WO2019080471A1 - 飞行器的定位方法和移动终端 - Google Patents
飞行器的定位方法和移动终端Info
- Publication number
- WO2019080471A1 WO2019080471A1 PCT/CN2018/085490 CN2018085490W WO2019080471A1 WO 2019080471 A1 WO2019080471 A1 WO 2019080471A1 CN 2018085490 W CN2018085490 W CN 2018085490W WO 2019080471 A1 WO2019080471 A1 WO 2019080471A1
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- WIPO (PCT)
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- information
- distance
- value
- aircraft
- speed
- Prior art date
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Definitions
- the present application relates to aircraft technology, and more particularly to an aircraft positioning method and a mobile terminal.
- Aircraft often lose control due to various reasons. For example, existing aircraft products rely on wireless communication to control flight, or rely on satellite positioning systems to fly autonomously, but wireless communication or satellite positioning systems are very susceptible to interference in certain places. Moreover, the existing aircraft generally do not have the anti-collision function. When the aircraft collides with the power line or collides with the trees, the aircraft will lose control. Another example is that sometimes the aircraft flies farther than the operator's line of sight, and if it is not handled properly, the aircraft may lose control. After the aircraft is out of control, how to determine the landing position of the aircraft has become a subject of active research by those skilled in the art.
- the embodiment of the invention provides a positioning method and a mobile terminal for an aircraft, which can accurately locate the landing position of the aircraft and narrow the search range of the user, thereby improving the success rate of the user to retrieve the aircraft.
- An embodiment of the present invention provides a positioning method for an aircraft, including:
- the mobile terminal When the mobile terminal detects that the communication with the aircraft fails, the mobile terminal acquires state parameter information that is last transmitted by the aircraft before the communication fails, and the state parameter information includes altitude information, speed information, and Location information
- the mobile terminal determines first distance information according to the height information and the speed information
- the mobile terminal determines second location information of the aircraft according to the first distance information and the first location information, and the second location information is used to represent a location of the aircraft at a landing point.
- the status parameter information further includes: remaining power information of the aircraft;
- the method further includes:
- the mobile terminal determines whether the remaining power is less than or equal to a preset threshold
- Determining, by the mobile terminal, the second location information of the aircraft according to the first distance information and the first location information includes:
- the mobile terminal determines second location information of the aircraft according to the first distance information and the first location information.
- the mobile terminal determines the first distance information according to the height information and the speed information, including:
- the mobile terminal determines the first distance information according to the height information, the speed information, and the wind speed information; wherein the wind speed information is obtained according to the first position information, or the state parameter information includes The wind speed information.
- the determining, by the mobile terminal, the first distance information according to the height information, the speed information, and the wind speed information includes:
- the mobile terminal determines landing speed information according to the speed information and wind speed information, where the falling speed information includes a speed value and a direction;
- the first offset angle is an angle between a direction in the speed information and a direction in the drop speed information.
- Determining, by the mobile terminal, the first distance value in the first distance information according to the height information and the speed value in the drop speed information includes:
- the mobile terminal according to a formula Calculating the flight time of the aircraft
- t 1 is the flight time
- h 1 is the height information
- g is a gravity acceleration
- v is a speed value in the landing speed information
- S 1 is the first distance value
- Determining, by the mobile terminal, the first offset angle in the first distance information according to the speed value in the speed information, the speed value in the speed information, and the speed value in the wind speed information including:
- the mobile terminal according to a formula Calculating the first offset angle
- v 1 is a velocity value in the velocity information
- v is a velocity value in the landing velocity information
- v 2 is a velocity value in the wind speed information
- ⁇ is the first offset angle
- the determining, by the mobile terminal, the second location information of the aircraft according to the first distance information and the first location information including:
- the mobile terminal according to a formula And formula Calculating the second location information
- X' 1 is the longitude value in the second position information
- X 1 is the longitude value in the first position information
- Y 1 ' is the latitude value in the second position information
- Y 1 is a latitude value in the first location information
- S 1 is a first distance value in the first distance information
- W 1 is a distance value corresponding to the unit longitude value
- W 2 is a distance value corresponding to the unit latitude value
- r 1 is an angle between the speed direction and the horizontal line in the landing speed information
- ⁇ ' is an angle between a speed direction and a horizontal line in the speed information in the state parameter information
- ⁇ is the first partial Move the angle.
- the method further includes:
- the mobile terminal determines second distance information corresponding to the remaining power
- the mobile terminal determines third distance information according to the second distance information and the first distance information
- Determining, by the mobile terminal, the second location information of the aircraft according to the first distance information and the first location information including:
- the mobile terminal determines second location information of the aircraft according to the first location information and the third distance information.
- the determining, by the mobile terminal, the second distance information corresponding to the remaining power quantity includes:
- S 2 is a second distance value in the second distance information
- Q is a remaining power amount when the aircraft communication fails.
- S 4i is the flight distance corresponding to the amount of power consumed by the aircraft for the first time from the start of the aircraft
- ⁇ Q is the amount of power consumed when the aircraft takes off from the start of the aircraft to when the aircraft communication fails.
- the determining, by the mobile terminal, the third distance information according to the second distance information and the first distance information includes:
- the mobile terminal determines the third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information.
- the determining, by the mobile terminal, the third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information includes:
- the mobile terminal according to a formula Calculating a third distance value in the third distance information
- the mobile terminal according to a formula Calculating a second offset angle in the third distance information
- S 3 is a third distance value in the third distance information
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- ⁇ " is the second offset angle in the third distance information
- the mobile terminal according to a formula And formula Calculating the second location information
- X' 2 is the longitude value in the second position information
- X 1 is the longitude value in the first position information
- Y 2 ' is the latitude value in the second position information
- Y 1 is The latitude value in the first position information
- W 1 is a distance value corresponding to the unit longitude value
- W 2 is a distance value corresponding to the unit latitude value
- ⁇ ′ is a clip between the speed direction and the horizontal line in the speed information.
- the angle r 2 is the angle between the line between the position at which the aircraft communication fails and the position of the landing point and the horizontal line
- ⁇ ′′ is the second offset angle in the third distance information.
- the method further includes:
- the mobile terminal displays a location of the landing point of the aircraft on a map according to the second location information of the aircraft.
- the detecting, by the mobile terminal, that the communication failure with the aircraft includes:
- the mobile terminal does not receive a message periodically sent by the aircraft within a preset time, and determines that the communication failure with the aircraft is detected.
- the embodiment of the invention provides a mobile terminal, including:
- an acquiring module configured to acquire, when the communication with the aircraft fails, acquire state parameter information that is sent by the aircraft last time before the communication fails, where the state parameter information includes height information, speed information, and first location information;
- a determining module configured to determine first distance information according to the height information and the speed information; determine second position information of the aircraft according to the first distance information and the first position information, the second position Information is used to characterize the position of the aircraft at the landing point.
- the positioning device further includes:
- a determining module configured to determine whether the remaining power is less than or equal to a preset threshold, and send the determination result to the determining module;
- the determining module is specifically configured to:
- the determining module is further configured to:
- it also includes:
- a display module configured to display, on the map, a location where the landing point of the aircraft is located according to the second position information of the aircraft.
- Embodiments of the present invention provide a computer readable storage medium storing a computer program that, when executed by a processor, implements the steps of a positioning method of any of the above-described aircraft.
- Embodiments of the present invention provide a mobile terminal, including a processor and a memory, where the memory stores instructions for implementing a positioning method of any of the above-mentioned aircrafts when the instructions are executed by the processor.
- the mobile terminal when the mobile terminal detects that the communication with the aircraft fails, the mobile terminal acquires state parameter information that is sent by the aircraft last time before the communication fails, and the state parameter information includes the height at which the aircraft is located. Information, speed information, and first location information; the mobile terminal determines first distance information according to the height information and the speed information; and the mobile terminal determines, according to the first distance information and the first location information, Second position information of the aircraft, the second position information being used to characterize the position of the aircraft at the landing point.
- the mobile terminal accurately determines the position of the aircraft at the landing point according to the state parameter information last transmitted by the aircraft before the communication fails, reduces the user's search range, and improves the success rate of the user to retrieve the aircraft.
- FIG. 1 is a schematic flow chart of a method for positioning an aircraft according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a speed direction in a landing speed information of an aircraft according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of an aircraft flying in a case where a remaining power is greater than a preset threshold according to an embodiment of the present invention
- Example 4 is a flowchart of a positioning method of an aircraft in Example 1 according to an embodiment of the present invention.
- FIG. 5 is a flowchart of a positioning method of an aircraft in Example 2 according to an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of a module of a mobile terminal according to an embodiment of the present disclosure.
- FIG. 7 is a schematic structural diagram of a mobile terminal according to an embodiment of the present invention.
- the related positioning methods of the aircraft generally include:
- the aircraft uses the Global Position System (GPS) to obtain the position information of the aircraft in real time, and the obtained position information is reported to the mobile terminal in real time.
- GPS Global Position System
- the mobile terminal saves the position information of the aircraft, and after the aircraft loses control, The aircraft can be retrieved based on the last position information of the aircraft saved by the mobile terminal.
- the saved position information is inaccurate, the error is large, and the success rate of retrieving the aircraft is low.
- an embodiment of the present invention provides a positioning method for an aircraft, including:
- Step 100 When the mobile terminal detects that the communication with the aircraft fails, the mobile terminal acquires state parameter information that is last transmitted by the aircraft before the communication fails.
