WO2016065513A1 - 飞行器的位置提示方法及装置 - Google Patents

飞行器的位置提示方法及装置 Download PDF

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Publication number
WO2016065513A1
WO2016065513A1 PCT/CN2014/089579 CN2014089579W WO2016065513A1 WO 2016065513 A1 WO2016065513 A1 WO 2016065513A1 CN 2014089579 W CN2014089579 W CN 2014089579W WO 2016065513 A1 WO2016065513 A1 WO 2016065513A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
icon
ground end
preset map
map
Prior art date
Application number
PCT/CN2014/089579
Other languages
English (en)
French (fr)
Inventor
钟和立
张芝源
张留涛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201480015438.5A priority Critical patent/CN105518487B/zh
Priority to PCT/CN2014/089579 priority patent/WO2016065513A1/zh
Publication of WO2016065513A1 publication Critical patent/WO2016065513A1/zh
Priority to US15/493,323 priority patent/US10181211B2/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/60—Editing figures and text; Combining figures or text
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/14—Display of multiple viewports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/44—Receiver circuitry for the reception of television signals according to analogue transmission standards
    • H04N5/445—Receiver circuitry for the reception of television signals according to analogue transmission standards for displaying additional information
    • H04N5/45—Picture in picture, e.g. displaying simultaneously another television channel in a region of the screen
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2340/00—Aspects of display data processing
    • G09G2340/12—Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
    • G09G2340/125—Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels wherein one of the images is motion video
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2340/00—Aspects of display data processing
    • G09G2340/14—Solving problems related to the presentation of information to be displayed

Definitions

  • the present invention relates to the field of communications, and in particular, to a method and apparatus for prompting a position of an aircraft.
  • FPV First Person View, first person main view
  • FPV First Person View, first person main view
  • remote control aviation model or vehicle model with wireless camera backhaul equipment and remote control model on the ground With the development of social science and technology and economy, more and more people like airplane models, and there are not many voyage models with tens of thousands of voyages. It is more and more important for the acquisition of flight modes of RC airplanes.
  • the technical problem to be solved by the present invention is to provide a method and a device for prompting the position of an aircraft, which can intuitively provide an aircraft state such as a flight position.
  • the present invention provides a method for prompting a position of an aircraft, comprising: acquiring first position information of a position where the aircraft is located, acquiring second position information of the ground end; and presizing according to the first position information and the second position information The relative positional relationship between the aircraft and the ground end is presented on the map.
  • the method further includes: acquiring third position information of the return target point of the set aircraft, and displaying the return target point on the map showing the relative positional relationship between the aircraft and the ground end according to the third position information.
  • the third location information is set through the ground end.
  • the setting the third location information includes: setting the third location information to the current location of the ground terminal, setting the third location information to the current location of the aircraft, and specifying the return location on the preset map as at least one of the third location information. Or combination.
  • the presenting the relative positional relationship between the aircraft and the ground end and displaying the returning target point on the preset map includes: drawing a first icon corresponding to the aircraft on the preset map according to the first position information; and according to the second position information Drawing a second icon corresponding to the ground end on the preset map; drawing a third icon corresponding to the returning target point on the preset map according to the third position information; displaying that the first icon, the second icon, and the third icon have been drawn After the preset map.
  • the method further comprises: acquiring first orientation information of the aircraft and second orientation information of the ground end; displaying an orientation of the aircraft on the preset map according to the first orientation information; and displaying an orientation of the ground end on the prefabricated map according to the second orientation information.
  • the first icon and the second icon are icons with direction indication; displaying the orientation of the aircraft on the preset map according to the first orientation information comprises: adjusting a pointing of the first icon according to the first orientation information; according to the second orientation information Displaying the orientation of the ground end on the preset map includes adjusting the orientation of the second icon according to the second orientation information.
  • the method further includes: acquiring acquisition orientation information of the image collection device disposed on the aircraft; and displaying the acquired collection orientation information at the designated position of the first icon on the preset map.
  • the preset map after the first icon, the second icon, and the third icon have been drawn includes: displaying the preset map, the first icon, and the first in the display interface by using at least one of the following three display modes a second icon and a third icon: in the first display mode, the first orientation information is set as a reference direction, and the display direction of the preset map and the orientation of the second icon are adjusted based on the first orientation information; In the display mode, the second orientation information is set as the reference direction, and the display direction of the preset map and the orientation of the first icon are adjusted based on the second orientation information; in the third display mode, the preset map is The predetermined geographic direction is set to the reference direction, and the pointing of the first icon and the pointing of the second icon are adjusted based on the preset map.
  • the presentation mode of the relative positional relationship in the ground end includes a main interface presentation mode and an auxiliary interface presentation mode, and the main interface presentation mode and the auxiliary interface presentation mode are switched according to the user's selection.
  • the main interface presentation mode includes: displaying a preset map in the main display interface on the ground end and displaying a relative position relationship between the aircraft, the ground end and the return target point; displaying the real-time in the picture-in-picture display interface set on the main display interface Get the video image taken by the aircraft.
  • the auxiliary interface presentation mode includes: displaying a video image captured by the aircraft acquired in real time in the main display interface; displaying the preset map and presenting the aircraft, the ground end, and returning in the picture-in-picture display interface disposed on the main display interface The relative positional relationship of the target points.
  • the method further includes: detecting a relative distance between the aircraft and the ground end; determining, according to the detected relative distance, whether the relative positional relationship between the aircraft and the ground end can be completely displayed under the current zoom level of the preset map; If not, the zoom level of the preset map is updated to completely display the relative positional relationship between the aircraft and the ground end.
  • the method further includes: detecting a relative distance between the aircraft, the ground end, and the return target point; determining, according to the detected relative distance, whether the aircraft, the ground end, and the return target point can be completely displayed under the current zoom level of the preset map.
  • the relative positional relationship if the judgment result is no, the zoom level of the preset map is adjusted to completely display the relative positional relationship between the aircraft, the ground end, and the return target point.
  • the method further includes: after detecting a click selection operation on the zoom button in the preset map, performing zoom display control on the preset map based on the click selection operation.
  • the method further includes: detecting a moving distance of the ground end, and if the detected moving distance is greater than a preset distance threshold, resetting the position of the returning target point to obtain the updated third position information; according to the updated third position information
  • the return target point is displayed on the map showing the relative positional relationship between the aircraft and the ground end.
  • the method further includes: detecting a distance of the aircraft from the return target point; if the detected distance value is greater than the preset return distance threshold, limiting the flight of the aircraft, or resetting the return target point, or issuing a prompt exceeding the distance limit.
  • the present invention provides a position prompting device for an aircraft, which is used as a ground end for controlling an aircraft, and the ground end includes: an information acquiring unit for acquiring first position information of a position where the aircraft is located, and acquiring a ground end
  • the second location information is connected to the information acquiring unit, and is configured to present the relative positional relationship between the aircraft and the ground end on the preset map according to the first location information and the second location information.
  • the information acquiring unit is further configured to acquire third position information of the return target point of the aircraft that has been set; the map processing unit further displays the return target point on the map showing the relative positional relationship between the aircraft and the ground end according to the third position information.
  • the ground end further includes a return navigation setting unit, and the return navigation setting unit is configured to set third position information, and the return navigation setting unit includes at least one or a combination of the following subunits: a first return setting subunit for setting the third position information a current position of the ground end, a second return setting subunit for setting the third position information as the current position of the aircraft; and a third return setting subunit for specifying at least one of the third position information on the preset map Or combination.
  • the map processing unit is configured to draw a first icon corresponding to the aircraft on the preset map according to the first location information; and draw a second icon corresponding to the ground end on the preset map according to the second location information;
  • the location information draws a third icon corresponding to the return target point on the preset map; and displays the preset map after the first icon, the second icon, and the third icon have been drawn.
  • the information acquiring unit is further configured to acquire the first orientation information of the aircraft and the second orientation information of the ground end; the map processing unit is further configured to: display the orientation of the aircraft on the preset map according to the first orientation information; according to the second orientation The information shows the orientation of the ground end on the preset map.
  • the first icon and the second icon are icons with direction indication
  • the map processing unit is configured to adjust the orientation of the first icon according to the first orientation information, and adjust the orientation of the second icon according to the second orientation information.
  • the information acquiring unit is further configured to acquire the collection orientation information of the image collection device disposed on the aircraft; the map processing unit is further configured to display the acquired collection orientation information at the designated position of the first icon on the preset map.
  • the map processing unit displays the preset map, the first icon, the second icon, and the third icon in the display interface by using at least one of the following three display modes: in the first display mode, the first orientation information is Set as a reference direction, and adjust the display direction of the preset map and the orientation of the second icon based on the first orientation information; in the second display mode, set the second orientation information as the reference direction and the second orientation The information is used as a reference to adjust the display direction of the preset map and the orientation of the first icon; in the third display mode, the predetermined geographic direction on the preset map is set as the reference direction, and the first icon is adjusted based on the preset map. Pointing, pointing to the second icon.
