WO2020238966A1 - Method and apparatus for transmitting reference navigation point data, and unmanned aerial vehicle - Google Patents
Method and apparatus for transmitting reference navigation point data, and unmanned aerial vehicle Download PDFInfo
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- WO2020238966A1 WO2020238966A1 PCT/CN2020/092644 CN2020092644W WO2020238966A1 WO 2020238966 A1 WO2020238966 A1 WO 2020238966A1 CN 2020092644 W CN2020092644 W CN 2020092644W WO 2020238966 A1 WO2020238966 A1 WO 2020238966A1
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- 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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- This application relates to the field of UAV data processing, and in particular to a method, device and UAV for transmitting reference waypoint data.
- the existing method for obtaining reference waypoint data generally reads all reference waypoint data into the memory at one time, and then transmits it to the guidance system. This is not only difficult to ensure reliability, but also consumes a lot of memory space.
- the purpose of the present invention is to provide a transmission method, device and unmanned aerial vehicle for reference waypoint data.
- the present invention provides a method for transmitting reference waypoint data, which is applied to a drone, and the method includes:
- the reference waypoint data is transmitted to the guidance system of the drone.
- the reading a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data that needs to be acquired specifically includes:
- the index of the reference waypoint data to be read includes a start data index and an end data index
- the preset number of data is read according to the index of the reference waypoint data to be read Reference waypoint data, including:
- the index sequence read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
- the calculating the index of the reference waypoint data to be read according to the quantity of the reference waypoint data specifically includes:
- the method further includes:
- the method further includes:
- the method further includes:
- the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
- the method further includes:
- the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
- the present invention also provides a reference waypoint data transmission device, which is applied to the drone, and the device includes:
- An acquisition module for acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;
- a calculation module for calculating the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;
- a reading module configured to read a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;
- the transmission module is used to transmit the reference waypoint data to the guidance system of the UAV.
- reading module is also used for:
- the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module is further used for:
- the index sequence read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
- reading module is also used for:
- the acquisition module is also used to establish an index corresponding to each of the reference waypoint data.
- the reading module is also used to calculate the flight trajectory of the drone based on the read reference waypoint data.
- the acquisition module is also used for:
- the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
- the acquisition module is also used for:
- the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
- the present invention also provides an unmanned aerial vehicle including a fuselage, an arm connected to the fuselage, a power device provided on the arm, and a flight control provided on the fuselage, the flight control including processing
- a computer readable program is stored in the memory, and the computer readable program is configured to be executed by the processor. When the computer readable program is executed by the processor, the above method is implemented.
- the present invention has the beneficial effects of obtaining the flight position and flight status of the drone, calculating the number of reference waypoint data to be obtained according to the flight position and flight status, and obtaining the reference waypoint data according to the need Read the preset number of reference waypoint data at the preset address from the memory, thereby making the process of obtaining reference waypoint data more flexible and efficient, ensuring the reliability of data transmission, and reducing memory consumption.
- Figure 1 is a schematic diagram of a drone provided by an embodiment of the present invention.
- FIG. 2 is an application scenario diagram of a method for transmitting reference waypoint data provided by an embodiment of the present invention
- FIG. 3 is a schematic diagram of the internal structure of a flight control of a drone provided by an embodiment of the present invention.
- FIG. 4 is a flowchart of a method for transmitting reference waypoint data provided by the first embodiment of the present invention
- FIG. 6 is a schematic diagram of calculating a flight trajectory of a drone provided by an embodiment of the present invention.
- FIG. 7 is a flowchart of a method for transmitting reference waypoint data provided by the second embodiment of the present invention.
- FIG. 8 is a schematic diagram of a transmission device for reference waypoint data provided by an embodiment of the present invention.
- the UAV 100 may be a suitable UAV, including a fixed-wing UAV and a rotary-wing UAV , Such as helicopters, quadrotors and aircraft with other numbers of rotors and/or rotor configurations.
- the UAV 100 may also be other movable objects, such as manned aircraft, model airplanes, unmanned airships, and unmanned hot air balloons.
- the drone 100 includes a fuselage 10, an arm 20 connected to the fuselage 10, a power device (not shown in the figure) provided on the arm 20, and a flight controller provided on the fuselage 10 (Not shown in the figure), the power device is used to provide flight power for the drone 100.
- the flight control of the UAV includes at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
- the reference waypoint data is stored in the memory 11.
- the reference waypoint data is the data point on the reference route of the UAV, including longitude, latitude and altitude information, and can also include the radius of the waypoint and the waypoint type (overflight type, Surround type) and other information.
- the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc.
- the memory 11 may be an internal storage unit of the flight controller, such as a hard disk of the flight controller.
- the memory 11 may also be an external memory of the flight controller, such as a plug-in hard disk equipped on the flight controller, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory. Card (Flash Card) etc. Further, the memory 11 may also include both an internal storage unit of the flight controller and an external memory. The memory 11 can be used not only to store the application software and various data installed in the flight control, such as the code of the program 01 of the reference waypoint data transmission method, but also to temporarily store the data that has been output or will be output.
- the processor 12 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments, and is used to run the program code or processing stored in the memory 11 Data, for example, execute reference waypoint data transmission method program 01, etc.
- CPU central processing unit
- controller microcontroller
- microprocessor microprocessor or other data processing chip in some embodiments, and is used to run the program code or processing stored in the memory 11 Data, for example, execute reference waypoint data transmission method program 01, etc.
- the bus 13 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus.
- PCI peripheral component interconnect
- EISA extended industry standard architecture
- the bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
- the flight controller may also include a network interface 14.
- the network interface 14 may optionally include a wired interface and/or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to connect the flight controller with other electronic devices. Establish a communication connection between.
- Figure 3 only shows the flight controller with components 11-14 and reference waypoint data transmission method program 01. Those skilled in the art can understand that the structure shown in Figure 3 does not constitute a limitation on the flight control, Including fewer or more components than shown, or combining certain components, or different component arrangements.
- the method for transmitting reference waypoint data provided by the first embodiment of the present invention includes:
- Step S101 Obtain the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone.