- the mobile terminal may detect whether the communication with the aircraft is invalid by using the following method.
- a two-way communication mechanism is established between the mobile terminal and the aircraft, that is, the sending direction sends a periodic request message to the receiving party. If the sending party receives the response message of the receiving party within a preset time, it determines that the communication with the receiving party is normal; If the response message of the receiver is not received within the preset time, it is determined that the communication with the receiver is invalid.
- the receiving party receives the request message of the sender within the preset time, it determines that the communication with the sender is normal; if the receiver does not receive the request message of the sender within the preset time, it determines that the communication with the sender is invalid. .
- the request message may be a heartbeat request
- the response message may be a heartbeat response
- the sender is an aircraft, the receiver is a mobile terminal; or the sender is a mobile terminal, and the receiver is an aircraft.
- the state parameter information may include altitude information, speed information, and first location information where the aircraft is located.
- the location point represented by the first location information may be defined as the out-of-control point of the aircraft.
- the status parameter information may further include: remaining power information of the aircraft.
- the aircraft acquires state parameter information in real time during flight and sends it to the mobile terminal for storage.
- the aircraft includes status parameter information in a request message or a response message sent to the mobile terminal, and the mobile terminal acquires status parameter information from the received request message or response message; specifically, if the sender is an aircraft, the status parameter information may be It is carried in the request message sent by the aircraft; if the sender is a mobile terminal, the status parameter information can be carried in the response message sent by the femto.
- the aircraft may also send the status parameter information to the mobile terminal separately; the aircraft may also transmit the status parameter information to the mobile terminal in other manners.
- the mobile terminal After detecting that the communication with the aircraft has failed, the mobile terminal acquires the saved last set of state parameter information.
- Step 101 The mobile terminal determines the first distance information according to the height information and the speed information.
- the mobile terminal may determine first distance information between the exhaustion point and the landing point of the aircraft according to the height information and the speed information, and the first distance information may include the first distance value and the first distance direction.
- the first distance direction may be a linear direction from the depletion point to the landing point.
- the first distance direction can be characterized by an angle, which is not limited herein. For a specific implementation of determining the first distance information, refer to the description in the following embodiments.
- the exhaustion point is the end point of the aircraft relying on the power system to fly, that is, the power in the battery can only support the flight control of the aircraft to the end point, and after that, the flight of the aircraft is out of control, that is, the aircraft
- the state of flight landing is achieved by relying solely on the gravity inertia of the aircraft and environmental influences such as wind effects.
- the positional information of the aircraft's exhaustion point and the aircraft's out of control point may be the same.
- the mobile terminal may further determine the first distance information of the aircraft according to the altitude information, the speed information, and the wind speed information.
- the state parameter information sent by the aircraft may include wind speed information, and the mobile terminal may acquire wind speed information by acquiring state parameter information; or, after detecting that the communication with the aircraft fails, the mobile terminal may be based on the aircraft in the state parameter information. a position information, determining wind speed information corresponding to the first position information.
- the mobile terminal may determine second distance information of the runaway point to the power exhaustion point, where the second distance information may include the second distance value and the In the two distance directions, the second distance value may be calculated based on the remaining power.
- the second distance direction may be a linear direction from the point of loss of control to the point of exhaustion of the power.
- the mobile terminal may calculate the third distance information according to the first distance information and the second distance information, if the remaining power of the aircraft at the time of the out of control point is greater than a preset threshold.
- the third distance value and the third distance direction of the third distance information are calculated according to the first distance value and the first distance direction, and the second distance value and the second distance direction, respectively, and the calculation manner is not limited herein.
- Step 102 The mobile terminal determines second location information of the aircraft according to the first distance information and the first location information.
- the second position information is used to characterize the position of the aircraft at the landing point.
- the first location information includes a longitude value and a latitude value of the aircraft at the runaway point
- the second location information may include a longitude value and a latitude value of the aircraft at the landing point.
- the second location information may also be determined according to other coordinate information included in the first location information.
- the mobile terminal may determine the first distance information according to the altitude information and the speed information, and further may be based on the first location information and the first A distance information determines the second position information of the aircraft at the landing point.
- the no-wind speed information may be that the mobile terminal cannot obtain the wind speed information, or the acquired wind speed information is insufficient to affect the aircraft flight.
- the first distance information may be calculated in the following manner.
- t 1 is the flight time, that is, the flight time of the aircraft from the out of control point to the landing point
- h 1 is the height of the aircraft at the point of out of control, such as the height information in the state parameter information
- g is the gravity acceleration
- v 1 is the state parameter information.
- the velocity value in the velocity information in the middle, S 1 is the first distance value.
- X' 1 is the longitude value in the second location information
- X 1 is the longitude value in the first location information
- Y 1 ' is the latitude value in the second location information
- Y 1 is the latitude in the first location information Value
- S 1 is the first distance value in the first distance information
- W 1 is the distance value corresponding to the unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- r 1 is the first in the first distance information
- the angle between the direction and the horizontal line, r 1 can be used to characterize the direction of the runaway point to the landing point
- ⁇ ' is the angle between the direction in the velocity information and the horizontal line
- ⁇ ' can be used to characterize the failure of the aircraft communication.
- the direction of the speed is the direction of the speed.
- the units of S 1 , W 1 , and W 2 are meters (m), and W 1 and W 2 may be 111,000 meters (m) or 111110 m, or the value of W 1 is related to X 1 , and the value of W 2 is Y 1 correlation, etc., or conversion values of latitude and longitude and distance applied in other international standards.
- the mobile terminal may determine the first distance information according to the height information, the speed information, and the wind speed information; Further, the mobile terminal may determine the second location information of the aircraft according to the first distance value and the first location information in the first distance information.
- the speed information and the wind speed information are two vectors, respectively, the speed value and the direction are included, and the speed information and the wind speed information are vector-added to obtain the falling speed information.
- the mobile terminal determines the first distance information according to the altitude information, the speed information, and the wind speed information
- the mobile terminal determines the landing speed information according to the speed information and the wind speed information, the landing speed information includes the speed value and the direction
- the movement The terminal determines the first distance value in the first distance information according to the altitude information and the speed value in the landing speed information; again, the mobile terminal according to the speed value in the falling speed information, the speed value in the speed information, and the speed in the wind speed information a value that determines a first offset angle in the first distance information.
- the first distance value can be calculated in the following manner.
- t 1 is the flight time
- h 1 is the height of the aircraft at the point of runaway
- g is the acceleration of gravity
- v is the speed value in the landing speed information
- S 1 is the first distance value
- determining the first offset angle in the first distance information according to the speed value in the falling speed information, the speed value in the speed information, and the speed value in the wind speed information includes:
- v 1 is the velocity value in the velocity information
- v is the velocity value in the landing velocity information
- v 2 is the velocity value in the wind speed information
- ⁇ is the first offset angle
- the wind speed information may be obtained by the mobile terminal in real time from the network according to the first location information, or may be obtained by the mobile terminal in other manners.
- the specific obtaining manner is not limited in the embodiment of the present invention, and the specific obtaining manner is not used to limit the present manner. The scope of protection of the embodiments of the invention.
- the wind speed information may also be obtained by the aircraft in real time using a sensor, and may be sent to the mobile terminal in the state parameter information, or may be obtained by the aircraft in other manners.
- the specific obtaining manner is not limited in the embodiment of the present invention, and the specific obtaining manner is not used. The scope of protection of the embodiments of the present invention is limited.
- X' 1 is the longitude value in the second location information
- X 1 is the longitude value in the first location information
- Y 1 ' is the latitude value in the second location information
- Y 1 is the latitude in the first location information Value
- S 1 is the first distance value in the first distance information
- W 1 is the distance value corresponding to the unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- r 1 is the direction and horizontal line in the falling speed information
- r 1 can also be understood as the angle between the first distance direction and the horizontal line in the first distance information
- r 1 can be used to characterize the loss of control.
- Point to the direction of the landing point ⁇ ' is the angle between the direction in the velocity information and the horizontal line
- ⁇ is the first offset angle calculated by the above formula.
- the first distance information includes a first distance value
- the second distance information includes a second distance value
- the third distance information includes Three distance values.
- the mobile terminal may determine a second distance value in the second distance information corresponding to the remaining power amount
- the mobile terminal determines a first distance value in the first distance information according to the height information and the speed information;
- the mobile terminal determines a third distance value in the third distance information according to the second distance value in the second distance information and the first distance value in the first distance information;
- the mobile terminal determines second location information of the aircraft based on the first location information and the third distance information.
- the determining, by the mobile terminal, the first distance value in the first distance information according to the height information and the speed information may refer to the first case, and details are not described herein again.
- the second distance value in the second distance information that the mobile terminal determines that the aircraft corresponds to the remaining power amount includes:
- S 2 is a second distance value in the second distance information
- S 4i is the flight distance corresponding to the amount of power consumed by the aircraft for the first time from the start of the take-off of the aircraft
- ⁇ Q is the amount of power consumed from the start of the aircraft to the failure of the aircraft communication communication
- Q is the remaining power when the aircraft communication fails.
- the S 4i can be obtained in real time by the aircraft during the flight based on the monitoring of the power consumption, and transmitted to the mobile terminal in real time, for example, the position and the ith consumption of the power consumed by the aircraft according to the (i-1)th time (1).