  • the presentation mode of the map processing unit for the relative position relationship includes a main interface presentation mode and an auxiliary interface presentation mode, and the main interface presentation mode and the auxiliary interface presentation mode are switched according to the user's selection.
  • the main interface presentation mode includes: displaying a video image in the main display interface on the ground end and presenting a relative position relationship between the aircraft, the ground end, and the return target point; displaying real-time acquisition in the picture-in-picture display interface set on the main display interface Video image taken by the aircraft.
  • the auxiliary interface presentation mode includes: displaying a video image captured by the aircraft acquired in real time in the main display interface; displaying the video image and presenting the aircraft, the ground end, and the returning target in the picture-in-picture display interface disposed on the main display interface; The relative positional relationship of points.
  • the ground end further includes a map zooming unit for detecting the relative distance between the aircraft and the ground end; and determining whether the aircraft and the ground end can be completely displayed under the current zoom level of the preset map according to the detected relative distance. Relative positional relationship; if the judgment result is no, the zoom level of the preset map is updated to completely display the relative positional relationship between the aircraft and the ground end.
  • the map zooming unit is configured to detect a relative distance between the aircraft, the ground end, and the return target point; and determine, according to the detected relative distance, whether the aircraft, the ground end, and the return target can be completely displayed under the current zoom level of the preset map.
  • the map zooming unit is configured to perform zoom display control on the preset map based on the click selection operation after detecting the click selection operation on the zoom button in the preset map.
  • the map processing unit is configured to detect a moving distance of the ground end. If the detected moving distance is greater than a preset distance threshold, the position of the returning target point is reset, and the updated third position information is obtained; according to the updated The three-position information displays the return destination point on the map showing the relative positional relationship between the aircraft and the ground end.
  • the map processing unit is configured to detect a distance of the aircraft from the return target point; if the detected distance value is greater than a preset return distance threshold, limit the flight of the aircraft, or reset the return target point, or issue a distance limit prompt.
  • the invention has the beneficial effects of: acquiring the first position information of the position of the aircraft, acquiring the second position information of the ground end; and presenting the relative positional relationship between the aircraft and the ground end on the preset map according to the first position information and the second position information. It is possible to intuitively provide an aircraft state such as a flight position.
  • FIG. 1 is a schematic flow chart of a method for prompting a position of an aircraft according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a first presentation mode in a main interface presentation mode of an aircraft position of the present invention
  • FIG. 3 is a schematic diagram of a second presentation mode in a main interface presentation mode of the aircraft position of the present invention.
  • FIG. 4 is a schematic diagram of a third presentation mode in a main interface presentation mode of the aircraft position of the present invention.
  • Figure 5 is a schematic diagram showing the auxiliary interface presentation mode of the aircraft position of the present invention.
  • Fig. 6 is a schematic structural view of a ground end according to an embodiment of the present invention.
  • FIG. 1 is a schematic flow chart of a method for prompting a position of an aircraft according to an embodiment of the present invention. As shown in FIG. 1, the position prompting method of the aircraft includes:
  • Step S10 Acquire first position information of the location where the aircraft is located, and acquire second location information of the ground end.
  • the obtained first location information includes a latitude and longitude of the aircraft and a flying height.
  • the acquired second location information includes the latitude and longitude of the ground end, and the orientation of the pointing needle itself indicating the orientation of the ground end under the second location information may also be acquired.
  • the first position information is obtained by GPS positioning on the aircraft, and the GPS signal indicator on the aircraft is used to display whether there is a GPS signal, wherein the GPS signal indicator is green to indicate that there is a GPS signal, and the GPS signal indicator is red to indicate that there is no GPS signal.
  • the second location information is obtained by GPS positioning on the ground end, and the ground terminal may be a handheld terminal such as a mobile phone, or may be a control terminal that can be remotely controlled by a computer or the like.
  • Step S11 The relative positional relationship between the aircraft and the ground end is presented on the preset map according to the first location information and the second location information.
  • the preset map is displayed on the display screen at the ground end, and the predetermined geographic direction of the preset map can be displayed by the compass.
  • the position of the aircraft and the ground end are presented on the preset map in real time, and the user can clearly know the relative positional relationship between the two, so that the aircraft such as the flight position can be intuitively provided. status.
  • the third position information of the return target point of the aircraft that has been set is also acquired, and the return target point is displayed on the map showing the relative positional relationship of the aircraft and the ground end according to the third position information.
  • the acquired third position information includes the latitude and longitude of the set returning target point of the aircraft, and further, the third position information may further include the latitude and longitude and the height of the returning target point as needed.
  • the third position information of the return target point of the aircraft is set through the ground end.
  • the third location information may be set to at least one or a combination of the current location of the ground terminal, the third location information as the current location of the aircraft, and the designated return location on the preset map as the third location information.
  • the embodiment of the present invention detects the moving distance of the ground end. If the detected moving distance is greater than the preset distance threshold, the position of the returning target point is reset, and the updated third position information is obtained; according to the updated third position information, The return destination point is displayed on the map showing the relative positional relationship between the aircraft and the ground end. Or detecting the distance of the aircraft from the return target point; if the detected distance value is greater than the preset return distance threshold, limiting the flight of the aircraft, or resetting the return target point, or issuing a prompt exceeding the distance limit. Therefore, the third position information can be reset at any time during the flight of the aircraft, and the position indicated by the third position information can be any position on the preset map.
  • the returning target point is used for the aircraft during the flight. After the user clicks back to return, the aircraft returns to the returning target point autonomously. Of course, during the return of the aircraft, the user can also control the aircraft to cancel the return flight and hover the aircraft.
  • presenting the relative positional relationship of the aircraft, the ground end, and displaying the returning target point on the preset map includes: drawing a first icon corresponding to the aircraft on the preset map according to the first position information And drawing a second icon corresponding to the ground end on the preset map according to the second position information; drawing a third icon corresponding to the returning target point on the preset map according to the third position information; displaying that the first icon has been drawn, The second icon and the preset map after the third icon.
  • the first orientation information of the aircraft and the second orientation information of the ground end are also acquired.
  • the first orientation information of the aircraft may be acquired based on the orientation of the compass configured in the aircraft, and the second orientation information of the ground end may also be acquired based on the orientation of the compass configured in the ground end.
  • the orientation of the aircraft is displayed on the preset map according to the first orientation information, and the orientation of the ground end is displayed on the preset map according to the second orientation information.
  • the first icon and the second icon are icons having direction indication; the orientation of the first icon is adjusted according to the first orientation information, and the orientation of the second icon is adjusted according to the second orientation information.
  • a pan/tilt is further mounted on the aircraft, and an image capturing device driven by the pan/tilt is mounted on the pan/tilt. Therefore, the embodiment of the present invention further acquires the collection orientation information of the image collection device disposed on the aircraft; and displays the acquired collection orientation information at the designated position of the first icon on the preset map.
  • the acquisition orientation information of the image acquisition device can be obtained by an angle sensor disposed on the pan/tilt.
  • the preset map, the first icon, the second icon, and the third icon may be displayed in the display interface by using at least one of the following three display modes:
  • the first orientation information is set as the reference direction, and the display direction of the preset map and the orientation of the second icon are adjusted based on the first orientation information, that is, the flight direction of the aircraft in actual flight.
  • the display direction of the first icon with directivity does not change, and the direction of the map and the display of the second icon on the ground end change.
  • the second orientation information is set as the reference direction, and the display direction of the preset map and the orientation of the first icon are adjusted based on the second orientation information.
  • the direction of the ground end changes.
  • the display direction of the second icon with directivity does not change, and the direction of the map and the display direction of the second icon change.
  • the predetermined geographic direction on the preset map is set as the reference direction, and the pointing of the first icon and the pointing of the second icon are adjusted based on the preset map.
  • the direction of the map is always When the direction of the aircraft changes, the direction of the first icon is adjusted, and when the direction of the ground end changes, the orientation of the second icon is changed.
  • the above three display modes can be arbitrarily switched during flight of the aircraft.
  • the presentation mode of the relative position relationship in the ground end includes a main interface presentation mode and an auxiliary interface presentation mode, and the main interface presentation mode and the auxiliary interface presentation mode are switched according to the user's selection.
  • the user can switch between the main interface presentation mode and the auxiliary interface presentation mode by clicking or sliding on the ground side.
  • the main interface presentation mode includes: displaying a preset map in the main display interface on the ground end and displaying a relative position relationship between the aircraft, the ground end, and the returning target point; displaying the real-time acquisition in the picture-in-picture display interface set on the main display interface Video image taken by the aircraft.