- the processor is a guidance system, and the guidance system obtains the flight position and flight status of the drone, where the flight position includes the current longitude, latitude, altitude, and distance information of the drone from the reference route, etc. ,
- the flight status includes the speed, acceleration, heading angle, force information, etc. of UAV flight.
- Step S102 Calculate the number of reference waypoint data to be acquired according to the flight position and the flight status.
- the flight position and flight status determine the amount of reference waypoint data that needs to be obtained. For example, if the current speed of the drone is large and the distance from the reference route is far, then more reference waypoint data needs to be obtained, and vice versa , Need to obtain less reference waypoint data.
- Step S103 According to the number of reference waypoint data to be acquired, read a preset number of reference waypoint data from the memory of the drone.
- step S103 includes:
- Step S201 Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired.
- the memory is a storage device of the waypoint distribution system, and an index corresponding to each reference waypoint data is pre-established in the memory, and the index of the reference waypoint data to be read includes the starting data index And the end data index, set the initial value of the start data index index to 0.
- the guidance system calculates the number of steps needed to obtain the reference waypoint data, it sends it to the waypoint distribution system, and the waypoint distribution system assigns the value of index+step to index.
- the read reference waypoint data is first transmitted to the bus interface of the guidance system, and the number of reference waypoint data that the bus interface can receive at one time is a fixed value, for example, M. Therefore, the preset number of reference waypoint data read from the waypoint distribution system each time is a fixed value, namely M.
- the waypoint distribution system calculates the termination data index based on the initial data index and the preset number of reference waypoint data, that is, the termination data index is index+M, and the guidance system reads M references between the initial data index and the termination data index Waypoint data.
- the guidance system When the guidance system receives the number of reference waypoint data that needs to be acquired, it calculates the reference waypoint data to be read based on the initial data index of the reference waypoint data read last time and the number of reference waypoint data that needs to be acquired.
- the starting data index of the point data that is, calculate index+step again, and assign the value of index+step to index.
- Step S202 Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
- the guidance system searches for the index between the start data index and the end data index according to the index order, and reads the preset number of reference waypoint data in sequence according to the index order.
- Step S104 Transmit the reference waypoint data to the guidance system of the UAV.
- the guidance system uses the L1 guidance algorithm to calculate the required overload for lateral maneuvering, and then realizes trajectory tracking.
- the reference waypoint data a in Figure 6 is a point on the reference route b, and the position c of the drone is a point on the flight trajectory d.
- the L1 guidance algorithm is to select the reference waypoint data a with a distance of L1 from the UAV on the reference route b, connect the reference waypoint data a and the UAV's position c to form a connection e, according to the speed direction and the connection e direction The angle of, then the overload required for lateral maneuvering can be calculated.
- the number of reference waypoint data that needs to be acquired is calculated according to the flight position and flight status, and the number of reference waypoint data that needs to be acquired is read from the memory.
- the preset number of reference waypoint data at the preset address can save memory space, and the transmission process of reference waypoint data is more flexible and efficient.
- the method for transmitting reference waypoint data provided by the second embodiment of the present invention differs from the first embodiment in that the method further includes:
- Step S301 Determine whether the reference waypoint data read last time meets the flight trajectory calculation requirement according to the flight position and the flight status. If the reference waypoint data read last time does not meet the flight trajectory calculation needs, step S302 is executed; if the reference waypoint data read last time meets the flight trajectory calculation needs, step S303 is executed.
- the number of reference waypoint data read last time is M. If the flight position and flight status of the drone are within the preset range, the reference waypoint data read last time can meet the requirements of the next round. Trajectory calculation needs. If the drone's flight position and flight status change beyond the preset range, new reference waypoint data needs to be added again to meet the next round of trajectory calculation needs.
- Step S302 Calculate the number of reference waypoint data to be read according to the flight position and the flight status.
- Step S303 Repeat reading the reference waypoint data read last time.
- the guidance system sends the number of reference waypoint data that needs to be read to the waypoint distribution system. If there is no need to increase reference waypoint data, the guidance system sends the reference to the waypoint distribution system. The number of waypoint data is 0, the waypoint distribution system does not update the starting data index, and the guidance system repeatedly reads the reference waypoint data read last time.
- the initial value of index is 0. If the step calculated for the first time is 0, the waypoint distribution system takes out the M reference waypoint data of wp1-wpM and sends it to the guidance system. The step calculated for the second time is 1. Then the waypoint distribution system takes out the M reference waypoint data wp2-wp(M+2) and sends it to the guidance system.
- the reference waypoint data read last time meets the flight trajectory calculation needs according to the flight position and flight status. If not, the number of reference waypoint data that needs to be read is calculated, and if so, repeat Read the reference waypoint data read last time to improve the data reading efficiency and save the memory space occupied by the data.
- the device for transmitting reference waypoint data provided by the embodiment of the present invention is applied to an unmanned aircraft, and the device includes:
- the acquiring module 10 is used to acquire the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;
- the calculation module 20 is configured to calculate the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;
- the reading module 30 is configured to read a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data to be acquired;
- the transmission module 40 is used to transmit the reference waypoint data to the guidance system of the UAV.
- reading module 30 is also used for:
- the index of the reference waypoint data to be read includes a start data index and an end data index
- the reading module 30 is further configured to:
- the index sequence read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
- reading module 30 is also used for:
- the acquisition module 10 is also used to establish an index corresponding to each of the reference waypoint data.
- the reading module 30 is also used to calculate the flight trajectory of the drone according to the read reference waypoint data.
- the acquisition module 10 is also used for:
- the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
- the acquisition module 10 is also used for:
- the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
- the disclosed system, device, and method may be implemented in other ways.
- the device embodiments described above are only illustrative.
- the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
- each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
- the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .
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Abstract
A method and an apparatus for transmitting reference navigation point data, and an unmanned aerial vehicle, the transmission method being used in the unmanned aerial vehicle, and comprising: acquiring the flight position and flight state of an unmanned aerial vehicle (S101); on the basis of the flight position and the flight state, calculating the number of reference navigation point data to be acquired (S102); on the basis of the number of reference navigation point data to be acquired, reading a preset number of reference navigation point data from a memory of the unmanned aerial vehicle (S103); and transmitting the reference navigation point data to a guidance system of the unmanned aerial vehicle (S104). The process of acquiring reference navigation point data is more flexible and efficient, ensuring the reliability of data transmission and reducing memory consumption.
Description
本申请要求于2019年5月29日提交中国专利局、申请号为201910458628.9、申请名称为“一种参考航点数据的传输方法、装置及无人机”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。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 29, 2019, the application number is 201910458628.9, and the application title is "A method, device and drone for reference waypoint data transmission", all of which The content is incorporated in this application by reference.
本申请涉及无人机数据处理领域，尤其涉及一种参考航点数据的传输方法、装置及无人机。This application relates to the field of UAV data processing, and in particular to a method, device and UAV for transmitting reference waypoint data.
目前，无人机在制导过程中，需要实时获取参考航点数据的信息。现有的获取参考航点数据的方法一般是将所有的参考航点数据一次性全部读取到内存中，再传输给制导***，这样不仅可靠性难以保证，同时需要消耗大量的内存空间。Currently, in the guidance process of UAVs, it is necessary to obtain information of reference waypoint data in real time. The existing method for obtaining reference waypoint data generally reads all reference waypoint data into the memory at one time, and then transmits it to the guidance system. This is not only difficult to ensure reliability, but also consumes a lot of memory space.
发明内容Summary of the invention
为了克服现有技术中获取参考航点数据时难以保证可靠性，消耗内存空间的问题，本发明的目的在于提供一种参考航点数据的传输方法、装置及无人机。In order to overcome the problems of difficulty in ensuring reliability and consuming memory space when acquiring reference waypoint data in the prior art, the purpose of the present invention is to provide a transmission method, device and unmanned aerial vehicle for reference waypoint data.
为了实现上述目的，本发明提供一种参考航点数据的传输方法，应用于无人机，所述方法包括：In order to achieve the above objective, the present invention provides a method for transmitting reference waypoint data, which is applied to a drone, and the method includes:
获取所述无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角；Acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;
根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量；According to the flight position and the flight status, calculate the number of reference waypoint data to be acquired;
根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据；Reading a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;
将所述参考航点数据传输给所述无人机的制导***。The reference waypoint data is transmitted to the guidance system of the drone.
进一步地，所述根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据，具体包括：Further, the reading a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data that needs to be acquired specifically includes:
根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引；Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;
根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
进一步地，所述待读取的参考航点数据的索引包括起始数据索引和终止数据索引，则所述根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据，具体包括：Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the preset number of data is read according to the index of the reference waypoint data to be read Reference waypoint data, including:
按照索引顺序根据所述起始数据索引和所述终止数据索引，依次读取所述预设数量的参考航点数据。According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
进一步地，所述根据所述参考航点数据的数量，计算待读取的参考航点数据的索引，具体包括：Further, the calculating the index of the reference waypoint data to be read according to the quantity of the reference waypoint data specifically includes:
根据上一次读取的参考航点数据的起始数据索引和所述需要获取的参考航点数据的数量，计算所述待读取的参考航点数据的起始数据索引；Calculate the starting data index of the reference waypoint data to be read according to the starting data index of the reference waypoint data read last time and the number of reference waypoint data to be obtained;
根据所述待读取的参考航点数据的起始数据索引和所述预设数量，计算所述待读取的参考航点数据的终止数据索引。According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
进一步地，所述方法还包括：Further, the method further includes:
建立与每个所述参考航点数据一一对应的索引。An index corresponding to each of the reference waypoint data is established.
进一步地，所述方法还包括：Further, the method further includes:
根据读取的参考航点数据，计算无人机的飞行轨迹。Calculate the flight trajectory of the drone based on the read reference waypoint data.
进一步地，所述方法还包括：Further, the method further includes:
根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要；According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;
若上一次读取的参考航点数据不满足飞行轨迹计算需要，则根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。If the reference waypoint data read last time does not meet the flight trajectory calculation needs, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
进一步地，所述方法还包括：Further, the method further includes:
若上一次读取的参考航点数据满足飞行轨迹计算需要，则重复读取上一次读取的参考航点数据。If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
本发明还提供一种参考航点数据的传输装置，应用于无人机，所述装置包括：The present invention also provides a reference waypoint data transmission device, which is applied to the drone, and the device includes:
获取模块，用于获取所述无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角；An acquisition module for acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;
计算模块，用于根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量；A calculation module for calculating the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;
读取模块，用于根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据；A reading module, configured to read a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;
传输模块，用于将所述参考航点数据传输给所述无人机的制导***。The transmission module is used to transmit the reference waypoint data to the guidance system of the UAV.
进一步地，所述读取模块还用于：Further, the reading module is also used for:
根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引；Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;
根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。According to the index of the reference waypoint data to be read, read the preset number of reference waypoint data.
进一步地，所述待读取的参考航点数据的索引包括起始数据索引和终止数据索引，所述读取模块还用于：Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module is further used for:
按照索引顺序根据所述起始数据索引和所述终止数据索引，依次读取所述预设数量的参考航点数据。According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
进一步地，所述读取模块还用于：Further, the reading module is also used for:
根据上一次读取的参考航点数据的起始数据索引和所述需要获取的参考航点数据的数量，计算所述待读取的参考航点数据的起始数据索引；Calculate the starting data index of the reference waypoint data to be read according to the initial data index of the reference waypoint data read last time and the number of reference waypoint data to be acquired;
根据所述待读取的参考航点数据的起始数据索引和所述预设数量，计算所述待读取的参考航点数据的终止数据索引。According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
进一步地，所述获取模块还用于建立与每个所述参考航点数据一一对应的索引。Further, the acquisition module is also used to establish an index corresponding to each of the reference waypoint data.
进一步地，所述读取模块还用于根据读取的参考航点数据，计算无人机的飞行轨迹。Further, the reading module is also used to calculate the flight trajectory of the drone based on the read reference waypoint data.