- the location of the power of the ⁇ is calculated S 4i , and the S 4i is included in the state parameter information and sent to the mobile terminal; for example, the time when the aircraft consumes the power of the ith time of 1 ⁇ is included in the state parameter information and sent to the mobile terminal, and the mobile
- the terminal calculates S 4i according to the position of the first (i-1)th power consumption and the position of the first power consumption of 1 ,.
- the mobile terminal can also be obtained by other means, and details are not described herein again. Means are also not intended to limit the scope of protection of the embodiments of the invention.
- the first distance information may be represented as a first distance vector
- the second distance information may be represented as a second distance vector
- the third distance value in the third distance information may be determined according to the first distance vector and the second distance vector.
- the third distance direction may be represented as a first distance vector
- the determining, by the mobile terminal, the second location information of the aircraft according to the third distance value in the first location information and the third distance information includes:
- X' 2 is the longitude value in the third location information
- X 1 is the longitude value in the first location information
- Y 2 ' is the latitude value in the third location information
- Y 1 is the latitude in the first location information a value
- S 3 is a third distance value
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- W 1 is a distance value corresponding to the unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- ⁇ ′ is the angle between the speed value of the falling speed information and the horizontal line
- ⁇ ′ can be used to characterize the direction of the falling speed
- r 2 is the third of the third distance information
- the distance between the direction and the horizontal line, r 2 can represent the third distance, that is, the point of the runaway point (that is, the position at the time of communication failure) to the direction of the landing point.
- the mobile terminal determines a second distance value in the second distance information corresponding to the remaining power amount
- the mobile terminal determines a first distance value in the first distance information according to the height information, the speed information, and the wind speed information;
- the mobile terminal determines the third distance information according to the speed information, the wind speed information, the second distance value in the second distance information, and the first distance value in the first distance information;
- the mobile terminal determines second location information of the aircraft based on the first location information and the third distance information.
- the mobile terminal determines the first distance value in the first distance information according to the height information, the speed information, and the wind speed information, and may refer to the second case, and details are not described herein again.
- the second distance value in the second distance information that is determined by the mobile terminal to determine the remaining power can refer to the third case, and details are not described herein again.
- Mobile terminal can follow the formula Calculating a third distance value in the third distance information, where the third distance value is a distance between a position at which the aircraft communication fails and a position of the landing point;
- S 3 is a third distance value in the third distance information
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- v 1 is in the speed information.
- the velocity value, v is the velocity value in the landing velocity information
- v 2 is the velocity value in the wind speed information
- ⁇ is the first offset angle in the first distance information.
- X' 2 is the longitude value in the third location information
- X 1 is the longitude value in the first location information
- Y 2 ' is the latitude value in the third location information
- Y 1 is the latitude in the first location information a value
- S 3 is a third distance value
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- W 1 is a distance value corresponding to the unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- ⁇ ′ is the angle between the speed value of the landing speed information and the horizontal line
- r 2 is the line connecting the position at the time of failure of the aircraft communication and the position of the landing point and the horizontal line.
- the angle, r 2 can be used to characterize the direction of the runaway point to the landing point, and ⁇ ′ is the second offset angle in the third distance information; wherein the second offset angle is when the direction in the speed information fails with the aircraft communication The angle between the position and the line between the positions of the landing points.
- the method further includes:
- the location of the landing point of the aircraft is displayed on the map according to the second position information of the aircraft or the third position information of the aircraft.
- the location of the aircraft communication failure and the location of the landing point may also be displayed on the map, and the connection between the location of the aircraft communication failure and the location of the landing point may also be displayed on the map. Line, the flight route after the aircraft communication fails.
- the method can include:
- Step 400 The mobile terminal detects that the communication with the aircraft is invalid, and acquires state parameter information that is last transmitted by the aircraft before the communication fails.
- the state parameter information includes altitude information, speed information, first location information, and remaining power information of the aircraft.
- Step 401 The mobile terminal determines whether the remaining power is less than or equal to a preset threshold. If yes, step 402 to step 404 are performed; if not, steps 405 to 408 are performed.
- Step 402 The mobile terminal determines the first distance information according to the height information and the speed information.
- Step 403 The mobile terminal determines second location information of the aircraft according to the first distance information and the first location information.
- the second position information is used to characterize the position of the aircraft at the landing point.
- Step 404 The mobile terminal displays, on the map, the location where the landing point of the aircraft is located according to the second location information.
- Step 405 The mobile terminal determines second distance information of the aircraft corresponding to the remaining power.
- Step 406 The mobile terminal determines the first distance information according to the height information and the speed information.
- Step 407 The mobile terminal determines third distance information according to the speed information, the second distance information, and the first distance information, and determines the second location information of the aircraft according to the first location information and the third distance information.
- the second position information is used to characterize the position of the aircraft at the landing point.
- Step 408 The mobile terminal displays, on the map, the location where the landing point of the aircraft is located according to the second location information.
- the method includes:
- Step 500 The mobile terminal detects that the communication with the aircraft is invalid, and acquires state parameter information that is sent by the aircraft last time before the communication fails.
- the state parameter information includes altitude information, speed information, first location information, and remaining power information of the aircraft.
- Step 501 The mobile terminal determines whether the remaining power is less than or equal to the preset threshold, and if yes, performs steps 502 to 504; if not, performs steps 505 to 508.
- Step 502 The mobile terminal determines the first distance information according to the altitude information, the speed information, and the wind speed information.
- Step 503 The mobile terminal determines second location information of the aircraft according to the first distance information and the first location information.
- the second position information is used to characterize the position of the aircraft at the landing point.
- Step 504 The mobile terminal displays, on the map, the location where the landing point of the aircraft is located according to the second location information.
- Step 505 The mobile terminal determines second distance information of the aircraft corresponding to the remaining power.
- Step 506 The mobile terminal determines the first distance information according to the altitude information, the speed information, and the wind speed information.
- Step 507 The mobile terminal determines third distance information according to the speed information, the wind speed information, the second distance information, and the first distance information, and determines the second position information of the aircraft according to the first position information and the third distance information.
- the second position information is used to characterize the position of the aircraft at the landing point.
- Step 508 The mobile terminal displays, on the map, the location where the landing point of the aircraft is located according to the second location information.
- the mobile terminal accurately determines the position of the aircraft at the landing point according to the state parameter information that the aircraft last transmitted before the communication fails, reduces the user's search range, and improves the success rate of the user to retrieve the aircraft.
- an embodiment of the present invention further provides a mobile terminal, including:
- the obtaining module 601 is configured to acquire state parameter information that is sent by the aircraft last time before the communication fails, when the communication failure with the aircraft is detected, where the state parameter information includes height information, speed information, and first position information of the aircraft;
- the determining module 602 is configured to determine first distance information according to the height information and the speed information; determine second position information of the aircraft according to the first distance information and the first position information, where the second position information is used to represent the position of the aircraft at the landing point.
- the positioning device further includes:
- the determining module 603 is configured to determine whether the remaining power is less than or equal to a preset threshold, and send the determination result to the determining module;
- the determining module 602 is specifically configured to:
- the step of determining the second location information of the aircraft according to the first distance information and the first location information is continued.
- the determining module 602 is specifically configured to determine the first distance information according to the height information and the speed information in the following manner:
- the first distance information is determined according to the height information, the speed information, and the wind speed information; wherein the wind speed information is obtained according to the first position information, or the state parameter information includes the wind speed information.
- the determining module 602 is specifically configured to determine the first distance information according to the height information, the speed information, and the wind speed information in the following manner:
- the determining module 602 is specifically configured to determine the second location information in the following manner:
- X' 1 is the longitude value in the second location information
- X 1 is the longitude value in the first location information
- Y 1 ' is the latitude value in the second location information
- Y 1 is the latitude in the first location information Value
- S 1 is the first distance value in the first distance information
- W 1 is the distance value corresponding to the unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- r 1 is the direction and horizontal line in the falling speed information
- r 1 can also be understood as the angle between the first distance direction and the horizontal line in the first distance information
- r 1 can be used to characterize the loss of control.
- Point to the direction of the landing point ⁇ ' is the angle between the direction in the velocity information and the horizontal line
- ⁇ is the first offset angle calculated by the above formula.
- the determining module 602 is specifically configured to determine, according to the speed information in the height information and the drop speed information, the first distance value in the first distance information:
- t 1 is the flight time
- h 1 is the height of the aircraft at the point of runaway, such as the altitude information in the state parameter information
- g is the gravitational acceleration
- v 1 is the velocity value in the landing velocity information
- S 1 is the first distance value ;
- the determining module 602 is specifically configured to determine, according to the speed value in the falling speed information, the speed value in the speed information, and the speed value in the wind speed information, the first offset angle in the first distance information:
- v 1 is the velocity value in the velocity information
- v is the velocity value in the landing velocity information
- v 2 is the velocity value in the wind speed information
- ⁇ is the first offset angle
- the determining module 602 is further configured to:
- the determining module is specifically configured to: determine, by using the following manner, second distance information corresponding to the remaining power of the aircraft:
- S 2 is a second distance value in the second distance information
- S 4i is the flight distance corresponding to the amount of power consumed by the aircraft for the first time from the start of the take-off of the aircraft
- ⁇ Q is the amount of power consumed from the start of the aircraft to the failure of the aircraft communication communication
- Q is the remaining power when the aircraft communication fails.
