WO2022094785A1 - 飞行控制方法、无人机、电子设备及介质 - Google Patents
飞行控制方法、无人机、电子设备及介质 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- the present application relates to the technical field of unmanned aerial vehicles, and in particular, to flight control methods, unmanned aerial vehicles, electronic equipment and media.
- UAVs are gradually applied in various operation scenarios.
- the UAV needs to fly imitating the ground.
- the ground In some operation scenarios, the UAV needs to fly imitating the ground in more complex environments such as mountains, hills, and terraces, due to the large fluctuations in the terrain in the environment, the height difference between the UAV and the operation object is high. It will change all the time with the ups and downs of the terrain, and the existing technology lags behind in the adjustment of this situation, which leads to the risk of collision of the drone.
- the embodiments of the present application provide a flight control method, an unmanned aerial vehicle, an electronic device, and a medium.
- an embodiment of the present application provides a flight control method, the method includes:
- an embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle includes a processor and a memory, the memory is used for storing instructions, and the processor calls the instructions stored in the memory for use in Do the following:
- an embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor
- the flight control method as described above is implemented.
- embodiments of the present application provide a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the computer can execute the above-mentioned flight control method.
- the embodiments of the present application provide a computer program product including instructions, which, when the instructions are executed on a computer, cause the computer to execute the above-mentioned flight control method.
- the UAV can obtain the terrain information corresponding to the flight mission area, and obtain the current ground height information of the UAV; according to the terrain information and the ground height information, adjust the vertical speed control parameters of the UAV , so that the UAV can adjust the height relative to the ground or the work object in time to ensure the effect of imitating the ground, avoid the risks caused by the control lag of the UAV in the vertical direction, and improve the safety and efficiency of the UAV operation.
- FIG. 1 is a flowchart of a flight control method provided by an embodiment of the present application.
- FIG. 3 is a schematic diagram of a compensation in a vertical direction provided by an embodiment of the present application.
- FIG. 5 is a schematic diagram of a drone operation provided by an embodiment of the present application.
- FIG. 6 is a flowchart of another flight control method provided by an embodiment of the present application.
- FIG. 7 is a schematic diagram of another drone operation provided by an embodiment of the present application.
- FIG. 8 is a schematic diagram of an example of a flight control provided by an embodiment of the present application.
- FIG. 9 is a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
- the ground height between the UAV and the operating object will change constantly with the fluctuation of the terrain. If the vertical direction is not adjusted With the speed control parameters, it is very possible that the UAV cannot respond to the changes of the terrain in time, causing the UAV to collide with the obstacles ahead or fall, which greatly threatens the safety of the UAV operation.
- FIG. 1 a flowchart of a flight control method provided by an embodiment of the present application is shown, which may specifically include:
- the drone can perform flight tasks in the flight mission area, and the flight tasks may include but are not limited to the drone flying on the ground, the movement task of the drone, the shooting task of the shooting device of the drone, At least one of the task of adjusting the gimbal attitude of the drone, the control task of the audio playback device of the drone, the spraying of pesticides by the spraying device of the drone, the surveying and mapping of the drone, the line inspection of the drone, and the like.
- the terrain information can be all-round terrain information.
- the all-round terrain information can include not only the terrain information in the range along the nose direction, but also the terrain information in the range of the sides of the fuselage, etc. Realize 360 degree all-round ground imitation flight.
- the terrain information can be obtained through the sensors carried by the UAV, and the sensors carried by the UAV can include any one of omnidirectional radar, ultrasonic sensor, and visual sensor.
- the omnidirectional radar can be set on the UAV.
- the omnidirectional radar can be a millimeter wave radar or a lidar.
- the terrain information can also be acquired in other ways, which is not limited in this application.
- terrain information is collected in advance and stored for obtaining it during flight control.
- the drone can obtain pre-measured terrain information from the server.
- the drone may request the remote controller to obtain terrain information, and the remote controller may obtain the terrain information from the server and send it to the drone.