进一步地，所述获取模块还用于：Further, the acquisition module is also used for:
根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要；According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;
若上一次读取的参考航点数据不满足飞行轨迹计算需要，则根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。If the reference waypoint data read last time does not meet the flight trajectory calculation requirement, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
进一步地，所述获取模块还用于：Further, the acquisition module is also used for:
若上一次读取的参考航点数据满足飞行轨迹计算需要，则重复读取上一次读取的参考航点数据。If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
本发明还提供一种无人机，包括机身、与所述机身相连的机臂、设于所述机臂的动力装置以及设于所述机身的飞控，所述飞控包括处理器和存储器，所述存储器中存储有计算机可读程序，所述计算机可读程序被配置成由所述处理器执行，所述计算机可读程序被所述处理器执行时实现上述的方法。The present invention also provides an unmanned aerial vehicle including a fuselage, an arm connected to the fuselage, a power device provided on the arm, and a flight control provided on the fuselage, the flight control including processing A computer readable program is stored in the memory, and the computer readable program is configured to be executed by the processor. When the computer readable program is executed by the processor, the above method is implemented.
相比现有技术，本发明的有益效果在于：通过获取无人机的飞行位置和飞行状态，根据飞行位置和飞行状态计算需要获取的参考航点数据的数量，根据需要获取的参考航点数据的数量从存储器中读取预设地址的预设数量的参考航点数据，从而使获取参考航点数据的过程更加灵活、高效，保证数据传输的可靠性，且降低内存消耗。Compared with the prior art, the present invention has the beneficial effects of obtaining the flight position and flight status of the drone, calculating the number of reference waypoint data to be obtained according to the flight position and flight status, and obtaining the reference waypoint data according to the need Read the preset number of reference waypoint data at the preset address from the memory, thereby making the process of obtaining reference waypoint data more flexible and efficient, ensuring the reliability of data transmission, and reducing memory consumption.
图1为本发明实施例提供的无人机的示意图；Figure 1 is a schematic diagram of a drone provided by an embodiment of the present invention;
图2为本发明实施例提供的参考航点数据的传输方法的应用场景图；2 is an application scenario diagram of a method for transmitting reference waypoint data provided by an embodiment of the present invention;
图3为本发明实施例提供的无人机的飞控的内部结构示意图；3 is a schematic diagram of the internal structure of a flight control of a drone provided by an embodiment of the present invention;
图4为本发明第一实施例提供的参考航点数据的传输方法流程图；4 is a flowchart of a method for transmitting reference waypoint data provided by the first embodiment of the present invention;
图5为本发明第一实施例提供的参考航点数据的传输方法的子步骤流程图；5 is a flowchart of sub-steps of the method for transmitting reference waypoint data provided by the first embodiment of the present invention;
图6为本发明实施例提供的无人机飞行轨迹的计算示意图；FIG. 6 is a schematic diagram of calculating a flight trajectory of a drone provided by an embodiment of the present invention;
图7为本发明第二实施例提供的参考航点数据的传输方法流程图；FIG. 7 is a flowchart of a method for transmitting reference waypoint data provided by the second embodiment of the present invention;
图8为本发明实施例提供的参考航点数据的传输装置示意图。FIG. 8 is a schematic diagram of a transmission device for reference waypoint data provided by an embodiment of the present invention.
下面，结合附图以及具体实施方式，对本发明做进一步描述，需要说明的是，在不相冲突的前提下，以下描述的各实施例之间或各技术特征之间可以任意组合形成新的实施例。In the following, the present invention will be further described in conjunction with the drawings and specific implementations. It should be noted that, provided that there is no conflict, the following embodiments or technical features can be combined to form new embodiments. .
如图1所示，本发明实施例提供的参考航点数据的传输方法应用于无人机100，无人机100可以为合适的无人飞行器，包括固定翼无人飞行器和旋转翼无人飞行器，例如直升机、四旋翼机和具有其他数量的旋翼和/或旋翼配置的飞行器。无人机100还可以是其他可移动物体，例如载人飞行器、航模、无人飞艇和无人热气球等。As shown in FIG. 1, the method for transmitting reference waypoint data provided by the embodiment of the present invention is applied to a UAV 100. The UAV 100 may be a suitable UAV, including a fixed-wing UAV and a rotary-wing UAV , Such as helicopters, quadrotors and aircraft with other numbers of rotors and/or rotor configurations. The UAV 100 may also be other movable objects, such as manned aircraft, model airplanes, unmanned airships, and unmanned hot air balloons.
在一些实施例中，无人机100包括机身10、与机身10相连的机臂20、设于机臂20上的动力装置(图中未示出)以及设于机身10的飞控(图中未示出)，动力装置用于为无人机100提供飞行动力。如图2-3所示，该无人机的飞控至少包括存储器11、处理器12、通信总线13以及网络接口14。In some embodiments, the drone 100 includes a fuselage 10, an arm 20 connected to the fuselage 10, a power device (not shown in the figure) provided on the arm 20, and a flight controller provided on the fuselage 10 (Not shown in the figure), the power device is used to provide flight power for the drone 100. As shown in Figure 2-3, the flight control of the UAV includes at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
其中，参考航点数据存储于存储器11中，参考航点数据为无人机的参考航线上的数据点，包括经度，纬度和高度信息，也可以包含航点半径，航点类型(飞越型、环绕型)等信息。存储器11至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器11在一些实施例中可以是飞控的内部存储单元，例如该飞控的硬盘。存储器11在另一些实施例中也可以是飞控的外部存储器，例如飞控上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器11还可以既包括飞控的内部存储单元也包括外部存储器。存储器11不仅可以用于存储安装于飞控的应用软件及各类数据，例如参考航点数据的传输方法程序01的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。Among them, the reference waypoint data is stored in the memory 11. The reference waypoint data is the data point on the reference route of the UAV, including longitude, latitude and altitude information, and can also include the radius of the waypoint and the waypoint type (overflight type, Surround type) and other information. The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of the flight controller, such as a hard disk of the flight controller. In some other embodiments, the memory 11 may also be an external memory of the flight controller, such as a plug-in hard disk equipped on the flight controller, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory. Card (Flash Card) etc. Further, the memory 11 may also include both an internal storage unit of the flight controller and an external memory. The memory 11 can be used not only to store the application software and various data installed in the flight control, such as the code of the program 01 of the reference waypoint data transmission method, but also to temporarily store the data that has been output or will be output.