- the determining module 602 is specifically configured to determine, according to the second distance information and the first distance information, third distance information:
- the third distance information is determined according to the speed information, the wind speed information, the second distance information, and the first distance information.
- the determining module 602 is specifically configured to determine, according to the speed information, the wind speed information, the second distance information, and the first distance information, the third distance information:
- S 3 is a third distance value in the third distance information
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- v 1 is in the speed information.
- the velocity value, v is the velocity value in the landing velocity information
- v 2 is the velocity value in the wind speed information
- ⁇ is the first offset angle in the first distance information
- ⁇ ′ is the third in the third distance information Two offset angles.
- the determining module 602 is specifically configured to calculate the second location information in the following manner:
- X' 2 is the longitude value in the second location information
- X 1 is the longitude value in the first location information
- Y 2 ' is the latitude value in the second location information
- Y 1 is the latitude in the first location information a value
- S 3 is a third distance value in the third distance information
- S 1 is a first distance value in the first distance information
- S 2 is a second distance value in the second distance information
- W 1 is a unit longitude value
- W 2 is the distance value corresponding to the unit latitude value
- ⁇ ′ is the angle between the speed value of the landing speed information and the horizontal line
- r 2 is the position between the aircraft communication failure and the position of the landing point.
- the angle between the line and the horizontal line, r 2 can be used to represent the direction of the runaway point to the landing point, ⁇ " is the second offset angle in the third distance information; wherein the second offset angle is in the speed information.
- it also includes:
- the display module 604 is configured to display, on the map, the location of the landing point of the aircraft according to the second position information of the aircraft.
- Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the steps of the positioning method of any of the above-described aircraft.
- FIG. 7 is a schematic structural diagram of a mobile terminal according to an embodiment of the present application.
- the mobile terminal can include a processor 71 and a memory 72.
- the memory 72 can be a stand-alone memory, or it can be a memory inside a chip (such as a processor chip) or a module having a storage function.
- a computer program, a function module, computer instructions, an operating system, data, and the like can be stored in the memory 72.
- the memory 72 can partition store it.
- the memory 72 may include a volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM), such as static random access memory (English: static random-access memory, Abbreviation: SRAM), Double Data Rate Synchronous Dynamic Random Access Memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, DDR SDRAM); memory can also include non-volatile memory (English: non-volatile memory) For example, flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviated: HDD) or solid state drive (English: solid-state drive, abbreviation: SSD); the memory 72 may also include the above types of memory The combination.
- volatile memory such as random access memory (English: random-access memory, abbreviation: RAM), such as static random access memory (English: static random-access memory, Abbreviation: SRAM), Double Data Rate Synchronous Dynamic Random Access Memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, DDR SDRAM)
- memory can also include
- the processor 71 can be a central processing unit (English: central processing unit, abbreviation: CPU), a network processor (English: network processor, abbreviation: NP), a data processor, an image processor, a task processor, and the like. One or a combination of the devices.
- the processor 71 may further include a hardware chip.
- the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (abbreviated as PLD), or a combination thereof.
- ASIC application-specific integrated circuit
- PLD programmable logic device
- the above PLD can be a complex programmable logic device (English: complex programmable logic device, abbreviation: CPLD), field-programmable gate array (English: field-programmable gate array, abbreviation: FPGA), general array logic (English: generic array Logic, abbreviation: GAL) or any combination thereof.
- the memory 72 and the processor 71 can be connected by a bus or other means.
- the memory 72 can be integrated with the processor 71 in one device, or the memory 72 can be remote from the processor 71.
- the mobile terminal may further include an output device, such as a display screen or the like, to display the operation result of the processor 71, such as the position information of the aircraft in the above embodiment.
