vehicle located at each shooting position can be controlled to shoot the flying vehicle, shooting is completed in the flying process, and at the moment, the cradle head camera of the unmanned aerial vehicle can keep the flying vehicle as a shot main body to be continuously in the view finding range through the image recognition technology. For the image recognition technology in the specific photographing process, related technologies in the prior art can be used, and the embodiments of the present invention are not described in detail.

It should be noted that, if the aerocar needs the unmanned aerial vehicle of a plurality of shooting angles to shoot simultaneously, because the cooperation action of aerocar and unmanned aerial vehicle does not include driftage, can adjust unmanned aerial vehicle's shooting angle under the yawing state, just adjusted unmanned aerial vehicle's position promptly when adjusting the shooting angle, and other circumstances can only be in hovering or under the stationary state at aerocar, redefine unmanned aerial vehicle's position.

In some embodiments of the present invention, the unmanned aerial vehicle control method provided by the embodiments of the present invention can allow a user to conveniently and automatically define a formation position and a shooting angle of a unmanned aerial vehicle wing; the conversion realization method of the standby point positions of the plane can realize the locking of the relative positions of the unmanned aerial vehicle and the aerocar in space; and the implementation method of the flight control signal conversion module of the aerocar can realize synchronous control of the aerocar and the unmanned aerial vehicle by a user.

It should be noted that, the related process of controlling the unmanned aerial vehicle to realize accompanying flight, such as position locking and a control process based on signal conversion, provided by the embodiment of the invention, the similar scheme can be correspondingly applied to common vehicles (such as pure electric vehicles, fuel vehicles, hybrid vehicles and the like) to realize synchronous accompanying shooting of the unmanned aerial vehicle on the common vehicles.

In the embodiment of the invention, in order to realize the accompanying shooting through the cooperation of the unmanned aerial vehicle and the unmanned aerial vehicle, after the unmanned aerial vehicle is locked in position and the standby point position is determined, the unmanned aerial vehicle and the unmanned aerial vehicle can have corresponding instantaneous forward speeds, corresponding instantaneous translation speeds and corresponding instantaneous vertical speeds based on the conversion between the flight control signals of the unmanned aerial vehicle and the control signals of the unmanned aerial vehicle, and the unmanned aerial vehicle are cooperated, so that the problems of lag judgment and control of the unmanned aerial vehicle are avoided, the unmanned aerial vehicle and the unmanned aerial vehicle can keep synchronous relative static, the unmanned aerial vehicle can keep and shoot at any position, and the accompanying shooting of the unmanned aerial vehicle is realized, thereby achieving the synchronous accompanying effect.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

Referring to fig. 7, a block diagram of an embodiment of a flight control device of an unmanned aerial vehicle according to the present invention may specifically include the following modules:

a flight position determining module 701, configured to determine a flight position of at least one unmanned aerial vehicle in response to a position locking instruction for the at least one unmanned aerial vehicle;

the control signal conversion module 702 is configured to receive a flight control signal for the manned aircraft, and convert the flight control signal to obtain a control signal for the unmanned aerial vehicle; the control signal response module 703 is configured to respond to the flight control signal to perform corresponding flight control on the manned aircraft, and respond to the control signal to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle located at each flight position performs corresponding flight control on the manned aircraft.

In one embodiment of the present invention, the companion location determination module 701 may include the following sub-modules:

the standby point position display sub-module is used for responding to a position locking instruction of at least one unmanned aerial vehicle and displaying at least one standby point position on an onboard terminal of the manned aircraft; the standby point is used for representing a flight accompanying point of the unmanned aerial vehicle for carrying out flight accompanying on the manned aircraft;

In one embodiment of the invention, the satellite positions are determined based on coordinate information of the target satellite positions; the satellite position determination submodule may include the following units:

and the coordinate information generating unit is used for carrying out positioning conversion on the target flying spot bit and generating coordinate information corresponding to the target flying spot.

In one embodiment of the present invention, the coordinate information includes longitude information and latitude information, and the coordinate information generating unit may include the following sub-units:

and the longitude and latitude generation subunit is used for determining longitude information and latitude information corresponding to the target flying spot according to the relative distance and the axis positioning coordinates of the manned aircraft.

Specifically, an airborne terminal of the manned aircraft displays standby points based on a plane, and the relative distance comprises a relative transverse distance and a relative longitudinal distance; the process for determining the relative distance between the target flight point position and the axis comprises the steps of obtaining plane information of the target flight point position and the axis of the manned aircraft; the plane information includes a relative linear distance; acquiring an included angle between a target companion point and a north-south vertical axis relative to the axis; based on the hook formula, the relative transverse distance and the relative longitudinal distance between the target satellite spot position and the axis are calculated by adopting the relative linear distance and the relative included angle between the north-south vertical axis. And the axis positioning coordinates of the manned aircraft comprise axis positioning longitude information and axis positioning latitude information; the process of determining longitude information and latitude information corresponding to the target flying spot according to the relative distance and the axis positioning coordinates of the manned aircraft comprises the steps of adopting the axis positioning longitude information and the relative transverse distance to generate longitude information corresponding to the target flying spot; and generating latitude information corresponding to the target satellite point by adopting the axis positioning latitude information and the relative longitudinal distance.