处理器12在一些实施例中可以是一中央处理器(Central Processing Unit,CPU)、控制器、微控制器、微处理器或其他数据处理芯片，用于运行存储器11中存储的程序代码或处理数据，例如执行参考航点数据的传输方法程序01等。The processor 12 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments, and is used to run the program code or processing stored in the memory 11 Data, for example, execute reference waypoint data transmission method program 01, etc.
该总线13可以是外设部件互连标准(peripheral component interconnect，简称PCI)总线或扩展工业标准结构(extended industry standard architecture，简称EISA)总线等。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。The bus 13 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
进一步地，飞控还可以包括网络接口14，网络接口14可选的可以包括有线接口和/或无线接口(如WI-FI接口、蓝牙接口等)，通常用于在该飞控与其他电子设备之间建立通信连接。Further, the flight controller may also include a network interface 14. The network interface 14 may optionally include a wired interface and/or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to connect the flight controller with other electronic devices. Establish a communication connection between.
图3仅示出了具有组件11-14以及参考航点数据的传输方法程序01的飞 控，本领域技术人员可以理解的是，图3示出的结构并不构成对飞控的限定，可以包括比图示更少或者更多的部件，或者组合某些部件，或者不同的部件布置。Figure 3 only shows the flight controller with components 11-14 and reference waypoint data transmission method program 01. Those skilled in the art can understand that the structure shown in Figure 3 does not constitute a limitation on the flight control, Including fewer or more components than shown, or combining certain components, or different component arrangements.
如图4所示，本发明第一实施例提供的参考航点数据的传输方法，包括：As shown in FIG. 4, the method for transmitting reference waypoint data provided by the first embodiment of the present invention includes:
步骤S101：获取无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角。Step S101: Obtain the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone.
在一种实施方式中，处理器为制导***，制导***获取无人机的飞行位置和飞行状态，其中，飞行位置包括无人机的当前的经度、纬度、高度、偏离参考航线的距离信息等，飞行状态包括无人机飞行的速度、加速度、航向角、受力信息等。In one embodiment, the processor is a guidance system, and the guidance system obtains the flight position and flight status of the drone, where the flight position includes the current longitude, latitude, altitude, and distance information of the drone from the reference route, etc. , The flight status includes the speed, acceleration, heading angle, force information, etc. of UAV flight.
步骤S102：根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量。Step S102: Calculate the number of reference waypoint data to be acquired according to the flight position and the flight status.
其中，飞行位置和飞行状态决定需要获取的参考航点数据的多少，例如，若无人机当前的速度较大、偏离参考航线的距离较远，则需要获取较多的参考航点数据，反之，需要获取较少的参考航点数据。Among them, the flight position and flight status determine the amount of reference waypoint data that needs to be obtained. For example, if the current speed of the drone is large and the distance from the reference route is far, then more reference waypoint data needs to be obtained, and vice versa , Need to obtain less reference waypoint data.
步骤S103：根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据。Step S103: According to the number of reference waypoint data to be acquired, read a preset number of reference waypoint data from the memory of the drone.
如图5所示，在一种实施方式中，步骤S103包括：As shown in FIG. 5, in an implementation manner, step S103 includes:
步骤S201：根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引。Step S201: Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired.
在一种实施方式中，存储器为航点分发***的存储设备，在存储器中预先建立与每个参考航点数据一一对应的索引，待读取的参考航点数据的索引包括起始数据索引和终止数据索引，设定起始数据索引index的初始值为0。制导***计算出需要获取的参考航点数据的数量step后，发送至航点分发***，航点分发***将index+step的值赋值给index。In one embodiment, the memory is a storage device of the waypoint distribution system, and an index corresponding to each reference waypoint data is pre-established in the memory, and the index of the reference waypoint data to be read includes the starting data index And the end data index, set the initial value of the start data index index to 0. After the guidance system calculates the number of steps needed to obtain the reference waypoint data, it sends it to the waypoint distribution system, and the waypoint distribution system assigns the value of index+step to index.
读取的参考航点数据首先传输至制导***的总线接口，总线接口一次可以接收的参考航点数据数量为固定值，例如，M个。因此，每次从航点分发***读取的预设数量的参考航点数据为固定值，即M个。航点分发***根据初始数据索引和预设数量的参考航点数据，计算出终止数据索引，即终止数据索引为index+M，制导***读取初始数据索引和终止数据索引之间的M个参考航点数据。当制导***再接收到需要获取的参考航点数据的数量时，根据上一次读取的参考航点数据的起始数据索引和需要获取的参考航点数据的数量计算出待读取的参考航点数据的起始数据索引，即再次计算index+step，将index+step的值赋值给index。The read reference waypoint data is first transmitted to the bus interface of the guidance system, and the number of reference waypoint data that the bus interface can receive at one time is a fixed value, for example, M. Therefore, the preset number of reference waypoint data read from the waypoint distribution system each time is a fixed value, namely M. The waypoint distribution system calculates the termination data index based on the initial data index and the preset number of reference waypoint data, that is, the termination data index is index+M, and the guidance system reads M references between the initial data index and the termination data index Waypoint data. When the guidance system receives the number of reference waypoint data that needs to be acquired, it calculates the reference waypoint data to be read based on the initial data index of the reference waypoint data read last time and the number of reference waypoint data that needs to be acquired. The starting data index of the point data, that is, calculate index+step again, and assign the value of index+step to index.
步骤S202：根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。Step S202: Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
具体的，制导***按照索引顺序查找起始数据索引和终止数据索引之间的索引，按照索引顺序依次读取预设数量的参考航点数据。Specifically, the guidance system searches for the index between the start data index and the end data index according to the index order, and reads the preset number of reference waypoint data in sequence according to the index order.