- the mobile terminal can also include an input device to receive user operations.
- the mobile terminal may also include other general-purpose devices, which are not described herein.
- the above memory stores instructions for implementing a positioning method of any of the above-described aircraft when the instructions are executed by the processor.
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Abstract
本发明实施例公开了一种飞行器的定位方法和装置,包括:当移动终端检测到与飞行器通信失效时,所述移动终端获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;所述移动终端根据所述高度信息和所述速度信息确定第一距离信息;所述移动终端根据所述第一距离信息和所述第一位置信息,确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。通过本发明实施例的方案,移动终端根据飞行器在通信失效前最后一次发送的状态参数信息准确的确定了飞行器在着落点的位置,缩小了用户寻找范围,提高了用户找回飞行器的成功率。
Description
本申请要求于2017年10月24日提交中国专利局、申请号为201711004973.2、申请名称为“一种飞行器的定位方法和移动终端”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及飞行器技术,尤指一种飞行器的定位方法和移动终端。
飞行器往往由于各种原因失去控制,例如,现有的飞行器产品,由于依赖无线通讯控制飞行,或者依赖卫星定位***自主飞行,但无线通讯或者卫星定位***在某些特定的地方非常容易受到干扰,且现有飞行器普遍不具备防撞功能,在飞行器与电力线路碰撞,或者与树木产生碰撞,都会导致飞行器失去控制。又如,有时飞行器飞的较远,超出操作者的视线范围时,如果操控不当,飞行器就可能会失去控制。飞行器失去控制后,如何确定飞行器的着落位置,成为本领域技术人员积极研究的课题。
发明内容
本发明实施例提供了一种飞行器的定位方法和移动终端,能够准确定位飞行器的着落位置,缩小用户寻找范围,从而提高用户找回飞行器的成功率。
本发明实施例提供了一种飞行器的定位方法,包括:
当移动终端检测到与飞行器通信失效时,所述移动终端获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;
所述移动终端根据所述高度信息和所述速度信息确定第一距离信息;
所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。
可选的,所述状态参数信息还包括:所述飞行器的剩余电量信息;
所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息之前,所述方法还包括:
所述移动终端判断所述剩余电量是否小于或等于预设阈值;
所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行 器的第二位置信息包括:
当判断出所述剩余电量小于或等于预设阈值时,所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息。
可选的,所述移动终端根据所述高度信息和所述速度信息确定第一距离信息,包括:
所述移动终端根据所述高度信息、所述速度信息和风速信息确定所述第一距离信息;其中,所述风速信息是根据所述第一位置信息获得的,或者所述状态参数信息包含有所述风速信息。
可选的,所述移动终端根据所述高度信息、所述速度信息和所述风速信息确定所述第一距离信息包括:
所述移动终端根据所述速度信息和风速信息确定降落速度信息,所述降落速度信息包括速度值和方向;
所述移动终端根据所述高度信息和所述降落速度信息中的所述速度值,确定所述第一距离信息中的第一距离值;
所述移动终端根据所述降落速度信息中的速度值、所述速度信息中的速度值和所述风速信息中的速度值,确定所述第一距离信息中的第一偏移角度;其中,所述第一偏移角度为所述速度信息中的方向与所述降落速度信息中的方向之间的夹角。
可选的,
所述移动终端根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值包括:
所述移动终端按照公式S
1=vt
1计算所述第一距离信息中的第一距离值;
其中,t
1为所述飞行时间,h
1为所述高度信息,g为重力加速度,v为所述降落速度信息中的速度值,S
1为所述第一距离值;
所述移动终端根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度包括:
其中,v
1为所述速度信息中的速度值,v为所述降落速度信息中的速度值, v
2为所述风速信息中的速度值,α为所述第一偏移角度。
可选的,所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,包括:
其中,r
1=α-α';
其中,X'
1为所述第二位置信息中的经度值,X
1为所述第一位置信息中的经度值,Y
1'为所述第二位置信息中的纬度值,Y
1为所述第一位置信息中的纬度值,S
1为所述第一距离信息中的第一距离值;W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,r
1为所述降落速度信息中的速度方向与水平线之间的夹角,α'为所述状态参数信息中的速度信息中的速度方向与水平线之间的夹角,α为所述第一偏移角度。
可选的,该方法还包括:
当所述移动终端判断出所述剩余电量大于所述预设阈值时,所述移动终端确定与所述剩余电量对应的第二距离信息;
所述移动终端根据所述第二距离信息和所述第一距离信息确定第三距离信息;
所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,包括:
所述移动终端根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
可选的,所述移动终端确定与所述剩余电量对应的第二距离信息包括:
所述移动终端按照公式S
2=10×ΔS×Q计算所述第二距离信息中的第二距离值;
其中,S
2为所述第二距离信息中的第二距离值,Q为所述飞行器通信失效时的剩余电量,
S
4i为从所述飞行器开始起飞开始,所述飞行器第i次消耗1‰的电量所对应的飞行距离,△Q为从所述飞行器开始起飞 到所述飞行器通信失效时消耗的电量。
可选的,所述移动终端根据第二距离信息和第一距离信息确定第三距离信息包括:
所述移动终端根据所述速度信息、风速信息、所述第二距离信息和所述第一距离信息确定所述第三距离信息。
可选的,所述移动终端根据所述速度信息、风速信息、第二距离信息和第一距离信息确定第三距离信息包括:
其中,S
3为所述第三距离信息中的第三距离值,S
1为所述第一距离信息中的第一距离值,S
2为所述第二距离信息中的第二距离值,α”为所述第三距离信息中的第二偏移角度。
可选的,
其中,r
2=α'-α”;
其中,X'
2为所述第二位置信息中的经度值,X
1为所述第一位置信息中的经度值,Y
2'为所述第二位置信息中的纬度值,Y
1为所述第一位置信息中的纬度值,W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,α'为所述速度信息中的速度方向与水平线之间的夹角,r
2为所述飞行器通信失效时的位置和着落点的位置之间的连线与水平线的夹角,α”为所述第三距离信息中的第二偏移角度。
可选的,该方法还包括:
所述移动终端根据所述飞行器的第二位置信息,在地图上显示所述飞行器的着落点所在的位置。
可选的,所述移动终端检测到与飞行器通信失效包括:
所述移动终端在预设时间内未接收到飞行器周期性发送的消息,确定检测到与所述飞行器通信失效。
本发明实施例提出了一种移动终端,包括:
获取模块,用于当检测到与飞行器通信失效时,获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;
确定模块,用于根据所述高度信息和所述速度信息确定第一距离信息;根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。
可选的,所述飞行器的剩余电量信息;所述定位装置还包括:
判断模块,用于判断所述剩余电量是否小于或等于预设阈值,将判断结果发送给所述确定模块;
所述确定模块具体用于:
当所述判断结果为判断出所述剩余电量小于或等于预设阈值时,根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息。
可选的,所述确定模块还用于:
当所述判断结果为判断出所述剩余电量大于所述预设阈值时,确定所述飞行器的与所述剩余电量对应的第二距离信息;
根据所述第二距离信息和所述第一距离信息确定第三距离信息,根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
可选的,还包括:
显示模块,用于根据所述飞行器的第二位置信息,在地图上显示所述飞行器的着落点所在的位置。
本发明实施例提出了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现上述任意一种飞行器的定位方法的步骤。
本发明实施例提出了一种移动终端,包括处理器和存储器,所述存储器中存储有指令,当所述指令被所述处理器执行时,实现上述任意一种飞行器的定位方法。
本申请实施例中,当移动终端检测到与飞行器通信失效时,所述移动终端获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;所述移动终端根据所述高度信息和所述速度信息确定第一距离信息;移动终端根据所述第一距离信息和所述第一位置信息,确定所述飞行器的第二位置信息,所述第二位 置信息用于表征所述飞行器在着落点的位置。通过本发明实施例的方案,移动终端根据飞行器在通信失效前最后一次发送的状态参数信息准确的确定了飞行器在着落点的位置,缩小了用户寻找范围,提高了用户找回飞行器的成功率。
图1为本发明实施例提供的一种飞行器的定位方法的流程示意图;
图2为本发明实施例提供的飞行器的降落速度信息中的速度方向示意图;
图3为本发明实施例提供的飞行器在剩余电量大于预设阈值的情况下飞行的示意图;
图4为本发明实施例提供的示例1中飞行器的定位方法的流程图;
图5为本发明实施例提供的示例2中飞行器的定位方法的流程图;
图6为本发明实施例提供的一种移动终端的模块组成示意图;
图7为本发明实施例提供的一种移动终端的结构示意图。
下文中将结合附图对本发明的实施例进行说明。
相关的飞行器的定位方法大致包括:
飞行器在飞行过程中实时采用全球定位***(GPS,Global Position System)获取飞行器所处的位置信息,并将获得的位置信息实时上报到移动终端,移动终端保存飞行器的位置信息,飞行器失去控制后,根据移动终端保存的飞行器的最后一个的位置信息就可以找回飞行器。
相关的飞行器的定位方法中,保存的位置信息不准确,误差较大,找回飞行器的成功率较低。
下面结合附图示例性地介绍本申请实施例所提供的技术方案。
参见图1,本发明实施例提出了一种飞行器的定位方法,包括:
步骤100、当移动终端检测到与飞行器通信失效时,移动终端获取飞行器在通信失效前最后一次发送的状态参数信息。
本实施例中,移动终端可以采用以下方法检测是否与飞行器通信失效。
首先,移动终端与飞行器之间建立双向通信机制,即发送方向接收方发送周期性请求消息,若发送方在预设时间内接收到接收方的应答消息,确定与接 收方通信正常;若发送方在预设时间内未接收到接收方的应答消息,则确定与接收方通信失效。