- the terrain information may include at least one of terrain slope and terrain flatness.
- the omnidirectional radar can scan the spatial orientation information (x, y, z) of surrounding spatial points.
- the scanning of surrounding space points can also be replaced by sensor modules with ranging and angle measurement such as lidar and ultrasonic modules.
- the perception of the spatial orientation information of the surrounding environment can also be achieved by acquiring a two-dimensional image through a visual sensor, and then extracting a three-dimensional spatial point cloud from the two-dimensional image.
- the terrain flatness can be extracted: where N is a positive integer, and N ⁇ 1.
- the geodetic coordinate system that can be used is ENU (East-North-UP coordinate system, northeast celestial coordinate system). Therefore, x represents the distance of the target object from the north of the coordinate origin, y represents the distance of the target object from the east of the coordinate origin, and z represents the vertical distance of the target object from the coordinate origin.
- ENU East-North-UP coordinate system, northeast celestial coordinate system
- x represents the distance of the target object from the north of the coordinate origin
- y represents the distance of the target object from the east of the coordinate origin
- z represents the vertical distance of the target object from the coordinate origin.
- those skilled in the art can use other coordinate systems for calculation, and only need to transform the coordinate points, for example, multiply the coordinate points by a corresponding rotation matrix.
- the height-to-ground information may include at least one of height-to-ground and height-to-ground variance.
- the height to the ground can be extracted according to the plane equation: Among them, x i , yi , and zi are the coordinates of the drone body.
- the height above the ground is the height of the aircraft relative to the environment, for example, it may be the height of the aircraft relative to the ground, or the height of the aircraft relative to the operating object.
- the multi-frame ground height variance can be used to describe the degree of ground fluctuation.
- the vertical speed control parameter may be a parameter for controlling the flight of the drone in the vertical direction.
- the UAV When the UAV is flying imitating the ground, it is necessary to try to ensure that the ground height relative to the ground or the work object is stable at the preset height.
- the UAV needs to adjust the height to the ground as soon as possible to reach the preset height.
- the vertical speed control parameters By adjusting the vertical speed control parameters, the time for the UAV to adjust to the preset height, the height that the UAV can reach, and the stability.
- the UAV can obtain the terrain information corresponding to the flight mission area, and obtain the current ground height information of the UAV; according to the terrain information and the ground height information, adjust the vertical speed control parameters of the UAV , so that the UAV can adjust the height relative to the ground or the work object in time to ensure the effect of imitating the ground, avoid the risks caused by the control lag of the UAV in the vertical direction, and improve the safety and efficiency of the UAV operation.
- FIG. 2 a flowchart of another flight control method provided by an embodiment of the present application is shown, which may specifically include:
- the vertical speed control parameters may include vertical speed, vertical speed limit range, and vertical speed control gain.
- the operations of any one of 203-205 may be performed to adjust at least one of the vertical speed of the UAV, the vertical speed limit range, and the vertical speed control gain.
- the terrain slope When the terrain slope is small, it can indicate that the altitude of the UAV to the ground changes slowly, and the appropriate vertical speed can be maintained without adjusting the vertical speed, so that the UAV can perform ground imitation operations more stably.
- the 203 may include:
- the horizontal direction may be the horizontal direction in the earth axis
- the horizontal speed control information may include the horizontal speed
- the horizontal speed may be the modulo length of the speed in the horizontal direction.
- the initial speed compensation information of the UAV in the vertical direction can be determined, that is, the initial speed component of the speed compensation in the vertical direction.
- V b corresponds to the horizontal speed
- ⁇ corresponds to the terrain slope
- V comp corresponds to the initial speed compensation information
- V comp V b *tan( ⁇ )
- the step of determining the initial speed compensation information of the UAV in the vertical direction according to the horizontal speed and the terrain slope may further include:
- a confidence level corresponding to the terrain slope can be obtained, and the confidence level can be used to characterize the reliability of the terrain slope.
- the initial speed compensation information of the UAV in the vertical direction can be determined.