步骤S104：将所述参考航点数据传输给所述无人机的制导***。Step S104: Transmit the reference waypoint data to the guidance system of the UAV.
具体的，制导***的总线接口读取参考航点数据后，将参考航点数据传输给制导***，制导***根据参考航点数据计算出无人机的飞行轨迹。请参考图6，在一种实施中，制导***利用L1制导算法计算横向机动的需用过载，进而实现轨迹追踪。图6中参考航点数据a为参考航线b上的点，无人机的位置c为飞行轨迹d上的点。L1制导算法为在参考航线b上选择与无人机距离为L1的参考航点数据a，连接参考航点数据a和无人机的位置c形成连线e，根据速度方向与连线e方向的夹角即可计算出横向机动需用过载。Specifically, after the bus interface of the guidance system reads the reference waypoint data, it transmits the reference waypoint data to the guidance system, and the guidance system calculates the flight trajectory of the drone based on the reference waypoint data. Please refer to Figure 6, in one implementation, the guidance system uses the L1 guidance algorithm to calculate the required overload for lateral maneuvering, and then realizes trajectory tracking. The reference waypoint data a in Figure 6 is a point on the reference route b, and the position c of the drone is a point on the flight trajectory d. The L1 guidance algorithm is to select the reference waypoint data a with a distance of L1 from the UAV on the reference route b, connect the reference waypoint data a and the UAV's position c to form a connection e, according to the speed direction and the connection e direction The angle of, then the overload required for lateral maneuvering can be calculated.
上述实施例中，通过获取无人机的飞行位置和飞行状态，根据飞行位置和飞行状态计算出需要获取的参考航点数据的数量，根据需要获取的参考航点数据的数量从存储器中读取预设地址的预设数量的参考航点数据，从而可以节省内存空间，且参考航点数据数据的传输过程更加灵活、高效。In the above embodiment, by acquiring the flight position and flight status of the drone, the number of reference waypoint data that needs to be acquired is calculated according to the flight position and flight status, and the number of reference waypoint data that needs to be acquired is read from the memory. The preset number of reference waypoint data at the preset address can save memory space, and the transmission process of reference waypoint data is more flexible and efficient.
如图7所示，本发明第二实施例提供的参考航点数据的传输方法，其与第一实施例的区别在于，方法还包括：As shown in Fig. 7, the method for transmitting reference waypoint data provided by the second embodiment of the present invention differs from the first embodiment in that the method further includes:
步骤S301：根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要。若上一次读取的参考航点数据不满足飞行轨迹计算需要，则执行步骤S302；若上一次读取的参考航点数据满足飞行轨迹计算需要，则执行步骤S303。Step S301: Determine whether the reference waypoint data read last time meets the flight trajectory calculation requirement according to the flight position and the flight status. If the reference waypoint data read last time does not meet the flight trajectory calculation needs, step S302 is executed; if the reference waypoint data read last time meets the flight trajectory calculation needs, step S303 is executed.
其中，上一次读取的参考航点数据的数量为M个，若无人机的飞行位置和飞行状态的变化处于预设范围内，上一次读取的参考航点数据可以满足下一轮的轨迹计算需要，若无人机的飞行位置和飞行状态的变化超过预设范围，则需要重新增加新的参考航点数据，以满足下一轮轨迹计算需要。Among them, the number of reference waypoint data read last time is M. If the flight position and flight status of the drone are within the preset range, the reference waypoint data read last time can meet the requirements of the next round. Trajectory calculation needs. If the drone's flight position and flight status change beyond the preset range, new reference waypoint data needs to be added again to meet the next round of trajectory calculation needs.
步骤S302：根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。Step S302: Calculate the number of reference waypoint data to be read according to the flight position and the flight status.
步骤S303：重复读取上一次读取的参考航点数据。Step S303: Repeat reading the reference waypoint data read last time.
例如，若需要增加参考航点数据，制导***将需要读取的参考航点数据的数量发送给航点分发***，若不需要增加参考航点数据，制导***发送向航点分发***发送的参考航点数据的数量为0，航点分发***不更新起始数据索引，制导***重复读取上一次读取的参考航点数据。For example, if it is necessary to increase reference waypoint data, the guidance system sends the number of reference waypoint data that needs to be read to the waypoint distribution system. If there is no need to increase reference waypoint data, the guidance system sends the reference to the waypoint distribution system. The number of waypoint data is 0, the waypoint distribution system does not update the starting data index, and the guidance system repeatedly reads the reference waypoint data read last time.
例如，index初始值为0，如果第一次计算出的step为0，则航点分发***取出wp1-wpM这M个参考航点数据发送至制导***，第二次计算出的step为1，则航点分发***取出wp2-wp(M+2)这M个参考航点数据发送至制导***。For example, the initial value of index is 0. If the step calculated for the first time is 0, the waypoint distribution system takes out the M reference waypoint data of wp1-wpM and sends it to the guidance system. The step calculated for the second time is 1. Then the waypoint distribution system takes out the M reference waypoint data wp2-wp(M+2) and sends it to the guidance system.
上述实施例中，根据飞行位置和飞行状态判断上一次读取的参考航点数据是否满足飞行轨迹计算需要，如果不满足，则计算出需要读取的参考航点数据数量，若满足，则重复读取上一次读取的参考航点数据，提高数据读取效率，节省数据占用的内存空间。In the above embodiment, it is determined whether the reference waypoint data read last time meets the flight trajectory calculation needs according to the flight position and flight status. If not, the number of reference waypoint data that needs to be read is calculated, and if so, repeat Read the reference waypoint data read last time to improve the data reading efficiency and save the memory space occupied by the data.