同样,若接收方在预设时间内接收到发送方的请求消息,则确定与发送方通信正常;若接收方在预设时间内未接收到发送方的请求消息,则确定与发送方通信失效。
上述请求消息可以是心跳请求,应答消息可以是心跳响应。
其中,发送方为飞行器,接收方为移动终端;或者,发送方为移动终端,接收方为飞行器。
本实施例中,状态参数信息可以包括飞行器所处的高度信息、速度信息和第一位置信息。
本申请实施例中,可以将第一位置信息所表征的位置点定义为飞行器的失控点。
在一个可选的实施例中,状态参数信息还可以包括:飞行器的剩余电量信息。
本实施例中,飞行器在飞行过程中实时获取状态参数信息并发送给移动终端进行保存。例如,飞行器在向移动终端发送的请求消息或应答消息中包含状态参数信息,移动终端从接收到的请求消息或应答消息中获取状态参数信息;具体的,若发送方为飞行器,状态参数信息可以携带在飞行器发送的请求消息中;若发送方为移动终端,状态参数信息可以携带在飞信器发送的应答消息中。飞行器也可以将状态参数信息单独发送给移动终端;飞行器也可以采用其他方式将状态参数信息发送给移动终端。
移动终端在检测到与飞行器通信失效后,获取保存的最后一组状态参数信息。
步骤101、移动终端根据高度信息和速度信息确定第一距离信息。
本实施例中,移动终端可以根据高度信息和速度信息确定飞行器在电量耗尽点与着落点之间的第一距离信息,该第一距离信息可以包括第一距离值和第一距离方向。其中,第一距离方向可以是指电量耗尽点至着落点的直线方向。该第一距离方向可以通过角度来表征,在此不予限定。确定第一距离信息的具体实现方式可参见下述实施例中的描述。需要说明的是,电量耗尽点为飞行器依靠动力***飞行的终点,也就是说,电池中的电量仅能够支持飞行器控制动力***飞行至该终点,而在此之后,飞行器的飞行失控,即飞行器仅依靠飞行器的重力惯性以及环境影响,例如风力影响等,实现飞行降落的状态。
在某些情况下,例如,飞行器在失控点的剩余电量小于预设阈值的情况下, 飞行器的电量耗尽点与飞行器的失控点的位置信息可以相同。
可选地,移动终端还可以根据高度信息、速度信息和风速信息确定飞行器的第一距离信息。在此,飞行器发送的状态参数信息可以包括风速信息,移动终端可以通过获取状态参数信息来获取风速信息;或者,移动终端在检测到与飞行器通信失效后,可以根据状态参数信息中的飞行器的第一位置信息,确定该第一位置信息对应的风速信息。
可选地,飞行器在失控点时的剩余电量大于预设阈值的情况下,移动终端可以确定失控点至电量耗尽点的第二距离信息,该第二距离信息可以包括第二距离值和第二距离方向,该第二距离值可以基于剩余电量计算。该第二距离方向可以是指失控点至电量耗尽点的直线方向。
进一步地,飞行器在失控点时的剩余电量大于预设阈值的情况下,移动终端可以根据第一距离信息和第二距离信息,计算出第三距离信息。例如分别根据第一距离值和第一距离方向,以及第二距离值和第二距离方向,计算出第三距离信息的第三距离值和第三距离方向,计算方式在此不予限定。
步骤102、移动终端根据第一距离信息和第一位置信息确定飞行器的第二位置信息。
本实施例中,第二位置信息用于表征飞行器在着落点的位置。示例性地,若第一位置信息包括飞行器在失控点的经度值和纬度值,第二位置信息可以包括飞行器在着落点的经度值和纬度值。当然,第二位置信息还可以是根据第一位置信息中包括的其他坐标信息确定的。
下面针对四种不同的情况分别描述上述方式的具体实现。
第一种,飞行器在失控点的剩余电量小于或等于预设阈值,且无风速信息的情况下,移动终端可以根据高度信息和速度信息确定第一距离信息,进而可以根据第一位置信息和第一距离信息确定飞行器在着落点的第二位置信息。其中,无风速信息可以是指移动终端无法获取风速信息,或者获取的风速信息不足以影响飞行器飞行。
具体的,第一距离信息可以采用以下方式进行计算。
其次,按照公式S
1=v
1t
1计算第一距离信息中的第一距离值;
其中,t
1为飞行时间,即飞行器从失控点至着落点的飞行时间,h
1为飞行器在失控点的高度,如状态参数信息中的高度信息,g为重力加速度,v
1为状 态参数信息中的速度信息中的速度值,S
1为第一距离值。
其中,由于无风速信息,飞行器通信失效后的飞行方向保持不变,那么r
1=α’;
其中,X'
1为第二位置信息中的经度值,X
1为第一位置信息中的经度值,Y
1'为第二位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
1为第一距离信息中的第一距离值;W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,r
1为第一距离信息中的第一距离方向与水平线之间的夹角,r
1可以用以表征失控点至着落点的方向,α'为速度信息中的方向与水平线之间的夹角,α'可以用以表征飞行器通信失效时的速度的方向。
上述S
1、W
1、W
2的单位为米(m),W
1、W
2可以是111000米(m)或111110m,或者,W
1的取值与X
1相关,W
2的取值与Y
1相关等等,或其他国际标准中应用的经纬度与距离的换算值。
第二种,飞行器在失控点的剩余电量小于或等于预设阈值,且有风速信息的情况下,移动终端可以根据所述高度信息、所述速度信息和风速信息确定所述第一距离信息;进一步地,移动终端可以根据第一距离信息中的第一距离值和第一位置信息确定飞行器的第二位置信息。
具体的,如图2所示,由于速度信息和风速信息为两个矢量,分别包括了速度值和方向,将速度信息和风速信息进行矢量相加即可得到降落速度信息。
也就是说,移动终端根据高度信息、速度信息和风速信息确定第一距离信息时,首先,移动终端根据速度信息和风速信息确定降落速度信息,该降落速度信息包括速度值和方向;其次,移动终端根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值;再次,移动终端根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度。
具体地,第一距离值可以采用以下方式进行计算。
其次,按照公式S
1=vt
1计算第一距离信息中的第一距离值;
其中,t
1为飞行时间,h
1为飞行器在失控点的高度,g为重力加速度,v为降落速度信息中的速度值,S
1为第一距离值。
其中,如图2所示,根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度包括:
其中,v
1为速度信息中的速度值,v为降落速度信息中的速度值,v
2为风速信息中的速度值,α为第一偏移角度。
其中,风速信息可以是移动终端根据第一位置信息从网络上实时获得,也可以是移动终端采用其他方式获得,本发明实施例对具体的获得方式不作限定,具体的获得方式也不用于限定本发明实施例的保护范围。
风速信息也可以是飞行器采用传感器实时获得,并包含在状态参数信息中发送给移动终端,也可以是飞行器采用其他方式获得,本发明实施例对具体的获得方式不作限定,具体的获得方式也不用于限定本发明实施例的保护范围。
其中,如图2所示,飞行器通信失效后的飞行方向受到风速信息的影响,那么,r
1=α-α';
其中,X'
1为第二位置信息中的经度值,X
1为第一位置信息中的经度值,Y
1'为第二位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
1为第一距离信息中的第一距离值;W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,r
1为降落速度信息中的方向与水平线之间的夹角,由于降落速度的方向与第一距离的方向相同,r
1也可以理解为第一距离信息中的第一距离方向与水平线之间的夹角,r
1可以用以表征失控点至着落点的方向,α'为速度信息中的方向与水平线之间的夹角,α为上述公式计算出的第一偏移角度。
第三种,飞行器在失控点的剩余电量大于预设阈值,且无风速信息的情况下,第一距离信息包括第一距离值,第二距离信息包括第二距离值,第三距离信息包括第三距离值。
此时,移动终端可以确定与剩余电量对应的第二距离信息中的第二距离值;
移动终端根据高度信息和速度信息确定第一距离信息中的第一距离值;
上述两个步骤的执行顺序不予限定。
移动终端根据第二距离信息中的第二距离值和第一距离信息中的第一距离值确定第三距离信息中的第三距离值;
移动终端根据第一位置信息和所述第三距离信息确定飞行器的第二位置信息。
其中,移动终端根据高度信息和速度信息确定第一距离信息中的第一距离值可以参考第一种情况,这里不再赘述。
其中,移动终端确定飞行器与剩余电量对应的第二距离信息中的第二距离值包括:
移动终端按照公式S
2=10×ΔS×Q计算第二距离信息中的第二距离值;
其中,S
2为第二距离信息中的第二距离值,
S
4i为从飞行器开始起飞开始,飞行器第i次消耗1‰的电量所对应的飞行距离,△Q为从飞行器开始起飞到飞行器通信失效时消耗的电量,Q为飞行器通信失效时的剩余电量。
其中,S
4i可以由飞行器在飞行过程中基于对电量的监控实时获得,并实时传输给移动终端,例如,飞行器根据第(i-1)次消耗1‰的电量的位置和第i次消耗1‰的电量的位置计算S
4i,将S
4i包含在状态参数信息中发送给移动终端;又如,飞行器将第i次消耗1‰的电量的时间包含在状态参数信息中发送给移动终端,移动终端根据第(i-1)次消耗1‰的电量的位置和第i次消耗1‰的电量的位置计算S
4i,当然,移动终端也可以采用其他方式获得,这里不再赘述,具体的实现手段也不用于限定本发明实施例的保护范围。
其中,第一距离信息可以表示为第一距离矢量,第二距离信息可以表示为第二距离矢量,根据第一距离矢量和第二距离矢量,可以确定第三距离信息中的第三距离值和第三距离方向。
其中,移动终端根据所述第一位置信息和所述第三距离信息中的第三距离值确定所述飞行器的第二位置信息包括:
其中,r
2=α';
其中,X'
2为第三位置信息中的经度值,X
1为第一位置信息中的经度值,Y
2'为第三位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
3为第三距离值,S
1为第一距离信息中的第一距离值,S
2为第二距离信息中的第二距离值,W
1为 单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,α'为降落速度信息的速度值与水平线之间的夹角,α'可以用于表征降落速度的方向;r
2为第三距离信息中的第三距离方向与水平线的夹角,r
2可以表征第三距离,即失控点(也就是通信失效时的位置)至着落点的方向。
第四种,飞行器在失控点的剩余电量大于预设阈值,且有风速信息的情况下。
此时,移动终端确定与剩余电量对应的第二距离信息中的第二距离值;
移动终端根据高度信息、速度信息和风速信息确定第一距离信息中的第一距离值;
移动终端根据速度信息、风速信息、第二距离信息中的第二距离值和第一距离信息中的第一距离值确定第三距离信息;
移动终端根据第一位置信息和所述第三距离信息确定飞行器的第二位置信息。
其中,移动终端根据高度信息、速度信息和风速信息确定第一距离信息中的第一距离值可以参考第二种情况,这里不再赘述。
其中,移动终端确定与剩余电量对应的第二距离信息中的第二距离值可以参考第三种情况,这里不再赘述。
其中,如图3所示,当考虑风速信息对飞行器的飞行速度的影响时,由于风速信息的影响,飞行器通信失效时基于剩余电量的飞行方向和飞行器电量耗尽时基于惯性的飞行方向之间存在一定的夹角,因此,
其中,S
3为第三距离信息中的第三距离值,S
1为第一距离信息中的第一距离值,S
2为第二距离信息中的第二距离值,v
1为速度信息中的速度值,v为降落速度信息中的速度值,v
2为风速信息中的速度值,α为第一距离信息中的第一偏移角度。
其中,X'
2为第三位置信息中的经度值,X
1为第一位置信息中的经度值,Y
2'为第三位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
3为第三距离值,S
1为第一距离信息中的第一距离值,S
2为第二距离信息中的第二距离值,W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,α'为降落速度信息的速度值与水平线之间的夹角,r