- V b corresponds to the horizontal speed
- ⁇ corresponds to the terrain slope
- Wright corresponds to the confidence level
- V comp corresponds to the initial speed compensation information, which can be calculated by the following formula:
- V comp V b *tan( ⁇ )*Wright
- a secondary compensation gain can be performed on the initial speed compensation information according to the ground height information between the UAV and the work object, and then the vertical speed compensation information of the UAV in the vertical direction can be obtained. .
- the vertical speed of the UAV is adjusted, and the secondary compensation control of the UAV in the vertical direction is realized.
- the UAV can adjust the vertical speed according to the terrain slope and ground height, so that there is no
- the man-machine can adjust the height of the ground relative to the ground or the working object in time, which greatly improves the ability of the UAV to fly in a complex environment with large fluctuations in the terrain.
- the vertical speed of the drone needs to be adjusted within the vertical speed limit.
- the dotted line can be the actual flight trajectory of the UAV
- the solid line can be the terrain curve.
- the vertical speed limit is small, even if the drone sets the vertical speed to the maximum value, the vertical speed of the descent can be adapted to the slope of the terrain.
- the vertical speed of the UAV when the terrain slope is large, the vertical speed of the UAV needs to be increased. If the vertical speed limit range is small, the UAV cannot be adjusted to the required vertical speed. When the terrain slope is small, it means that the altitude of the UAV operation changes slowly, and the appropriate vertical speed can be maintained without adjusting the vertical speed limit range.
- the 204 may include:
- the terrain gradient when the terrain gradient is greater than the preset gradient threshold, it can be considered that the terrain gradient meets the preset steepness judgment condition.
- the combination of the vertical speed and the horizontal speed can be made when the UAV is operating at high speed.
- the speed can be kept parallel to the direction of height change, so that the UAV can keep up with the rapid change of height and adjust the height of the ground relative to the ground or the work object in time to ensure the effect of imitating the ground.
- Terrain smoothness can describe the degree of terrain relief. The larger the terrain flatness, the larger the terrain undulation; the smaller the terrain flatness, the smaller the terrain undulation.
- the variance of the height above the ground can describe the variation of environmental height and the degree of terrain fluctuation. The larger the variance of the ground height, the greater the terrain fluctuation; the smaller the variance of the ground height, the smaller the terrain fluctuation.
- the vertical speed control gain can be used to control how fast the vertical speed changes.
- the greater the vertical speed control gain the faster the vertical speed changes.
- the shorter the response time required for the actual flight height to reach the preset height the faster the drone can As soon as the preset altitude is reached, the drone fits the terrain better, but the altitude stability of the drone is lower.
- FIG. 5 is a schematic diagram of another unmanned aerial vehicle operation provided by the embodiment of the present application.
- the dotted line can be the actual flight trajectory of the UAV
- the solid line can be the terrain curve.
- the 204 may include:
- the predetermined rough terrain judgment condition when the terrain flatness is greater than a preset first smoothness threshold, and/or when the variance of the height above the ground is greater than a preset first variance threshold of the ground height, it may be considered that the predetermined rough terrain judgment condition is satisfied .
- the time required for the actual flight height to reach the preset height can be shortened, and the degree of conformity of the UAV to the terrain can be improved, but the altitude stability will be reduced.
- the predetermined flat terrain judgment is satisfied.
- the preset first smoothness threshold may be greater than or equal to the preset second smoothness threshold, and the first ground height variance threshold may be greater than or equal to the predetermined second ground height variance threshold.
- the terrain information corresponding to the flight mission area of the unmanned aerial vehicle can be obtained, the current ground height information of the unmanned aerial vehicle can be obtained, and the vertical speed of the unmanned aerial vehicle can be adjusted according to the terrain slope and the ground height; And/or, adjusting the vertical speed limit range of the UAV according to the terrain slope; and/or adjusting the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground. It can enable the UAV to adjust the height of the UAV relative to the ground or the work object in time, ensure the effect of imitating the ground, avoid the risks caused by the control lag of the UAV in the vertical direction, and improve the safety and efficiency of the UAV operation.