如图8所示，本发明实施例提供的参考航点数据的传输装置，应用于无人 机，装置包括：As shown in Figure 8, the device for transmitting reference waypoint data provided by the embodiment of the present invention is applied to an unmanned aircraft, and the device includes:
获取模块10，用于获取所述无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角；The acquiring module 10 is used to acquire the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;
计算模块20，用于根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量；The calculation module 20 is configured to calculate the number of reference waypoint data that needs to be acquired according to the flight position and the flight status;
读取模块30，用于根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据；The reading module 30 is configured to read a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data to be acquired;
传输模块40，用于将所述参考航点数据传输给所述无人机的制导***。The transmission module 40 is used to transmit the reference waypoint data to the guidance system of the UAV.
进一步地，所述读取模块30还用于：Further, the reading module 30 is also used for:
根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引；Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;
根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
进一步地，所述待读取的参考航点数据的索引包括起始数据索引和终止数据索引，所述读取模块30还用于：Further, the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module 30 is further configured to:
按照索引顺序根据所述起始数据索引和所述终止数据索引，依次读取所述预设数量的参考航点数据。According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
进一步地，所述读取模块30还用于：Further, the reading module 30 is also used for:
根据上一次读取的参考航点数据的起始数据索引和所述需要获取的参考航点数据的数量，计算所述待读取的参考航点数据的起始数据索引；Calculate the starting data index of the reference waypoint data to be read according to the starting data index of the reference waypoint data read last time and the number of reference waypoint data to be obtained;
根据所述待读取的参考航点数据的起始数据索引和所述预设数量，计算所述待读取的参考航点数据的终止数据索引。According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
进一步地，所述获取模块10还用于建立与每个所述参考航点数据一一对应的索引。Further, the acquisition module 10 is also used to establish an index corresponding to each of the reference waypoint data.
进一步地，所述读取模块30还用于根据读取的参考航点数据，计算无人机的飞行轨迹。Further, the reading module 30 is also used to calculate the flight trajectory of the drone according to the read reference waypoint data.
进一步地，所述获取模块10还用于：Further, the acquisition module 10 is also used for:
根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要；According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;
若上一次读取的参考航点数据不满足飞行轨迹计算需要，则根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。If the reference waypoint data read last time does not meet the flight trajectory calculation needs, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
进一步地，所述获取模块10还用于：Further, the acquisition module 10 is also used for:
若上一次读取的参考航点数据满足飞行轨迹计算需要，则重复读取上一次读取的参考航点数据。If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
上述获取模块10、计算模块20、读取模块30及传输模块40等程序模块被执行时所实现的功能或操作步骤与上述实施例大体相同，在此不再赘述。The functions or operation steps implemented by the program modules such as the acquisition module 10, the calculation module 20, the reading module 30, and the transmission module 40 when executed are substantially the same as those in the foregoing embodiment, and will not be repeated here.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程， 在此不再赘述。Those skilled in the art can clearly understand that, for convenience and concise description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，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，装置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。In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
另外，在本申请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。In addition, the functional units in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
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，本申请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)执行本申请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。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .
需要说明的是，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。并且本文中的术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、装置、物品或者方法不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、装置、物品或者方法所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、装置、物品或者方法中还存在另外的相同要素。It should be noted that the sequence numbers of the above-mentioned embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. And the terms "include", "include" or any other variants thereof in this article are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements not only includes those elements, but also includes The other elements listed may also include elements inherent to the process, device, article, or method. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, device, article or method that includes the element.
上述实施方式仅为本发明的优选实施方式，不能以此来限定本发明保护的范围，本领域的技术人员在本发明的基础上所做的任何非实质性的变化及替换均属于本发明所要求保护的范围。The foregoing embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the present invention. The scope of protection required.
Claims (17)
- 一种参考航点数据的传输方法，应用于无人机，其特征在于，所述方法包括：A method for transmitting reference waypoint data, applied to an unmanned aerial vehicle, characterized in that the method includes:获取所述无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角；Acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量；According to the flight position and the flight status, calculate the number of reference waypoint data to be acquired;根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据；Reading a preset number of reference waypoint data from the memory of the UAV according to the number of reference waypoint data to be acquired;将所述参考航点数据传输给所述无人机的制导***。The reference waypoint data is transmitted to the guidance system of the UAV.
- 如权利要求1所述的参考航点数据的传输方法，其特征在于，所述根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据，具体包括：The method for transmitting reference waypoint data according to claim 1, wherein the number of reference waypoint data acquired according to the need is to read a preset number of references from the memory of the UAV Waypoint data, including:根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引；Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。According to the index of the reference waypoint data to be read, read the preset number of reference waypoint data.
- 如权利要求2所述的参考航点数据的传输方法，其特征在于，所述待读取的参考航点数据的索引包括起始数据索引和终止数据索引，则，所述根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据，具体包括：The method for transmitting reference waypoint data according to claim 2, wherein the index of the reference waypoint data to be read includes a start data index and an end data index, and the Get the index of the reference waypoint data, and read the preset number of reference waypoint data, which specifically includes:按照索引顺序根据所述起始数据索引和所述终止数据索引，依次读取所述预设数量的参考航点数据。According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
- 如权利要求3所述的参考航点数据的传输方法，其特征在于，所述根据所述参考航点数据的数量，计算待读取的参考航点数据的索引，具体包括：The method for transmitting reference waypoint data according to claim 3, wherein said calculating the index of reference waypoint data to be read according to the quantity of said reference waypoint data specifically comprises:根据上一次读取的参考航点数据的起始数据索引和所述需要获取的参考航点数据的数量，计算所述待读取的参考航点数据的起始数据索引；Calculate the initial data index of the reference waypoint data to be read according to the initial data index of the reference waypoint data read last time and the number of reference waypoint data to be acquired;根据所述待读取的参考航点数据的起始数据索引和所述预设数量，计算所述待读取的参考航点数据的终止数据索引。According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
- 如权利要求2所述的参考航点数据的传输方法，其特征在于，所述方法还包括：The method for transmitting reference waypoint data according to claim 2, wherein the method further comprises:建立与每个所述参考航点数据一一对应的索引。An index corresponding to each of the reference waypoint data is established.