2为飞行器通信失效时的位置和着落点的位置之间的连线与水平线的夹角,r
2可以用于表征失控点至着落点的方向,α”为第三距离信息中的第二偏移角度;其中,第二偏移角度为速度信息中的方向与飞行器通信失效时的位置和着落点的位置之间的连线之间的夹角。
在一个可选的实施例中,该方法还包括:
根据飞行器的第二位置信息或飞行器的第三位置信息,在地图上显示飞行器的着落点所在位置。
在一个可选的实施例中,也可以在地图上显示飞行器通信失效时的位置和着落点所在的位置,还可以在地图上显示飞行器通信失效时的位置和着落点所在的位置之间的连线,即飞行器通信失效后的飞行路线。
下面通过具体示例详细说明上述方法的具体实现。
示例1
参见图4,该方法可以包括:
步骤400、移动终端检测到与飞行器通信失效,获取飞行器在通信失效前最后一次发送的状态参数信息。
本步骤中,状态参数信息包括飞行器所处的高度信息、速度信息、第一位置信息和剩余电量信息。
步骤401、移动终端判断剩余电量是否小于或等于预设阈值,如果是,则执行步骤402~步骤404;如果不是,则执行步骤405~步骤408。
步骤402、移动终端根据高度信息和速度信息确定第一距离信息。
步骤403、移动终端根据第一距离信息和第一位置信息确定飞行器的第二位置信息。
本步骤中,第二位置信息用于表征飞行器在着落点的位置。
步骤404、移动终端根据第二位置信息在地图上显示飞行器的着落点所在的位置。
步骤405、移动终端确定飞行器的与剩余电量对应的第二距离信息。
步骤406、移动终端根据高度信息和速度信息确定第一距离信息。
步骤407、移动终端根据速度信息、第二距离信息和第一距离信息确定第三距离信息,根据第一位置信息和第三距离信息确定飞行器的第二位置信息。
本步骤中,第二位置信息用于表征飞行器在着落点的位置。
步骤408、移动终端根据第二位置信息在地图上显示飞行器的着落点所在的位置。
示例2
参见图5,该方法包括:
步骤500、移动终端检测到与飞行器通信失效,获取飞行器在通信失效前最后一次发送的状态参数信息。
本步骤中,状态参数信息包括飞行器所处的高度信息、速度信息、第一位置信息和剩余电量信息。
步骤501、移动终端判断剩余电量是否小于或等于预设阈值,如果是,则执行步骤502~步骤504;如果不是,则执行步骤505~步骤508。
步骤502、移动终端根据高度信息、速度信息和风速信息确定第一距离信息。
步骤503、移动终端根据第一距离信息和第一位置信息确定飞行器的第二位置信息。
本步骤中,第二位置信息用于表征飞行器在着落点的位置。
步骤504、移动终端根据第二位置信息在地图上显示飞行器的着落点所在的位置。
步骤505、移动终端确定飞行器的与剩余电量对应的第二距离信息。
步骤506、移动终端根据高度信息、速度信息和风速信息确定第一距离信息。
步骤507、移动终端根据速度信息、风速信息、第二距离信息和第一距离信息确定第三距离信息,根据第一位置信息和第三距离信息确定飞行器的第二位置信息。
本步骤中,第二位置信息用于表征飞行器在着落点的位置。
步骤508、移动终端根据第二位置信息在地图上显示飞行器的着落点所在的位置。
通过上述实施例,移动终端根据飞行器在通信失效前最后一次发送的状态 参数信息准确的确定了飞行器在着落点的位置,缩小了用户寻找范围,提高了用户找回飞行器的成功率。
参见图6,本发明实施例还提出了一种移动终端,包括:
获取模块601,用于当检测到与飞行器通信失效时,获取飞行器在通信失效前最后一次发送的状态参数信息,状态参数信息包括飞行器所处的高度信息、速度信息和第一位置信息;
确定模块602,用于根据高度信息和速度信息确定第一距离信息;根据第一距离信息和第一位置信息确定飞行器的第二位置信息,第二位置信息用于表征飞行器在着落点的位置。
可选的,飞行器的剩余电量信息;定位装置还包括:
判断模块603,用于判断剩余电量是否小于或等于预设阈值,将判断结果发送给确定模块;
确定模块602具体用于:
当判断结果为判断出剩余电量小于或等于预设阈值时,继续执行根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息的步骤。
可选的,确定模块602具体用于采用以下方式实现根据高度信息和速度信息确定第一距离信息:
根据高度信息、速度信息和风速信息确定第一距离信息;其中,风速信息是根据第一位置信息获得的,或者状态参数信息包含有风速信息。
可选的,确定模块602具体用于采用以下方式实现根据高度信息、速度信息和风速信息确定第一距离信息:
根据速度信息和风速信息确定降落速度信息,该降落速度信息包括速度值和方向;
根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值;
根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度;其中,第一偏移角度为速度信息中的方向与降落速度信息中的方向之间的夹角。
可选的,确定模块602具体用于采用以下方式实现确定第二位置信息:
其中,r
1=α-α';
其中,X'
1为第二位置信息中的经度值,X
1为第一位置信息中的经度值,Y
1'为第二位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
1为第一距离信息中的第一距离值;W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,r
1为降落速度信息中的方向与水平线之间的夹角,由于降落速度的方向与第一距离的方向相同,r
1也可以理解为第一距离信息中的第一距离方向与水平线之间的夹角,r
1可以用以表征失控点至着落点的方向,α'为速度信息中的方向与水平线之间的夹角,α为上述公式计算出的第一偏移角度。
可选的,确定模块602具体用于采用以下方式实现根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值:
按照公式S
1=v
1t
1计算第一距离信息中的第一距离值;
其中,t
1为飞行时间,h
1为飞行器在失控点的高度,如状态参数信息中的高度信息,g为重力加速度,v
1为降落速度信息中的速度值,S
1为第一距离值;
确定模块602具体用于采用以下方式实现根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度:
其中,v
1为速度信息中的速度值,v为降落速度信息中的速度值,v
2为风速信息中的速度值,α为第一偏移角度。
可选的,确定模块602还用于:
当所述判断结果为判断出所述剩余电量大于所述预设阈值时,确定所述飞行器的与所述剩余电量对应的第二距离信息;
根据所述第二距离信息和所述第一距离信息确定第三距离信息,根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
可选的,确定模块具体用于采用以下方式实现确定飞行器与剩余电量对应的第二距离信息:
按照公式S
2=10×ΔS×Q计算第二距离信息中的第二距离值;
其中,S
2为第二距离信息中的第二距离值,
S
4i为从飞行器开始起飞开始,飞行器第i次消耗1‰的电量所对应的飞行距离,△Q为从飞行器开始起飞到飞行器通信失效时消耗的电量,Q为飞行器通信失效时的剩余电量。
可选的,确定模块602具体用于采用以下方式实现根据第二距离信息和第一距离信息确定第三距离信息:
根据速度信息、风速信息、第二距离信息和第一距离信息确定第三距离信息。
可选的,确定模块602具体用于采用以下方式实现根据速度信息、风速信息、第二距离信息和第一距离信息确定第三距离信息:
其中,S
3为第三距离信息中的第三距离值,S
1为第一距离信息中的第一距离值,S
2为第二距离信息中的第二距离值,v
1为速度信息中的速度值,v为降落速度信息中的速度值,v
2为风速信息中的速度值,α为第一距离信息中的第一偏移角度,α”为所述第三距离信息中的第二偏移角度。
可选的,确定模块602具体用于采用以下方式实现计算第二位置信息:
其中,r
2=α'-α”;
其中,X'
2为第二位置信息中的经度值,X
1为第一位置信息中的经度值,Y
2'为第二位置信息中的纬度值,Y
1为第一位置信息中的纬度值,S
3为第三距离信息中的第三距离值,S
1为第一距离信息中的第一距离值,S
2为第二距离信息中的第二距离值,W
1为单位经度值所对应的距离值,W
2为单位纬度值对应的距离值,α'为降落速度信息的速度值与水平线之间的夹角,r
2为飞行器通信失效时的位置和着落点的位置之间的连线与水平线的夹角,r
2可以用于表征失控点至着落点的方向,α”为第三距离信息中的第二偏移角度;其中,第二偏移角度为速度信息中的方向与飞行器通信失效时的位置和着落点的位置之间的连线 之间的夹角。
可选的,还包括:
显示模块604,用于根据飞行器的第二位置信息,在地图上显示飞行器的着落点所在的位置。
当然,上述模块还可以用于实现上述实施例中的任意一种方法,在此不予限定。
本发明实施例还提出了一种计算机可读存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时实现上述任意一种飞行器的定位方法的步骤。
请参阅图7,图7是本申请实施例提供的一种移动终端的结构示意图。该移动终端可以包括处理器71和存储器72。
存储器72可以是独立的存储器,也可以是芯片(如处理器芯片)内部的存储器或某一具有存储功能的模块。
存储器72中可以存储有计算机程序、功能模块、计算机指令、操作***、数据等。存储器72可以对其进行分区存储。
其中,存储器72可以包括易失性存储器(英文:volatile memory),例如随机存取存储器(英文:random-access memory,缩写:RAM),如静态随机存取存储器(英文:static random-access memory,缩写:SRAM),双倍数据率同步动态随机存取存储器(英文:Double Data Rate Synchronous Dynamic Random Access Memory,缩写:DDR SDRAM)等;存储器也可以包括非易失性存储器(英文:non-volatile memory),例如快闪存储器(英文:flash memory),硬盘(英文:hard disk drive,缩写:HDD)或固态硬盘(英文:solid-state drive,缩写:SSD);存储器72还可以包括上述种类的存储器的组合。
其中,处理器71可以是中央处理器(英文:central processing unit,缩写:CPU),网络处理器(英文:network processor,缩写:NP),数据处理器,图像处理器,任务处理器等专用处理器中的一种或组合。
其中,处理器71还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(英文:application-specific integrated circuit,缩写:ASIC),可编程逻辑器件(英文:programmable logic device,缩写:PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(英文:complex programmable logic device,缩写:CPLD),现场可编程逻辑门阵列(英文:field-programmable gate array,缩写:FPGA),通用阵列逻辑(英文:generic array logic,缩写:GAL)或其任意组合。
存储器72与处理器71可以通过总线或其他方式连接。存储器72可以与处理器71集成在一个设备中,或者存储器72远离处理器71设置。
可选的,移动终端还可以包括输出装置,例如显示屏等,以显示处理器71的运算结果,如上述实施例中的飞行器的位置信息。移动终端还可以包括输入装置,以接收用户操作。
移动终端还可以包括其他通用装置,在此不一一赘述。
上述存储器中存储有指令,当所述指令被所述处理器执行时,实现上述任意一种飞行器的定位方法。
虽然本发明所揭露的实施方式如上,但所述的内容仅为便于理解本发明而采用的实施方式,并非用以限定本发明。任何本发明所属领域内的技术人员,在不脱离本发明所揭露的精神和范围的前提下,可以在实施的形式及细节上进行任何的修改与变化。