  • FIG. 2 is a schematic diagram of a first presentation mode of a main interface presentation mode of an aircraft position of the present invention
  • FIG. 3 is a schematic diagram of a second presentation mode of a main interface presentation mode of an aircraft position of the present invention.
  • 4 is a schematic diagram of a third presentation mode of the main interface presentation mode of the aircraft position of the present invention.
  • the preset map 10 is displayed in the main display interface, and the first icon 11 corresponding to the aircraft and the pointing 111 of the first icon 11 and the second icon 12 and the second icon 12 corresponding to the ground end are presented on the preset map 10. Point 121 and a third icon 13 corresponding to the return target point.
  • the video image 20 captured by the aircraft acquired in real time is displayed in the picture-in-picture display interface on the main display interface.
  • the position of the first icon 11 represents the first position information of the aircraft
  • the direction 111 of the first icon 11 represents the first orientation information of the aircraft
  • the position of the second icon 12 represents the first position information of the ground end
  • the pointing 121 of 12 represents the second orientation information of the ground end 12.
  • the first location information includes the latitude and longitude of the aircraft and the flying height.
  • the compass 14 in FIG. 2 indicates that the first orientation information is set as the reference direction, and the display direction of the preset map 10 and the orientation of the second icon 12 are adjusted based on the first orientation information.
  • the aircraft is in front of the compass mode, at this time the current position of the aircraft is directly in front of the reference direction, and the preset map 10, the ground end and other reference objects are moved relative to the aircraft.
  • the compass 14 in FIG. 3 indicates that the second orientation information is set as the reference direction, and the display direction of the preset map 10 and the orientation of the first icon 11 are adjusted based on the second orientation information. That is, the compass mode in which the ground end is directly forward, when the second orientation information of the ground end changes, the other reference objects relatively move. In the embodiment of the present invention, this mode is defaulted.
  • the attitude ball 15 is also shown in the lower right corner in Figure 2 for presenting the latitude and longitude of the aircraft, the ground end, the return target point, and the flying height of the aircraft.
  • the relative distance between the aircraft and the ground end is also detected. According to the detected relative distance, whether the relative positional relationship between the aircraft and the ground end can be completely displayed under the current zoom level of the preset map 10 If the result of the determination is no, the zoom level of the preset map 10 is updated to completely display the relative positional relationship between the aircraft and the ground end.
  • a zoom button 16 is also presented on the preset map 10 for zooming the preset map 10. The aircraft flies at the current map level.
  • the second icon 12 corresponding to the ground end and the third icon 13 corresponding to the return target point will be invisible on the preset map 10, and Clicking the zoom button 16 in the preset map 10, after detecting the click selection operation on the zoom button 16 in the preset map 10, performing zoom display control on the preset map 10 based on the click selection operation, so that the preset map 10 is zoomed to At the same time, the level of the relative positional relationship of the first icon 11, the second icon 12, and the third icon 13 is displayed, and then the zoom button 16 is clicked to return to the original position level of the aircraft.
  • the auxiliary interface presentation mode includes: displaying a video image captured by an aircraft acquired in real time in a main display interface; and being disposed on the main display interface.
  • the picture-in-picture display interface displays the relative positional relationship between the preset map and the rendering aircraft, the ground end, and the return target point.
  • the video image 20 captured by the aircraft acquired in real time is displayed in the main display interface, and the preset map 10 is displayed in the picture-in-picture display interface on the main display interface, and is displayed on the preset map 10 .
  • the compass 14 indicates that the predetermined geographic direction on the preset map 10 is set as the reference direction, and the pointing of the first icon 11 and the pointing of the second icon 12 are adjusted based on the preset map 10.
  • the state of the aircraft such as the flight position can be intuitively provided according to the positions of the first icon 11, the second icon 12, and the third icon 13 on the preset map.
  • the user can intuitively control the aircraft in real time according to the first position information and the first orientation information of the aircraft presented on the preset map 10, the second position information and the second orientation information of the ground end, and the third position information of the return target point.
  • Flight status or control aircraft to take pictures or video shots.
  • Fig. 6 is a schematic structural view of a ground end according to an embodiment of the present invention.
  • the ground end 30 is used to control the aircraft, and the ground end 30 includes an information acquisition unit 31, a map processing unit 32, a return navigation setting unit 33, and a map scaling unit 34.
  • the information acquiring unit 31 is configured to acquire the first location information of the location where the aircraft is located, and acquire the second location information of the ground terminal 30.
  • the map processing unit 32 is connected to the information acquiring unit 31, and is configured to use the first location information and the second location information according to the information.
  • the relative positional relationship between the aircraft and the ground end 30 is presented on the preset map.
  • the obtained first location information includes a latitude and longitude of the aircraft and a flying height.
  • the acquired second position information includes the latitude and longitude at which the ground end 30 is located and the pointing needle's own orientation indicating the orientation of the ground end.
  • the first position information is obtained by GPS positioning on the aircraft, and the GPS signal indicator on the aircraft is used to display whether there is a GPS signal, wherein the GPS signal indicator is green to indicate that there is a GPS signal, and the GPS signal indicator is red to indicate that there is no GPS signal.
  • the second location information is obtained by GPS positioning of the ground end 30, and the preset map is displayed on the display screen of the ground end 30, and the predetermined geographic direction of the preset map can be displayed by the compass.
  • the information acquiring unit 31 is further configured to acquire third position information of the return target point of the aircraft that has been set; the map processing unit 32 further displays the relative position of the aircraft and the ground end 30 according to the third position information.
  • the return destination point is displayed on the map of the relationship.
  • the third location information includes the latitude and longitude of the set return target point of the aircraft, and further, the third location information may further include the latitude and longitude and the height of the return target point as needed.
  • the third location information can be reset at any time during flight of the aircraft.
  • the return setting unit 33 can be used to set the third position information.
  • the third position information can be set to the current position of the ground end 30, the third position information is set to the current position of the aircraft, and the return is specified on the preset map.
  • the location is at least one or a combination of the third location information.
  • the return setting unit 33 can detect the moving distance of the ground end. If the detected moving distance is greater than the preset distance threshold, the position of the returning target point is reset, and the updated third position information is obtained, and according to the updated third position.
  • the information displays the return destination point on a map showing the relative positional relationship of the aircraft and the ground end 30.
  • the return setting unit 33 may detect the distance of the aircraft from the return target point; if the detected distance value is greater than the preset return distance threshold, limit the flight of the aircraft, or reset the return target point, or issue a prompt exceeding the distance limit. Therefore, the return setting unit 33 can set the position indicated by the third position information to any position on the preset map.
  • the returning target point is used for the aircraft during the flight. After the user clicks back to return, the aircraft returns to the returning target point autonomously. Of course, during the return of the aircraft, the user can also control the aircraft to cancel the return flight and hover the aircraft.
  • the map processing unit 32 presents the relative positional relationship of the aircraft, the ground end 30, and the display of the return target point on the preset map, including: drawing a first icon corresponding to the aircraft on the preset map according to the first position information, according to the first
  • the second location information draws a second icon corresponding to the ground end 30 on the preset map, and draws a third icon corresponding to the return target point on the preset map according to the third location information, and then displays the first icon that has been drawn, The second icon and the preset map after the third icon.
  • the first icon and the second icon are icons with direction indication.
  • the information acquisition unit 31 further acquires the first orientation information of the aircraft and the second orientation information of the ground terminal 30.
  • the first orientation information of the aircraft may be acquired based on the orientation of the compass configured in the aircraft, and the second orientation information of the ground end 30 may also be acquired based on the orientation of the compass configured in the ground end 30.
  • the map processing unit 32 is further configured to display the orientation of the aircraft on the preset map according to the first orientation information, and display the orientation of the ground end 30 on the preset map according to the second orientation information. Specifically, the map processing unit 32 adjusts the orientation of the first icon according to the first orientation information; and adjusts the orientation of the second icon according to the second orientation information.
  • a pan/tilt is further mounted on the aircraft, and an image capturing device driven by the pan/tilt is mounted on the pan/tilt. Therefore, the information acquisition unit 31 further acquires the collection orientation information of the image collection device provided on the aircraft, and the map processing unit 32 further displays the acquired collection orientation information at the designated position of the first icon on the preset map.
  • the acquisition orientation information of the image acquisition device can be obtained by an angle sensor disposed on the pan/tilt.
  • the map zooming unit 34 is configured to detect the relative distance between the aircraft and the ground end 30; and determine whether the aircraft and the ground end 30 can be completely displayed under the current zoom level of the preset map according to the detected relative distance. The relative positional relationship between the two; if the judgment result is no, the zoom level of the preset map is updated to completely display the relative positional relationship between the aircraft and the ground end.