- 如权利要求1所述的参考航点数据的传输方法，其特征在于，所述方法还包括：The method for transmitting reference waypoint data according to claim 1, wherein the method further comprises:根据读取的参考航点数据，计算无人机的飞行轨迹。According to the read reference waypoint data, calculate the flight trajectory of the drone.
- 如权利要求1所述的参考航点数据的传输方法，其特征在于，所述方法还包括：The method for transmitting reference waypoint data according to claim 1, wherein the method further comprises:根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要；According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;若上一次读取的参考航点数据不满足飞行轨迹计算需要，则根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。If the reference waypoint data read last time does not meet the flight trajectory calculation requirements, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
- 如权利要求7所述的参考航点数据的传输方法，其特征在于，所述方法还包括：The method for transmitting reference waypoint data according to claim 7, wherein the method further comprises:若上一次读取的参考航点数据满足飞行轨迹计算需要，则重复读取上一次读取的参考航点数据。If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
- 一种参考航点数据的传输装置，应用于无人机，其特征在于，所述装置包括：A transmission device for reference waypoint data, applied to a drone, characterized in that the device includes:获取模块，用于获取所述无人机的飞行位置和飞行状态，其中，所述飞行状态包括所述无人机的飞行速度和航向角；An acquisition module for acquiring the flight position and flight status of the drone, where the flight status includes the flight speed and heading angle of the drone;计算模块，用于根据所述飞行位置和所述飞行状态，计算需要获取的参考航点数据的数量；A calculation module for calculating the number of reference waypoint data to be acquired according to the flight position and the flight status;读取模块，用于根据所述需要获取的参考航点数据的数量，从所述无人机的存储器中读取预设数量的参考航点数据；A reading module, configured to read a preset number of reference waypoint data from the memory of the drone according to the number of reference waypoint data to be acquired;传输模块，用于将所述参考航点数据传输给所述无人机的制导***。The transmission module is used to transmit the reference waypoint data to the guidance system of the UAV.
- 如权利要求9所述的参考航点数据的传输装置，其特征在于，所述读取模块还用于：The device for transmitting reference waypoint data according to claim 9, wherein the reading module is further used for:根据所述需要获取的参考航点数据的数量，计算待读取的参考航点数据的索引；Calculate the index of the reference waypoint data to be read according to the number of reference waypoint data to be acquired;根据所述待读取的参考航点数据的索引，读取所述预设数量的参考航点数据。Read the preset number of reference waypoint data according to the index of the reference waypoint data to be read.
- 如权利要求10所述的参考航点数据的传输装置，其特征在于，所述待读取的参考航点数据的索引包括起始数据索引和终止数据索引，所述读取模块还用于：The device for transmitting reference waypoint data according to claim 10, wherein the index of the reference waypoint data to be read includes a start data index and an end data index, and the reading module is further configured to:按照索引顺序根据所述起始数据索引和所述终止数据索引，依次读取所述预设数量的参考航点数据。According to the index sequence, read the preset number of reference waypoint data in sequence according to the start data index and the end data index.
- 如权利要求11所述的参考航点数据的传输装置，其特征在于，所述读取模块还用于：The device for transmitting reference waypoint data according to claim 11, wherein the reading module is further used for:根据上一次读取的参考航点数据的起始数据索引和所述需要获取的参考航点数据的数量，计算所述待读取的参考航点数据的起始数据索引；Calculate the starting data index of the reference waypoint data to be read according to the starting data index of the reference waypoint data read last time and the number of reference waypoint data to be obtained;根据所述待读取的参考航点数据的起始数据索引和所述预设数量，计算所述待读取的参考航点数据的终止数据索引。According to the start data index of the reference waypoint data to be read and the preset number, calculate the end data index of the reference waypoint data to be read.
- 如权利要求10所述的参考航点数据的传输装置，其特征在于，所述获取模块还用于建立与每个所述参考航点数据一一对应的索引。The transmission device for reference waypoint data according to claim 10, wherein the acquisition module is further used to establish an index corresponding to each of the reference waypoint data.
- 如权利要求9所述的参考航点数据的传输装置，其特征在于，所述读取模块还用于根据读取的参考航点数据，计算无人机的飞行轨迹。9. The transmission device for reference waypoint data according to claim 9, wherein the reading module is further configured to calculate the flight trajectory of the drone based on the read reference waypoint data.
- 如权利要求9所述的参考航点数据的传输装置，其特征在于，所述获取模块还用于：The device for transmitting reference waypoint data according to claim 9, wherein the acquisition module is further used for:根据所述飞行位置和所述飞行状态，判断上一次读取的参考航点数据是否满足飞行轨迹计算需要；According to the flight position and the flight status, determine whether the reference waypoint data read last time meets the flight trajectory calculation requirements;若上一次读取的参考航点数据不满足飞行轨迹计算需要，则根据所述飞行位置和所述飞行状态，计算需要读取的参考航点数据的数量。If the reference waypoint data read last time does not meet the flight trajectory calculation requirements, the number of reference waypoint data that needs to be read is calculated according to the flight position and the flight status.
- 如权利要求15所述的参考航点数据的传输装置，其特征在于，所述获取模块还用于：The device for transmitting reference waypoint data according to claim 15, wherein the acquisition module is further used for:若上一次读取的参考航点数据满足飞行轨迹计算需要，则重复读取上一次读取的参考航点数据。If the reference waypoint data read last time meets the flight trajectory calculation needs, the reference waypoint data read last time will be read repeatedly.
- 一种无人机，其特征在于，包括机身、与所述机身相连的机臂、设于所述机臂的动力装置以及设于所述机身的飞控，所述飞控包括处理器和存储器，所述存储器中存储有计算机可读程序，所述计算机可读程序被配置成由所述处理器执行，所述计算机可读程序被所述处理器执行时实现如权利要求1-8任意一项所述的方法。An unmanned aerial vehicle, characterized by comprising a fuselage, an arm connected to the fuselage, a power device provided on the arm, and a flight control provided on the fuselage, the flight control including processing A computer readable program is stored in the memory, and the computer readable program is configured to be executed by the processor. 8 The method of any one.
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| CN110345945A (en) | 2019-10-18 |
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