- FIG. 6 a flowchart of another flight control method provided by an embodiment of the present application is shown, which may specifically include:
- the terrain information can characterize the terrain as rough or flat.
- the terrain information includes terrain flatness and/or variance in height above the ground. If the smoothness of the terrain is greater than the preset first smoothness threshold, and/or the variance of the height above the ground is greater than the predetermined first variance threshold of the height above the ground, the terrain may be considered to be rugged. If the terrain flatness is smaller than the preset second flatness threshold, and/or the variance of the height above the ground is smaller than the second preset height variance threshold, the terrain may be considered to be flat.
- the vertical speed control gain of the UAV When the terrain information represents rough terrain, by increasing the vertical speed control gain of the UAV, the time required for the actual flight height to reach the preset height can be shortened, and the degree of conformity of the UAV to the terrain can be improved, but the altitude stability will be reduced. .
- FIG. 7 a schematic diagram of another unmanned aerial vehicle operation provided by the embodiment of the present application is shown.
- the dotted line can be the actual flight trajectory of the UAV
- the solid line can be the terrain curve.
- the vertical speed control gain of the UAV can be increased, so that the UAV can quickly adjust the height to the ground.
- section B of the terrain curve the terrain changes from rough terrain to flat terrain. At this time, the vertical speed control gain of the UAV can be reduced to make the UAV's height above the ground more stable.
- the terrain information corresponding to the flight mission area of the UAV can be obtained, and the current ground height information of the UAV can be obtained; when the terrain information indicates that the terrain is rugged, the vertical height of the UAV can be increased according to the ground height information.
- FIG. 8 shows a schematic diagram of a flight control example provided by the embodiments of the present application.
- the drone may include a radar module and a flight control module.
- the radar module can scan the spatial orientation information of the surrounding space points; remove the noise points from the original space points obtained by scanning, and then use the least squares method to fit the surrounding environment to obtain a plane equation; determine the terrain information and ground plane equations according to the plane equation Height information, the terrain information may include terrain slope, terrain flatness; the ground height information may include ground height, ground height variance.
- the flight control module can receive the terrain information sent by the radar module according to the preset frequency.
- the preset frequency may be 20Hz-100Hz, and in one example, the preset frequency may be 50Hz.
- the flight control module can adjust the vertical speed according to the terrain slope and height above the ground; generate the vertical speed adjustment command, and output the vertical speed adjustment command to the motor, so that the motor can adjust the vertical speed.
- the flight control module can adjust the vertical speed limit range according to the terrain slope; generate the vertical speed limit range adjustment command, and output the vertical speed limit range adjustment command to the motor, so that the motor can adjust the vertical speed limit range.
- the flight control module can adjust the vertical speed control gain according to the terrain flatness and ground height variance; generate the vertical speed control gain adjustment command, and output the vertical speed control gain adjustment command to the motor, so that the motor can adjust the vertical speed control gain.
- the unmanned aerial vehicle includes a processor 910 and a memory 920.
- the memory 920 is used to store instructions, and the processor 910 calls The instructions stored in the memory 920 are used to perform the following operations:
- the vertical speed control parameters include: at least one of vertical speed, vertical speed limit range, and vertical speed control gain
- the terrain information includes at least one of terrain slope and terrain flatness;
- the above-ground height information includes at least one of the above-ground height and the above-ground height variance.
- the processor is specifically configured to adjust the vertical speed control parameter of the UAV according to the terrain information and the ground height information, including at least one of the following operations:
- the vertical speed control gain of the UAV is adjusted according to the terrain flatness and/or the ground height variance.
- the processor is specifically configured to adjust the vertical speed of the UAV according to the terrain slope and the ground height, including:
- the vertical speed of the UAV is adjusted.
- the processor is specifically configured to adjust the vertical speed limit range of the UAV according to the terrain slope, including:
- the vertical speed limit range of the UAV is increased.