  • the map zooming unit 34 is further configured to detect a relative distance between the aircraft, the ground end 30, and the return target point; and determine, according to the detected relative distance, whether the aircraft, the ground end 30, and the ground end 30 can be completely displayed under the current zoom level of the preset map.
  • a zoom button is also displayed on the preset map for scaling the preset map.
  • the aircraft flies at the current map level. After a period of flight, the second icon corresponding to the ground end 30 and the third icon corresponding to the return target point will be invisible on the preset map.
  • the zoom button in the map is set, after detecting the click selection operation on the zoom button in the preset map, the zoom display control is performed on the preset map based on the click selection operation, so that the preset map is zoomed to display the first icon and the second at the same time.
  • the level of the relative positional relationship between the icon and the third icon, and then clicking the zoom button returns to the original position level of the aircraft.
  • the map processing unit 32 may display the preset map, the first icon, the second icon, and the third icon in the display interface by using at least one of the following three display modes: in the first display mode Next, the first icon is set to point to a predetermined direction of the display interface, and the preset map, the second icon, and the third icon are adjusted based on the first icon. Specifically, the aircraft is in front of the compass mode, at this time the current position of the aircraft is directly in front of the reference direction, and the preset map, the ground end 30 and other reference objects are moved relative to the aircraft.
  • the second icon is set to point to a predetermined direction of the display interface, and the preset map, the first icon, and the third icon are adjusted based on the second icon. That is, the compass mode in which the ground end is directly forward, when the second orientation information of the ground end 30 is changed, the other reference objects relatively move. In the embodiment of the present invention, this mode is defaulted.
  • the predetermined geographic direction on the preset map is set to point to a predetermined direction of the display interface, and the first icon, the second icon, and the third icon are adjusted based on the preset map. That is, the north of the preset map is taken as the reference direction, and other reference objects such as the aircraft are moved in this direction.
  • the above three display mode users can perform any switching during the flight of the aircraft.
  • the presentation mode of the relative positional relationship by the map processing unit 32 includes a main interface presentation mode and an auxiliary interface presentation mode, and the main interface presentation mode and the auxiliary interface presentation mode are switched according to the user's selection.
  • the user can switch between the main interface presentation mode and the auxiliary interface presentation mode by a click or slide operation at the ground end 30.
  • the main interface presentation mode includes: displaying the relative position relationship between the preset map and the rendering aircraft, the ground end 30, and the returning target point in the ground end 30 main display interface; displaying the real-time in the picture-in-picture display interface set on the main display interface Get the video image taken by the aircraft.
  • the auxiliary interface presentation mode includes: displaying a video image captured by the aircraft acquired in real time in the main display interface; displaying the preset map and presenting the aircraft, the ground end 30, and the returning target in the picture-in-picture display interface disposed on the main display interface
  • the relative positional relationship of points In the main interface presentation mode or the auxiliary interface presentation mode, the above three display modes may be used to display the preset map, the first icon, the second icon, and the third icon, that is, the above three display modes may be used to display the preset.
  • the ground end 30 passes the first position information and the first orientation information of the aircraft acquired by the information acquisition unit 31, the second position information and the second orientation information of the ground end 30, and the third position information of the return target point by the map processing unit 32.
  • the user can intuitively provide aircraft status such as flight location for better control of the aircraft.