In one embodiment of the present invention, the coordinate information includes height information, and the coordinate information generating unit may include the following sub-units:

the target standby altitude interval confirming subunit is used for responding to a confirming instruction of the target standby altitude interval of the unmanned aerial vehicle and acquiring the current flight altitude of the manned aerial vehicle; the standby height sections of the unmanned aerial vehicle comprise set heights for all the standby height sections, and the set heights are oppositely set for the heights of the manned aerial vehicles;

and the altitude information generation subunit is used for acquiring the target set altitude corresponding to the target standby altitude interval and generating altitude information corresponding to the target flying spot by adopting the current flying altitude and the target set altitude of the manned aircraft.

In one embodiment of the present invention, the flight control signals at least include a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal is used for indicating a forward speed in a preset first direction, the roll signal is used for indicating an instantaneous translational speed in a preset second direction, and the throttle signal is used for indicating an instantaneous vertical speed in a preset third direction;

the control signal conversion module 702 may include the following sub-modules:

The speed determination submodule is used for respectively determining the forward speed corresponding to the preset first direction, the instantaneous translation speed corresponding to the preset second direction and the instantaneous vertical speed of the manned aircraft based on the flight control pitching signal, the transverse rolling signal and the accelerator signal in the flight control signals;

the control signal generation sub-module is used for respectively generating a flight control pitching signal, a rolling signal and an accelerator signal aiming at the unmanned aerial vehicle by adopting the forward speed, the instantaneous translation speed and the instantaneous vertical speed of the manned aerial vehicle.

In the embodiment of the invention, after the unmanned aerial vehicle is locked in position and the standby point position is determined, the unmanned aerial vehicle and the unmanned aerial vehicle can have corresponding instantaneous forward speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed based on the conversion between the flight control signal of the unmanned aerial vehicle and the control signal of the unmanned aerial vehicle, so that the unmanned aerial vehicle and the unmanned aerial vehicle can keep synchronous relative static based on the cooperation of the unmanned aerial vehicle and the unmanned aerial vehicle, the problem of lag judgment and control of the unmanned aerial vehicle is avoided, and the unmanned aerial vehicle can realize the flight control of the unmanned aerial vehicle.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

The embodiment of the invention also provides a manned aircraft, which comprises:

the accompanying control device of the unmanned aerial vehicle, the processor, the memory and the computer program stored on the memory and capable of running on the processor are included, when the computer program is executed by the processor, the processes of the accompanying control method embodiment of the unmanned aerial vehicle are realized, the same technical effects can be achieved, and in order to avoid repetition, the description is omitted here. It should be noted that the manned aircraft may include, but is not limited to, common manned aircraft (such as rotorcraft, etc.), and vehicles such as aeroplane cars, and the embodiment of the present invention is not limited thereto.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the embodiment of the accompanying control method of the unmanned aerial vehicle, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention 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. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing describes in detail a method for controlling a flight of an unmanned aerial vehicle, a device for controlling a flight of an unmanned aerial vehicle, a corresponding manned aircraft and a corresponding computer readable storage medium, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the above description of the examples is only for helping to understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A method of controlling companion flight of an unmanned aerial vehicle, the method comprising:

2. The method of claim 1, wherein determining the companion flight location of the at least one drone in response to the position lock command for the at least one drone comprises:

3. The method of claim 2, wherein the satellite positions are determined based on coordinate information of target satellite spot bits; the determining the flight accompanying position of at least one unmanned aerial vehicle according to the target flight accompanying point position comprises the following steps:

4. The method of claim 3, wherein the coordinate information includes longitude information and latitude information, the performing a positioning conversion on the target satellite spot bit, generating the coordinate information corresponding to the target satellite spot, includes:

5. The method of claim 4, wherein the on-board terminal of the manned aircraft is based on a flat display standby point, and the relative distances include a relative lateral distance and a relative longitudinal distance; the determining the relative distance between the target satellite spot position and the axle center comprises the following steps:

6. The method according to claim 3 or 4, wherein the coordinate information includes altitude information, the performing positioning conversion on the target satellite spot bit, and generating the coordinate information corresponding to the target satellite spot includes:

7. The method of claim 1, wherein the flight control signals include at least a flight control pitch signal for indicating a forward speed of a preset first direction, a roll signal for indicating an instantaneous translational speed of a preset second direction, and a throttle signal for indicating an instantaneous vertical speed of a preset third direction;

8. A companion flight control device for an unmanned aerial vehicle, the device comprising:

the control signal conversion module is used for receiving the flight control signal aiming at the manned aircraft and converting the flight control signal to obtain a control signal aiming at the unmanned aerial vehicle;

and the control signal response module is used for responding to the flight control signals to perform corresponding flight control on the manned aircraft and responding to the control signals to perform corresponding control on the unmanned aerial vehicle so that each unmanned aerial vehicle positioned at each flight position performs corresponding flight control on the manned aircraft.

9. A manned aircraft, comprising: the accompanying control device, processor, memory, and computer program stored on the memory and capable of running on the processor of the unmanned aerial vehicle according to claim 8, which when executed by the processor, implements the accompanying control method of the unmanned aerial vehicle according to any one of claims 1 to 7.

10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which computer program, when executed by a processor, implements the method of controlling the companion flight of the unmanned aerial vehicle according to any one of claims 1 to 7.