Claims (40)
- 一种飞行器的定位方法,其特征在于,包括:当移动终端检测到与飞行器通信失效时,所述移动终端获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;所述移动终端根据所述高度信息和所述速度信息确定第一距离信息;所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。
- 根据权利要求1所述的方法,所述状态参数信息还包括:所述飞行器的剩余电量信息;所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息之前,所述方法还包括:所述移动终端判断所述剩余电量是否小于或等于预设阈值;所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息包括:当判断出所述剩余电量小于或等于预设阈值时,所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息。
- 根据权利要求2所述的方法,其特征在于,所述移动终端根据所述高度信息和所述速度信息确定第一距离信息,包括:所述移动终端根据所述高度信息、所述速度信息和风速信息确定所述第一距离信息;其中,所述风速信息是根据所述第一位置信息获得的,或者所述状态参数信息包含有所述风速信息。
- 根据权利要求3所述的方法,其特征在于,所述移动终端根据所述高度信息、所述速度信息和所述风速信息确定所述第一距离信息包括:所述移动终端根据所述速度信息和风速信息确定降落速度信息,所述降落速度信息包括速度值和方向;所述移动终端根据所述高度信息和所述降落速度信息中的所述速度值,确定所述第一距离信息中的第一距离值;所述移动终端根据所述降落速度信息中的速度值、所述速度信息中的速度值和所述风速信息中的速度值,确定所述第一距离信息中的第一偏移角度;其 中,所述第一偏移角度为所述速度信息中的方向与所述降落速度信息中的方向之间的夹角。
- 根据权利要求4所述的方法,其特征在于,所述移动终端根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值包括:所述移动终端按照公式S 1=vt 1计算所述第一距离信息中的第一距离值;其中,t 1为所述飞行时间,h 1为所述高度信息,g为重力加速度,v为所述降落速度信息中的速度值,S 1为所述第一距离值;所述移动终端根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度包括:其中,v 1为所述速度信息中的速度值,v为所述降落速度信息中的速度值,v 2为所述风速信息中的速度值,α为所述第一偏移角度。
- 根据权利要求5所述的方法,其特征在于,所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,包括:其中,r 1=α-α';其中,X 1'为所述第二位置信息中的经度值,X 1为所述第一位置信息中的经度值,Y 1'为所述第二位置信息中的纬度值,Y 1为所述第一位置信息中的纬度值,S 1为所述第一距离信息中的第一距离值;W 1为单位经度值所对应的距离值,W 2为单位纬度值对应的距离值,r 1为所述降落速度信息中的速度方向与水平线之间的夹角,α'为所述状态参数信息中的速度信息中的速度方向与水平线之间的夹角,α为所述第一偏移角度。
- 根据权利要求2所述的方法,其特征在于,该方法还包括:当所述移动终端判断出所述剩余电量大于所述预设阈值时,所述移动终端确定与所述剩余电量对应的第二距离信息;所述移动终端根据所述第二距离信息和所述第一距离信息确定第三距离信息;所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,包括:所述移动终端根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
- 根据权利要求7或8所述的方法,其特征在于,所述移动终端根据第二距离信息和第一距离信息确定第三距离信息包括:所述移动终端根据所述速度信息、风速信息、所述第二距离信息和所述第一距离信息确定所述第三距离信息。
- 根据权利要求1-11任一项所述的方法,其特征在于,该方法还包括:所述移动终端根据所述飞行器的第二位置信息,在地图上显示所述飞行器的着落点所在的位置。
- 根据权利要求1-12任一项所述的方法,其特征在于,所述移动终端检测到与飞行器通信失效包括:所述移动终端在预设时间内未接收到飞行器周期性发送的消息,确定检测到与所述飞行器通信失效。
- 一种移动终端,其特征在于,包括:获取模块,用于当检测到与飞行器通信失效时,获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;确定模块,用于根据所述高度信息和所述速度信息确定第一距离信息;根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。
- 根据权利要求14所述的移动终端,其特征在于,所述飞行器的剩余电量信息;所述定位装置还包括:判断模块,用于判断所述剩余电量是否小于或等于预设阈值,将判断结果发送给所述确定模块;所述确定模块具体用于:当所述判断结果为判断出所述剩余电量小于或等于预设阈值时,根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息。
- 根据权利要求15所述的移动终端,其特征在于,所述确定模块具体用于:根据所述高度信息、所述速度信息和风速信息确定所述第一距离信息;其中,所述风速信息是根据所述第一位置信息获得的,或者所述状态参数信息包含有所述风速信息。
- 根据权利要求16所述的移动终端,其特征在于,所述确定模块具体用于:根据所述速度信息和风速信息确定降落速度信息,所述降落速度信息包括速度值和方向;根据所述高度信息和所述降落速度信息中的所述速度值,确定所述第一距离信息中的第一距离值;根据所述降落速度信息中的速度值、所述速度信息中的速度值和所述风速信息中的速度值,确定所述第一距离信息中的第一偏移角度;其中,所述第一偏移角度为所述速度信息中的方向与所述降落速度信息中的方向之间的夹角。
- 根据权利要求15所述的移动终端,其特征在于,所述确定模块还用于:当所述判断结果为判断出所述剩余电量大于所述预设阈值时,确定所述飞行器的与所述剩余电量对应的第二距离信息;根据所述第二距离信息和所述第一距离信息确定第三距离信息,根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
- 根据权利要求20或21所述的移动终端,其特征在于,所述确定模块具体用于:根据所述速度信息、风速信息、所述第二距离信息和所述第一距离信息确定所述第三距离信息。
- 根据权利要求15至23任一项所述的移动终端,其特征在于,还包括:显示模块,用于根据所述飞行器的第二位置信息,在地图上显示所述飞行器的着落点所在的位置。
- 根据权利要求15至25任一项所述的移动终端,其特征在于,还包括:检测模块,用于在预设时间内未接收到飞行器周期性发送的消息,确定检测到与所述飞行器通信失效。
- 一种移动终端,包括处理器和存储器,所述存储器中存储有计算机程序,其特征在于,所述处理器执行所述计算机程序,以实现以下步骤:当检测到与飞行器通信失效时,获取所述飞行器在通信失效前最后一次发送的状态参数信息,所述状态参数信息包括所述飞行器所处的高度信息、速度信息和第一位置信息;根据所述高度信息和所述速度信息确定第一距离信息;根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,所述第二位置信息用于表征所述飞行器在着落点的位置。
- 根据权利要求27所述的移动终端,所述状态参数信息还包括:所述飞行器的剩余电量信息;所述处理器执行根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息的步骤之前,还用于执行所述计算机程序以实现以下步骤:判断所述剩余电量是否小于或等于预设阈值;所述处理器根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息包括:当判断出所述剩余电量小于或等于预设阈值时,所述移动终端根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息。
- 根据权利要求28所述的移动终端,其特征在于,所述处理器根据所述高度信息和所述速度信息确定第一距离信息,执行计算机程序以实现:根据所述高度信息、所述速度信息和风速信息确定所述第一距离信息;其中,所述风速信息是根据所述第一位置信息获得的,或者所述状态参数信息包含有所述风速信息。
- 根据权利要求29所述的移动终端,其特征在于,所述处理器根据所述高度信息、所述速度信息和所述风速信息确定所述第一距离信息,执行计算机程序以实现:根据所述速度信息和风速信息确定降落速度信息,所述降落速度信息包括速度值和方向;根据所述高度信息和所述降落速度信息中的所述速度值,确定所述第一距离信息中的第一距离值;根据所述降落速度信息中的速度值、所述速度信息中的速度值和所述风速信息中的速度值,确定所述第一距离信息中的第一偏移角度;其中,所述第一偏移角度为所述速度信息中的方向与所述降落速度信息中的方向之间的夹角。
- 根据权利要求29所述的移动终端,其特征在于,所述处理器根据高度信息和降落速度信息中的速度值,确定第一距离信息中的第一距离值,执行计算机程序以实现:按照公式S 1=vt 1计算所述第一距离信息中的第一距离值;其中,t 1为所述飞行时间,h 1为所述高度信息,g为重力加速度,v为所述降落速度信息中的速度值,S 1为所述第一距离值;根据降落速度信息中的速度值、速度信息中的速度值和风速信息中的速度值,确定第一距离信息中的第一偏移角度包括:其中,v 1为所述速度信息中的速度值,v为所述降落速度信息中的速度值,v 2为所述风速信息中的速度值,α为所述第一偏移角度。
- 根据权利要求31所述的移动终端,其特征在于,所述处理器根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,执行以下程序以实现:其中,r 1=α-α';其中,X 1'为所述第二位置信息中的经度值,X 1为所述第一位置信息中的经度值,Y 1'为所述第二位置信息中的纬度值,Y 1为所述第一位置信息中的纬度值,S 1为所述第一距离信息中的第一距离值;W 1为单位经度值所对应的距离值,W 2为单位纬度值对应的距离值,r 1为所述降落速度信息中的速度方向与水平线之间的夹角,α'为所述状态参数信息中的速度信息中的速度方向与水平线之间的夹角,α为所述第一偏移角度。
- 根据权利要求28所述的移动终端,其特征在于,所述处理器还执行计算机程序以实现:当判断出所述剩余电量大于所述预设阈值时,确定与所述剩余电量对应的第二距离信息;根据所述第二距离信息和所述第一距离信息确定第三距离信息;根据所述第一距离信息和所述第一位置信息确定所述飞行器的第二位置信息,包括:根据所述第一位置信息和所述第三距离信息确定所述飞行器的第二位置信息。
- 根据权利要求33或34所述的移动终端,其特征在于,所述处理器根据第二距离信息和第一距离信息确定第三距离信息,执行计算机程序以实现:根据所述速度信息、风速信息、所述第二距离信息和所述第一距离信息确定所述第三距离信息。
- 根据权利要求27-37任一项所述的移动终端,其特征在于,所述处理器执行计算机程序以实现:根据所述飞行器的第二位置信息,在地图上显示所述飞行器的着落点所在的位置。
- 根据权利要求27-38任一项所述的移动终端,其特征在于,所述处理器检测到与飞行器通信失效,执行计算机程序以实现:在预设时间内未接收到飞行器周期性发送的消息,确定检测到与所述飞行器通信失效。
- 一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1~13任意一项所述的飞行器的定位方法的步骤。
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