  • the ground terminal 30 may be a handheld terminal such as a mobile phone, or may be a control terminal that can be remotely controlled by a computer, etc., and can control the takeoff and landing of the aircraft by one button, and can set the remote controller mode, and the aircraft returns the shooting. Picture quality mode of the picture or video, etc.
  • the ground end 30 can also control the aircraft to perform heading lock, return target point lock, target point lock during flight, or control the flight of the aircraft to coincide with the movement of the ground end 30.
  • the ground terminal 30 can also be set as a master-slave machine, which acts as a remote control data center, and the aircraft returns data to the ground terminal 30 in real time, ensuring that all data information from the start of the aircraft mission to the end is saved, and the user can view past flight information and playback mission routes. And share, or let other aircraft perform this task.
  • the ground end 30 can also add a self-check function, so that when the aircraft is abnormal, the user only needs to check the status information of each part of the aircraft with one button to obtain a solution.
  • the disclosed systems, systems, and methods may be implemented in other manners.
  • the system embodiment described above is merely illustrative.
  • the division of the module or unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, system or unit, and may be electrical, mechanical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory, random access memory (RAM), disk or optical disk, and other media that can store program code.
  • the present invention obtains first position information of a position where the aircraft is located, acquires second position information of the ground end, and sets third position information of the return target point of the aircraft; and then according to the first position information and the second position information.
  • the third position information presents a relative positional relationship between the aircraft, the ground end, and the return target point on the preset map, and can intuitively provide an aircraft state such as a flight position.

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Abstract

本发明公开了一种飞行器的位置提示方法及装置，方法包括：获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息；根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端的相对位置关系。通过以上公开内容，本发明能够直观地提供诸如飞行位置等内容的飞行器状态。

Description

飞行器的位置提示方法及装置
【技术领域】
本发明涉及通信领域，特别是涉及一种飞行器的位置提示方法及装置。
【背景技术】
FPV（First Person View，第一人称主视角）是一种基于遥控航空模型或者车辆模型上加装无线摄像头回传设备、在地面看屏幕操作遥控模型的新玩法。随着社会科技和经济的发展，越来越多人喜欢航模，动辄上万的航模设备也不在少数，对于航模飞行器的飞行状态的获取也越来越重要。
然而，目前在FPV超视距飞行中，用户无法获取航模飞行器的一些飞行参数，并且也不能直观地向操纵者展示航模飞行器的状态，不便于用户对飞行器的飞行操控。
【发明内容】
本发明解决的技术问题是，提供一种飞行器的位置提示方法及装置，能够直观地提供诸如飞行位置等内容的飞行器状态。
为解决上述技术问题，本发明提供了一种飞行器的位置提示方法，包括：获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息；根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端的相对位置关系。
其中，方法还包括：获取已设置的飞行器的返航目标点的第三位置信息，并根据第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。
其中，第三位置信息通过地面端进行设置。
其中，设置第三位置信息包括：将第三位置信息设置为地面端的当前位置、将第三位置信息设置为飞行器的当前位置以及在预置地图上指定返航位置作为第三位置信息中的至少一者或组合。
其中，在预置的地图上呈现飞行器、地面端的相对位置关系、以及显示返航目标点，包括：根据第一位置信息在预置地图上绘制与飞行器对应的第一图标；根据第二位置信息在预置地图上绘制与地面端对应的第二图标；根据第三位置信息在预置地图上绘制与返航目标点对应的第三图标；显示已绘制了第一图标、第二图标以及第三图标后的预置地图。
其中，方法进一步包括：获取飞行器的第一朝向信息和地面端的第二朝向信息；根据第一朝向信息在预置地图上显示飞行器的朝向；根据第二朝向信息在预制地图上显示地面端的朝向。
其中，第一图标和第二图标为具有方向指示性的图标；根据第一朝向信息在预置地图上显示飞行器的朝向包括：根据第一朝向信息调整第一图标的指向；根据第二朝向信息在预置地图上显示地面端的朝向包括：根据第二朝向信息调整第二图标的指向。
其中，方法还包括：获取飞行器上设置的图像采集装置的采集朝向信息；在预置地图上第一图标的指定位置处显示获取的采集朝向信息。
其中，显示已绘制了第一图标、第二图标以及第三图标后的预置地图，包括：通过以下三种显示模式中的至少一种在显示界面内显示预置地图、第一图标、第二图标和第三图标：在第一种显示模式下，将第一朝向信息设置为参考方向，并以第一朝向信息为基准调整预置地图的显示方向、第二图标的指向；在第二种显示模式下，将第二朝向信息设置为参考方向，并以第二朝向信息为基准调整预置地图的显示方向、第一图标的指向；在第三种显示模式下，将预置地图上的预定地理方向设置成参考方向，并以预置地图为基准调整第一图标的指向、第二图标的指向。
其中，地面端中对相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。
其中，主界面呈现模式包括：在地面端主显示界面中显示预置地图和呈现飞行器、地面端以及返航目标点的相对位置关系；在设置于主显示界面上的画中画显示界面中显示实时获取到的飞行器拍摄的视频图像。
其中，辅助界面呈现模式包括：在主显示界面中显示实时获取到的飞行器拍摄的视频图像；在设置于主显示界面上的画中画显示界面中显示预置地图和呈现飞行器、地面端以及返航目标点的相对位置关系。
其中，还包括：检测飞行器、地面端之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器与地面端之间的相对位置关系；若判断结果为否，则更新预置地图的缩放等级，以完整显示飞行器与地面端之间的相对位置关系。
其中，还包括：检测飞行器、地面端以及返航目标点之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器、地面端以及返航目标点之间的相对位置关系；若判断结果为否，则调整预置地图的缩放等级，以完整显示飞行器、地面端以及返航目标点之间的相对位置关系。
其中，还包括：在检测到对预置地图中缩放按钮的点击选择操作后，基于点击选择操作对预置地图进行缩放显示控制。
其中，还包括：检测地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置返航目标点的位置，得到更新后的第三位置信息；根据更新后的第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。
其中，还包括：检测飞行器距离返航目标点的距离；如果检测到的距离值大于预设的返航距离阈值，则限制飞行器的飞行、或者重新设置返航目标点、或者发出超出距离限制的提示。
为解决上述技术问题，本发明提供了一种飞行器的位置提示装置，作为地面端用于控制飞行器，地面端包括：信息获取单元，用于获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息；地图处理单元，与信息获取单元连接，用于根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端的相对位置关系。
其中，信息获取单元还用于获取已设置的飞行器的返航目标点的第三位置信息；地图处理单元还根据第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。
其中，地面端进一步包括返航设置单元，返航设置单元用于设置第三位置信息，返航设置单元包括以下子单元中的至少一个或组合：第一返航设置子单元，用于将第三位置信息设置为地面端的当前位置、第二返航设置子单元，用于将第三位置信息设置为飞行器的当前位置；第三返航设置子单元，用于在预置地图上指定第三位置信息中的至少一者或组合。
其中，地图处理单元，用于根据第一位置信息在预置地图上绘制与飞行器对应的第一图标；根据第二位置信息在预置地图上绘制与地面端对应的第二图标；根据第三位置信息在预置地图上绘制与返航目标点对应的第三图标；显示已绘制了第一图标、第二图标以及第三图标后的预置地图。
其中，信息获取单元，还用于获取飞行器的第一朝向信息和地面端的第二朝向信息；地图处理单元还用于：根据第一朝向信息在预置地图上显示飞行器的朝向；根据第二朝向信息在预置地图上显示地面端的朝向。
其中，第一图标和第二图标为具有方向指示性的图标，地图处理单元，用于根据第一朝向信息调整第一图标的指向；根据第二朝向信息调整第二图标的指向。
其中，信息获取单元，还用于获取飞行器上设置的图像采集装置的采集朝向信息；地图处理单元，还用于在预置地图上第一图标的指定位置处显示获取的采集朝向信息。
其中，地图处理单元通过以下三种显示模式中的至少一种在显示界面内显示预置地图、第一图标、第二图标和第三图标：在第一种显示模式下，将第一朝向信息设置为参考方向，并以第一朝向信息为基准调整预置地图的显示方向、第二图标的指向；在第二种显示模式下，将第二朝向信息设置为参考方向，并以第二朝向信息为基准调整预置地图的显示方向、第一图标的指向；在第三种显示模式下，将预置地图上的预定地理方向设置成参考方向，并以预置地图为基准调整第一图标的指向、第二图标的指向。
其中，地图处理单元对相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。
其中，主界面呈现模式包括：在地面端主显示界面中显示视频图像和呈现飞行器、地面端以及返航目标点的相对位置关系；在设置于主显示界面上的画中画显示界面中显示实时获取到的飞行器拍摄的视频图像。
其中，辅助界面呈现模式包括：在主显示界面中显示实时获取到的飞行器拍摄的视频图像；在设置于主显示界面上的画中画显示界面中显示视频图像和呈现飞行器、地面端以及返航目标点的相对位置关系。
其中，地面端还包括地图缩放单元，用于检测飞行器、地面端之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器与地面端之间的相对位置关系；若判断结果为否，则更新预置地图的缩放等级，以完整显示飞行器与地面端之间的相对位置关系。
其中，地图缩放单元，用于检测飞行器、地面端以及返航目标点之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器、地面端以及返航目标点之间的相对位置关系；若判断结果为否，则调整预置地图的缩放等级，以完整显示飞行器、地面端以及返航目标点之间的相对位置关系。
其中，地图缩放单元，用于在检测到对预置地图中缩放按钮的点击选择操作后，基于点击选择操作对预置地图进行缩放显示控制。
其中，地图处理单元，用于检测地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置返航目标点的位置，得到更新后的第三位置信息；根据更新后的第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。
其中，地图处理单元，用于检测飞行器距离返航目标点的距离；如果检测到的距离值大于预设的返航距离阈值，则限制飞行器的飞行、或者重新设置返航目标点、或者发出超出距离限制的提示。
本发明的有益效果是：通过获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息；再根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端的相对位置关系，能够直观地提供诸如飞行位置等内容的飞行器状态。
【附图说明】
图1是本发明实施例的飞行器的位置提示方法的流程示意图；
图2是本发明飞行器位置的主界面呈现模式中的第一种呈现模式示意图；
图3是本发明飞行器位置的主界面呈现模式中的第二种呈现模式示意图；
图4是本发明飞行器位置的主界面呈现模式中的第三种呈现模式示意图；
图5是本发明飞行器位置的辅助界面呈现模式示意图；
图6是本发明实施例的地面端的结构示意图。
【具体实施方式】
请参阅图1，图1是本发明实施例的飞行器的位置提示方法的流程示意图。如图1所示，飞行器的位置提示方法包括：
步骤S10：获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息。
其中，获取的第一位置信息包括飞行器所在的经纬度以及飞行高度。获取的第二位置信息包括地面端所在的经纬度，还可以同时获取在第二位置信息下表示地面端朝向的指向针自身朝向。第一位置信息通过飞行器上的GPS定位获取，飞行器上GPS信号指示灯用于显示是否有GPS信号，其中，GPS信号指示灯为绿色表示有GPS信号，GPS信号指示灯为红色表示没有GPS信号。第二位置信息通过地面端的GPS定位获取，地面端可以是手机等手持终端，也可以是计算机等可以进行遥控的控制终端。
步骤S11：根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端的相对位置关系。
其中，预置地图显示在地面端的显示屏上，预置地图的预定地理方向可以通过指南针进行显示。在本发明实施例中，实时地将飞行器、地面端的位置都在预置地图上呈现出来，用户可以很清晰地知道两者的相对位置关系，也就能够直观地提供诸如飞行位置等内容的飞行器状态。
在更具体的实施例中，还获取已设置的飞行器的返航目标点的第三位置信息，并根据第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。获取的第三位置信息包括设置的飞行器的返航目标点的经纬度，且进一步地，第三位置信息还可以根据需要同时包括返航目标点的经纬度和高度。飞行器的返航目标点的第三位置信息是通过地面端进行设置的。具体地，可以将第三位置信息设置为地面端的当前位置、将第三位置信息设置为飞行器的当前位置以及在预置地图上指定返航位置作为第三位置信息中的至少一者或组合。本发明实施例检测地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置返航目标点的位置，得到更新后的第三位置信息；根据更新后的第三位置信息在已显示飞行器、地面端的相对位置关系的地图上显示返航目标点。或者检测飞行器距离返航目标点的距离；如果检测到的距离值大于预设的返航距离阈值，则限制飞行器的飞行、或者重新设置返航目标点、或者发出超出距离限制的提示。因此在飞行器飞行过程中可以随时重新设置第三位置信息，第三位置信息所指示的位置可以是预置地图上的任一位置。返航目标点用于飞行器在飞行过程中，用户一键点击返航后，飞行器自主返回至返航目标点，当然在飞行器返航过程中用户也可以控制飞行器取消返航，使飞行器悬停。
在本发明可选实施例中，在预置的地图上呈现飞行器、地面端的相对位置关系、以及显示返航目标点，包括：根据第一位置信息在预置地图上绘制与飞行器对应的第一图标；根据第二位置信息在预置地图上绘制与地面端对应的第二图标；根据第三位置信息在预置地图上绘制与返航目标点对应的第三图标；显示已绘制了第一图标、第二图标以及第三图标后的预置地图。
在本发明实施例中，还获取飞行器的第一朝向信息和地面端的第二朝向信息。飞行器的第一朝向信息可以基于飞行器中配置的指南针的朝向来获取，地面端的第二朝向信息同样可以基于地面端中配置的指南针的朝向来获取。根据第一朝向信息在预置地图上显示飞行器的朝向，根据第二朝向信息在预置地图上显示地面端的朝向。第一图标和第二图标为具有方向指示性的图标；根据第一朝向信息调整第一图标的指向，根据第二朝向信息调整第二图标的指向。
在本发明实施例中，在飞行器上还搭载云台，并在云台上搭载由云台进行传动的图像采集装置。因此，本发明实施例还获取飞行器上设置的图像采集装置的采集朝向信息；并在预置地图上第一图标的指定位置处显示获取的采集朝向信息。其中，图像采集装置的采集朝向信息可以通过设置在云台上的角度传感器获得。
在本发明实施例中，可以通过以下三种显示模式中的至少一种在显示界面内显示预置地图、第一图标、第二图标和第三图标：
在第一种显示模式下，将第一朝向信息设置为参考方向，并以第一朝向信息为基准调整预置地图的显示方向、第二图标的指向，即实际飞行中，飞行器的飞行方向若发生变化，带指向性的第一图标的显示方向不变，地图的方向和地面端的第二图标的显示对应发生改变。
在第二种显示模式下，将第二朝向信息设置为参考方向，并以第二朝向信息为基准调整预置地图的显示方向、第一图标的指向，同理，在地面端的方向发生变化时，带指向性的第二图标的显示方向不变，地图的方向和第二图标的显示方向发生变化。
在第三种显示模式下，将预置地图上的预定地理方向设置成参考方向，并以预置地图为基准调整第一图标的指向、第二图标的指向，同理，地图的方向始终不变，飞行器的方向发生变化时，调整所述第一图标的指向，地面端的方向发生变化时，改变所述第二图标的指向即可。
上述三种显示模式在飞行器飞行过程中可以任意切换。而地面端中对相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。用户可以通过在地面端的点击或滑动等操作在主界面呈现模式和辅助界面呈现模式中进行切换。主界面呈现模式包括：在地面端主显示界面中显示预置地图和呈现飞行器、地面端以及返航目标点的相对位置关系；在设置于主显示界面上的画中画显示界面中显示实时获取到的飞行器拍摄的视频图像。
具体地参见图2-4，其中图2是本发明飞行器位置的主界面呈现模式的第一种呈现模式示意图，图3是本发明飞行器位置的主界面呈现模式的第二种呈现模式示意图，图4是本发明飞行器位置的主界面呈现模式的第三种呈现模式示意图。在主显示界面中显示预置地图10，并在预置地图10上呈现与飞行器对应的第一图标11和第一图标11的指向111、与地面端对应的第二图标12和第二图标12的指向121、以及与返航目标点对应的第三图标13。实时获取到的飞行器拍摄的视频图像20显示在主显示界面上的画中画显示界面中。其中，第一图标11所处位置表示飞行器的第一位置信息，第一图标11的指向111表示飞行器的第一朝向信息，第二图标12所处位置表示地面端的第一位置信息，第二图标12的指向121表示地面端12的第二朝向信息。第一位置信息包括飞行器所在的经纬度以及飞行高度。图2中的指南针14表示将第一朝向信息设置为参考方向，并以第一朝向信息为基准调整预置地图10的显示方向、第二图标12的指向。具体地，即以飞行器为正前的指南针模式，此时飞行器当前位置正前方为参考方向，预置地图10、地面端等其他参考物相对飞行器移动。图3中的指南针14表示将第二朝向信息设置为参考方向，并以第二朝向信息为基准调整预置地图10的显示方向、第一图标11的指向。即以地面端为正前的指南针模式，此时地面端的第二朝向信息改变时，其他参考物相对移动。在本发明实施例中，默认为此模式。图4中的指南针14表示将预置地图10上的预定地理方向设置成参考方向，并以预置地图10为基准调整第一图标11的指向、第二图标12的指向。即以预置地图10的正北方为参考方向，此时飞行器等其他参考物相对此方向移动。图2中还在右下角显示姿态球15，以用于呈现飞行器、地面端、返航目标点的经纬度，以及飞行器的飞行高度。
在本发明实施例中，还检测飞行器、地面端之间的相对距离；根据检测到的相对距离判断在预置地图10当前的缩放等级下是否能完整显示飞行器与地面端之间的相对位置关系；若判断结果为否，则更新预置地图10的缩放等级，以完整显示飞行器与地面端之间的相对位置关系。或者还检测飞行器、地面端以及返航目标点之间的相对距离；根据检测到的相对距离判断在预置地图10当前的缩放等级下是否能完整显示飞行器、地面端以及返航目标点之间的相对位置关系；若判断结果为否，则调整预置地图10的缩放等级，以完整显示飞行器、地面端以及返航目标点之间的相对位置关系。如图2所示，在预置地图10上还呈现缩放按钮16，用于对预置地图10进行缩放。飞行器以当前地图级别飞行，经过一段时间飞行器飞远后，与地面端对应的第二图标12以及与返航目标点对应的第三图标13将会在预置地图10是看不见的，此时可以点击预置地图10中缩放按钮16，在检测到对预置地图10中缩放按钮16的点击选择操作后，基于点击选择操作对预置地图10进行缩放显示控制，使预置地图10缩放到可以同时显示第一图标11、第二图标12以及第三图标13的相对位置关系的级别，再点击缩放按钮16则恢复到飞行器原来的位置级别。
图5是本发明飞行器位置的辅助界面呈现模式示意图，如图5所示，辅助界面呈现模式包括：在主显示界面中显示实时获取到的飞行器拍摄的视频图像；在设置于主显示界面上的画中画显示界面中显示预置地图和呈现飞行器、地面端以及返航目标点的相对位置关系。具体请继续参看图5，实时获取到的飞行器拍摄的视频图像20显示在主显示界面中，在主显示界面上的画中画显示界面中显示预置地图10，并在预置地图10上呈现与飞行器对应的第一图标11和第一图标11的指向、与地面端对应的第二图标12和第二图标12的指向、以及与返航目标点对应的第三图标13。指南针14表示将预置地图10上的预定地理方向设置成参考方向，并以预置地图10为基准调整第一图标11的指向、第二图标12的指向。其中，类似地也可以有三种模式在设置于主显示界面上的画中画显示界面中显示预置地图和呈现飞行器、地面端以及返航目标点的相对位置关系，在此不再赘述。如此根据第一图标11、第二图标12以及第三图标13的在预置地图上的位置可以直观地提供诸如飞行位置等内容的飞行器状态。并且用户可以直观地根据预置地图10上呈现的飞行器的第一位置信息和第一朝向信息、地面端的第二位置信息和第二朝向信息、以及返航目标点的第三位置信息实时控制飞行器的飞行状态或控制飞行器进行图片或视频的拍摄。
图6是本发明实施例的地面端的结构示意图。如图6所示，地面端30用于控制飞行器，地面端30包括：信息获取单元31、地图处理单元32、返航设置单元33以及地图缩放单元34。信息获取单元31用于获取飞行器所在位置的第一位置信息、获取地面端30的第二位置信息；地图处理单元32与信息获取单元31连接，用于根据第一位置信息、第二位置信息在预置地图上呈现飞行器、地面端30的相对位置关系。其中，获取的第一位置信息包括飞行器所在的经纬度以及飞行高度。获取的第二位置信息包括地面端30所在的经纬度以及表示地面端朝向的指向针自身朝向。第一位置信息通过飞行器上的GPS定位获取，飞行器上GPS信号指示灯用于显示是否有GPS信号，其中，GPS信号指示灯为绿色表示有GPS信号，GPS信号指示灯为红色表示没有GPS信号，而第二位置信息通过地面端30的GPS定位获取，预置地图显示在地面端30的显示屏上，预置地图的预定地理方向可以通过指南针进行显示。
在本发明实施例中，信息获取单元31还用于获取已设置的飞行器的返航目标点的第三位置信息；地图处理单元32还根据第三位置信息在已显示飞行器、地面端30的相对位置关系的地图上显示返航目标点。其中，第三位置信息包括设置的飞行器的返航目标点的经纬度，且进一步地，第三位置信息还可以根据需要同时包括返航目标点的经纬度和高度。第三位置信息在飞行器飞行过程中可以随时进行重新设置。返航设置单元33可以用于设置第三位置信息，具体地，可以将第三位置信息设置为地面端30的当前位置、将第三位置信息设置为飞行器的当前位置以及在预置地图上指定返航位置作为第三位置信息中的至少一者或组合。返航设置单元33可以检测地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置返航目标点的位置，得到更新后的第三位置信息，并根据更新后的第三位置信息在已显示飞行器、地面端30的相对位置关系的地图上显示返航目标点。或者返航设置单元33可以检测飞行器距离返航目标点的距离；如果检测到的距离值大于预设的返航距离阈值，则限制飞行器的飞行、或者重新设置返航目标点、或者发出超出距离限制的提示。因此返航设置单元33可以将第三位置信息所指示的位置设置成预置地图上的任一位置。返航目标点用于飞行器在飞行过程中，用户一键点击返航后，飞行器自主返回至返航目标点，当然在飞行器返航过程中用户也可以控制飞行器取消返航，使飞行器悬停。
地图处理单元32在预置的地图上呈现飞行器、地面端30的相对位置关系、以及显示返航目标点，包括：根据第一位置信息在预置地图上绘制与飞行器对应的第一图标，根据第二位置信息在预置地图上绘制与地面端30对应的第二图标，根据第三位置信息在预置地图上绘制与返航目标点对应的第三图标，然后显示已绘制了第一图标、第二图标以及第三图标后的预置地图。第一图标和第二图标为具有方向指示性的图标。信息获取单元31进一步获取飞行器的第一朝向信息和地面端30的第二朝向信息。飞行器的第一朝向信息可以基于飞行器中配置的指南针的朝向来获取，地面端30的第二朝向信息同样可以基于地面端30中配置的指南针的朝向来获取。地图处理单元32还用于根据第一朝向信息在预置地图上显示飞行器的朝向，根据第二朝向信息在预置地图上显示地面端30的朝向。具体地，地图处理单元32根据第一朝向信息调整第一图标的指向；根据第二朝向信息调整第二图标的指向。
在本发明实施例中，在飞行器上还搭载云台，并在云台上搭载由云台进行传动的图像采集装置。因此，信息获取单元31进一步获取飞行器上设置的图像采集装置的采集朝向信息，而地图处理单元32进一步在预置地图上第一图标的指定位置处显示获取的采集朝向信息。其中，图像采集装置的采集朝向信息可以通过设置在云台上的角度传感器获得。
在本发明实施例中，地图缩放单元34用于检测飞行器、地面端30之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器与地面端30之间的相对位置关系；若判断结果为否，则更新预置地图的缩放等级，以完整显示飞行器与地面端之间的相对位置关系。或者地图缩放单元34还用于检测飞行器、地面端30以及返航目标点之间的相对距离；根据检测到的相对距离判断在预置地图当前的缩放等级下是否能完整显示飞行器、地面端30以及返航目标点之间的相对位置关系；若判断结果为否，则调整预置地图的缩放等级，以完整显示飞行器、地面端30以及返航目标点之间的相对位置关系。具体地，在预置地图上还呈现缩放按钮，用于对预置地图进行缩放。飞行器以当前地图级别飞行，经过一段时间飞行器飞远后，与地面端30对应的第二图标以及与返航目标点对应的第三图标将会在预置地图是看不见的，此时可以点击预置地图中缩放按钮，在检测到对预置地图中缩放按钮的点击选择操作后，基于点击选择操作对预置地图进行缩放显示控制，使预置地图缩放到可以同时显示第一图标、第二图标以及第三图标的相对位置关系的级别，再点击缩放按钮则恢复到飞行器原来的位置级别。
在本发明实施例中，地图处理单元32可以通过以下三种显示模式中的至少一种在显示界面内显示预置地图、第一图标、第二图标和第三图标：在第一种显示模式下，将第一图标设置成指向显示界面的预定方向，并以第一图标为基准调整预置地图、第二图标和第三图标。具体地，即以飞行器为正前的指南针模式，此时飞行器当前位置正前方为参考方向，预置地图、地面端30等其他参考物相对飞行器移动。在第二种显示模式下，将第二图标设置成指向显示界面的预定方向，并以第二图标为基准调整预置地图、第一图标和第三图标。即以地面端为正前的指南针模式，此时地面端30的第二朝向信息改变时，其他参考物相对移动。在本发明实施例中，默认为此模式。在第三种显示模式下，将预置地图上的预定地理方向设置成指向显示界面的预定方向，并以预置地图为基准调整第一图标、第二图标和第三图标。即以预置地图的正北方为参考方向，此时飞行器等其他参考物相对此方向移动。上述三种显示模式用户可以在飞行器飞行过程中进行任意切换。而地图处理单元32对相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。用户可以通过在地面端30的点击或滑动等操作在主界面呈现模式和辅助界面呈现模式中进行切换。主界面呈现模式包括：在地面端30主显示界面中显示预置地图和呈现飞行器、地面端30以及返航目标点的相对位置关系；在设置于主显示界面上的画中画显示界面中显示实时获取到的飞行器拍摄的视频图像。辅助界面呈现模式包括：在主显示界面中显示实时获取到的飞行器拍摄的视频图像；在设置于主显示界面上的画中画显示界面中显示预置地图和呈现飞行器、地面端30以及返航目标点的相对位置关系。在主界面呈现模式或辅助界面呈现模式中，都可以有上述三种显示模式来显示预置地图、第一图标、第二图标和第三图标，即可以有上述三种显示模式来显示预置地图和呈现飞行器、地面端30以及返航目标点的相对位置关系。地面端30通过地图处理单元32将信息获取单元31获取的飞行器的第一位置信息和第一朝向信息、地面端30的第二位置信息和第二朝向信息、以及返航目标点的第三位置信息呈现在预置地图上，用户可以直观地提供诸如飞行位置等内容的飞行器状态，以更好地对飞行器进行控制。
在本发明实施例中，地面端30可以是手机等手持终端，也可以是计算机等可以进行遥控的控制终端，可以一键控制飞行器的起飞和降落，可以设置遥控器模式，飞行器传回的拍摄图片或视频的画质模式等。地面端30还可以控制飞行器在飞行过程中进行航向锁定、返航目标点锁定、目标点锁定，或者控制飞行器的飞行与地面端30的移动相一致。地面端30也可以设置主从机，充当遥控器数据中心，飞行器实时回传数据到地面端30，确保飞行器任务开始到结局的全部数据信息被保存，并且用户可以查看以往飞行信息及回放任务航线并分享，或者让其他飞行器执行此任务。地面端30还可以通过新增自检功能，使得当飞行器出现异常时，用户只需一键检测飞行器各部分的状态信息，以获取解决方案。
在本发明所提供的几个实施例中，应该理解到，所揭露的***，***和方法，可以通过其它的方式实现。例如，以上所描述的***实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，***或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备（可以是个人计算机，服务器，或者网络设备等）或处理器（processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。
综上所述，本发明通过获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息、以及设置飞行器的返航目标点的第三位置信息；再根据第一位置信息、第二位置信息和第三位置信息在预置地图上呈现飞行器、地面端以及返航目标点的相对位置关系，能够直观地提供诸如飞行位置等内容的飞行器状态。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (33)

  1. 一种飞行器的位置提示方法，其特征在于，所述方法包括：
    获取飞行器所在位置的第一位置信息、获取地面端的第二位置信息；
    根据所述第一位置信息、所述第二位置信息在预置地图上呈现所述飞行器、地面端的相对位置关系。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取已设置的所述飞行器的返航目标点的第三位置信息，并根据所述第三位置信息在已显示所述飞行器、所述地面端的相对位置关系的所述地图上显示所述返航目标点。
  3. 根据权利要求2所述的方法，其特征在于，所述第三位置信息通过所述地面端进行设置。
  4. 根据权利要求3所述的方法，其特征在于，设置所述第三位置信息包括：
    将所述第三位置信息设置为所述地面端的当前位置、将所述第三位置信息设置为所述飞行器的当前位置以及在所述预置地图上指定返航位置作为所述第三位置信息中的至少一者或组合。
  5. 根据权利要求2所述的方法，其特征在于，在预置的地图上呈现所述飞行器、地面端的相对位置关系、以及显示所述返航目标点，包括：
    根据所述第一位置信息在所述预置地图上绘制与飞行器对应的第一图标；
    根据所述第二位置信息在所述预置地图上绘制与地面端对应的第二图标；
    根据所述第三位置信息在所述预置地图上绘制与返航目标点对应的第三图标；
    显示已绘制了所述第一图标、所述第二图标以及所述第三图标后的预置地图。
  6. 根据权利要求5所述的方法，其特征在于，所述方法进一步包括：
    获取所述飞行器的第一朝向信息和所述地面端的第二朝向信息；
    根据所述第一朝向信息在所述预置地图上显示所述飞行器的朝向；
    根据所述第二朝向信息在所述预置地图上显示所述地面端的朝向。
  7. 根据权利要求6所述的方法，其特征在于，所述第一图标和所述第二图标为具有方向指示性的图标；
    所述根据所述第一朝向信息在所述预置地图上显示所述飞行器的朝向包括：根据所述第一朝向信息调整所述第一图标的指向；
    所述根据所述第二朝向信息在所述预置地图上显示所述地面端的朝向包括：根据所述第二朝向信息调整所述第二图标的指向。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    获取所述飞行器上设置的图像采集装置的采集朝向信息；
    在所述预置地图上所述第一图标的指定位置处显示所述获取的采集朝向信息。
  9. 根据权利要求7所述的方法，其特征在于，所述显示已绘制了所述第一图标、第二图标以及第三图标后的预置地图，包括：
    通过以下三种显示模式中的至少一种在显示界面内显示所述预置地图、所述第一图标、所述第二图标和所述第三图标：
    在第一种显示模式下，将所述第一朝向信息设置为参考方向，并以所述第一朝向信息为基准调整所述预置地图的显示方向、所述第二图标的指向；
    在第二种显示模式下，将所述第二朝向信息设置为参考方向，并以所述第二朝向信息为基准调整所述预置地图的显示方向、所述第一图标的指向；
    在第三种显示模式下，将所述预置地图上的预定地理方向设置成参考方向，并以所述预置地图为基准调整所述第一图标的指向、所述第二图标的指向。
  10. 根据权利要求1所述的方法，其特征在于，所述地面端中对所述相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，所述主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。
  11. 根据权利要求10所述的方法，其特征在于，所述主界面呈现模式包括：在所述地面端主显示界面中显示所述预置地图和呈现所述飞行器、所述地面端以及所述返航目标点的相对位置关系；在设置于所述主显示界面上的画中画显示界面中显示实时获取到的所述飞行器拍摄的视频图像。
  12. 根据权利要求10所述的方法，其特征在于，所述辅助界面呈现模式包括：在主显示界面中显示实时获取到的所述飞行器拍摄的视频图像；在设置于所述主显示界面上的画中画显示界面中显示所述预置地图和呈现所述飞行器、所述地面端以及所述返航目标点的相对位置关系。
  13. 根据权利要求1所述的方法，其特征在于，还包括：
    检测所述飞行器、所述地面端之间的相对距离；
    根据所述检测到的相对距离判断在所述预置地图当前的缩放等级下是否能完整显示所述飞行器与所述地面端之间的相对位置关系；
    若判断结果为否，则更新所述预置地图的缩放等级，以完整显示所述飞行器与所述地面端之间的相对位置关系。
  14. 根据权利要求2所述的方法，其特征在于，还包括：
    检测所述飞行器、所述地面端以及所述返航目标点之间的相对距离；
    根据所述检测到的相对距离判断在所述预置地图当前的缩放等级下是否能完整显示所述飞行器、所述地面端以及所述返航目标点之间的相对位置关系；
    若判断结果为否，则调整所述预置地图的缩放等级，以完整显示所述飞行器、所述地面端以及所述返航目标点之间的相对位置关系。
  15. 根据权利要求1所述的方法，其特征在于，还包括：
    在检测到对所述预置地图中缩放按钮的点击选择操作后，基于所述点击选择操作对所述预置地图进行缩放显示控制。
  16. 根据权利要求2所述的方法，其特征在于，还包括：
    检测所述地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置所述返航目标点的位置，得到更新后的第三位置信息；
    根据所述更新后的第三位置信息在已显示所述飞行器、所述地面端的相对位置关系的所述地图上显示所述返航目标点。
  17. 根据权利要求2所述的方法，其特征在于，还包括：
    检测所述飞行器距离所述返航目标点的距离；
    如果检测到的距离值大于预设的返航距离阈值，则限制所述飞行器的飞行、或者重新设置所述返航目标点、或者发出超出距离限制的提示。
  18. 一种飞行器的位置提示装置，所述飞行器的位置提示装置作为地面端用于控制所述飞行器，其特征在于，所述地面端包括：
    信息获取单元，用于获取所述飞行器所在位置的第一位置信息、获取所述地面端的第二位置信息；
    地图处理单元，与所述信息获取单元连接，用于根据所述第一位置信息、所述第二位置信息在预置地图上呈现所述飞行器、所述地面端的相对位置关系。
  19. 根据权利要求18所述的装置，其特征在于，
    所述信息获取单元还用于获取已设置的所述飞行器的返航目标点的第三位置信息；
    所述地图处理单元还根据所述第三位置信息在已显示所述飞行器、所述地面端的相对位置关系的所述地图上显示所述返航目标点。
  20. 根据权利要求19所述的装置，其特征在于，所述地面端进一步包括：返航设置单元，
    所述返航设置单元用于设置所述第三位置信息，所述返航设置单元包括以下子单元中的至少一个或组合：
    第一返航设置子单元，用于将所述第三位置信息设置为所述地面端的当前位置；
    第二返航设置子单元，用于将所述第三位置信息设置为所述飞行器的当前位置；
    第三返航设置子单元，用于在所述预置地图上指定所述第三位置信息中的至少一者或组合。
  21. 根据权利要求19所述的装置，其特征在于，
    所述地图处理单元，用于根据所述第一位置信息在所述预置地图上绘制与飞行器对应的第一图标；根据所述第二位置信息在所述预置地图上绘制与地面端对应的第二图标；根据所述第三位置信息在所述预置地图上绘制与返航目标点对应的第三图标；显示已绘制了所述第一图标、所述第二图标以及所述第三图标后的预置地图。
  22. 根据权利要求21所述的装置，其特征在于，
    所述信息获取单元，还用于获取所述飞行器的第一朝向信息和所述地面端的第二朝向信息；
    所述地图处理单元，还用于根据所述第一朝向信息在所述预置地图上显示所述飞行器的朝向；根据所述第二朝向信息在所述预置地图上显示所述地面端的朝向。
  23. 根据权利要求22所述的装置，其特征在于，所述第一图标和所述第二图标为具有方向指示性的图标，
    所述地图处理单元，用于根据所述第一朝向信息调整所述第一图标的指向；根据所述第二朝向信息调整所述第二图标的指向。
  24. 根据权利要求23所述的装置，其特征在于，
    所述信息获取单元，还用于获取所述飞行器上设置的图像采集装置的采集朝向信息；
    所述地图处理单元，还用于在所述预置地图上所述第一图标的指定位置处显示所述获取的采集朝向信息。
  25. 根据权利要求24所述的装置，其特征在于，所述地图处理单元通过以下三种显示模式中的至少一种在显示界面内显示所述预置地图、所述第一图标、所述第二图标和所述第三图标：
    在第一种显示模式下，将所述第一朝向信息设置为参考方向，并以所述第一朝向信息为基准调整所述预置地图的显示方向、所述第二图标的指向；
    在第二种显示模式下，将所述第二朝向信息设置为参考方向，并以所述第二朝向信息为基准调整所述预置地图的显示方向、所述第一图标的指向；
    在第三种显示模式下，将所述预置地图上的预定地理方向设置成参考方向，并以所述预置地图为基准调整所述第一图标的指向、所述第二图标的指向。
  26. 根据权利要求18所述的装置，其特征在于，所述地图处理单元对所述相对位置关系的呈现模式包括主界面呈现模式和辅助界面呈现模式，所述主界面呈现模式和辅助界面呈现模式是根据用户的选择进行切换。
  27. 根据权利要求26所述的装置，其特征在于，所述主界面呈现模式包括：在所述地面端主显示界面中显示所述预置地图和呈现所述飞行器、所述地面端以及所述返航目标点的相对位置关系；在设置于所述主显示界面上的画中画显示界面中显示实时获取到的所述飞行器拍摄的视频图像。
  28. 根据权利要求26所述的装置，其特征在于，所述辅助界面呈现模式包括：在主显示界面中显示实时获取到的所述飞行器拍摄的视频图像；在设置于所述主显示界面上的画中画显示界面中显示所述预置地图和呈现所述飞行器、所述地面端以及所述返航目标点的相对位置关系。
  29. 根据权利要求18所述的装置，其特征在于，
    所述地面端还包括地图缩放单元，用于检测所述飞行器、所述地面端之间的相对距离；根据所述检测到的相对距离判断在所述预置地图当前的缩放等级下是否能完整显示所述飞行器与所述地面端之间的相对位置关系；若判断结果为否，则更新所述预置地图的缩放等级，以完整显示所述飞行器与所述地面端之间的相对位置关系。
  30. 根据权利要求19所述的装置，其特征在于，
    所述地图缩放单元，用于检测所述飞行器、所述地面端以及所述返航目标点之间的相对距离；根据所述检测到的相对距离判断在所述预置地图当前的缩放等级下是否能完整显示所述飞行器、所述地面端以及所述返航目标点之间的相对位置关系；若判断结果为否，则调整所述预置地图的缩放等级，以完整显示所述飞行器、所述地面端以及所述返航目标点之间的相对位置关系。
  31. 根据权利要求18所述的装置，其特征在于，
    所述地图缩放单元，用于在检测到对所述预置地图中缩放按钮的点击选择操作后，基于所述点击选择操作对所述预置地图进行缩放显示控制。
  32. 根据权利要求19所述的装置，其特征在于，
    所述地图处理单元，用于检测所述地面端的移动距离，如果检测到的移动距离大于预设的距离阈值，则重新设置所述返航目标点的位置，得到更新后的第三位置信息；根据所述更新后的第三位置信息在已显示所述飞行器、所述地面端的相对位置关系的所述地图上显示所述返航目标点。
  33. 根据权利要求19所述的装置，其特征在于，
    所述地图处理单元，用于检测所述飞行器距离所述返航目标点的距离；如果检测到的距离值大于预设的返航距离阈值，则限制所述飞行器的飞行、或者重新设置所述返航目标点、或者发出超出距离限制的提示。
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