- the processor is specifically configured to increase the vertical speed limit range of the UAV when the terrain slope satisfies a preset steepness judgment condition, including:
- the vertical speed limit range of the UAV is increased.
- the processor is specifically configured to adjust the vertical speed control gain of the UAV according to the terrain flatness and/or the variance of the height above the ground, including:
- the vertical speed control gain of the UAV is reduced.
- the processor is specifically configured to increase the vertical speed control of the UAV when the terrain flatness and/or the variance of the height above the ground satisfy a preset rough terrain judgment condition Gains, including:
- the processor is specifically configured to reduce the vertical speed control gain of the unmanned aerial vehicle when the terrain flatness and/or the variance of the height above the ground meet the preset flat terrain judgment condition, including:
- the vertical speed control of the UAV is reduced gain.
- the terrain information is acquired by a sensor mounted on the UAV.
- the senor includes: any one of an omnidirectional radar, an ultrasonic sensor, and a visual sensor.
- the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information, including:
- the vertical speed control gain of the UAV is increased according to the ground height information.
- the processor is specifically configured to adjust the vertical speed control parameters of the UAV according to the terrain information and the ground height information, including:
- the vertical speed control gain of the UAV is reduced according to the ground height information.
- the UAV can obtain the terrain information corresponding to the flight mission area, and obtain the current ground height information of the UAV; according to the terrain information and the ground height information, adjust the vertical speed control parameters of the UAV , so that the UAV can adjust the height to the ground relative to the ground or the operating object in time, ensuring the effect of imitating the ground, avoiding the risk caused by the control lag of the UAV in the vertical direction, and improving the safety of the UAV operation. and efficiency.
- An embodiment of the present application also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor.
- the computer program is executed by the processor, the above flight control method is implemented .
- An embodiment of the present application further provides a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the computer is made to execute the above-mentioned flight control method.
- An embodiment of the present application also provides a computer program product containing instructions, when the instructions are executed on a computer, the computer causes the computer to execute the above-mentioned flight control method.
- any reference signs placed between parentheses shall not be construed as limiting the claim.
- the word “comprising” does not exclude the presence of elements or steps not listed in a claim.
- the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
- the present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware.
- the use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.
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Abstract
一种飞行控制方法、无人机、电子设备及介质,方法包括:获取无人机的飞行任务区域对应的地形信息(101);获取无人机当前的对地高度信息(102);根据地形信息和对地高度信息,调节无人机的垂向速度控制参数(103)。使得无人机能够及时调整相对地面或者作业对象的对地高度,保证了仿地效果,避免了无人机在垂直方向上的控制滞后而导致的风险,提升了无人机作业的安全性和效率。
Description
本申请涉及无人机技术领域,特别是涉及飞行控制方法、无人机、电子设备及介质。
随着无人机技术的发展,无人机逐渐应用在各种作业场景中。在一些作业场景中无人机需要仿地飞行,在山地、丘陵、梯田等较为复杂的环境中进行仿地飞行时,由于环境中地形起伏较大,无人机与作业对象之间的高度差会随着地形的起伏而时刻变化,而现有技术对于这种情况的调节较为滞后,进而导致无人机存在撞击的风险。
发明内容
本申请实施例提出了一种飞行控制方法、无人机、电子设备及介质。
第一方面,本申请实施例提供一种飞行控制方法,所述方法包括:
获取无人机的飞行任务区域对应的地形信息;
获取所述无人机当前的对地高度信息;
根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
第二方面,本申请实施例提供一种无人机,所述无人机包括处理器和存储器,所述存储器用于存储指令,所述处理器调用所述存储器中存储的所述指令用于执行以下操作:
获取无人机的飞行任务区域对应的地形信息;
获取所述无人机当前的对地高度信息;
根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
第三方面,本申请实施例提供一种电子设备,包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序,所述计算机程 序被所述处理器执行时实现如上所述的飞行控制方法。
第四方面,本申请实施例提供一种计算机可读存储介质,所述计算机可读存储介质上存储指令,当所述指令在计算机上运行时,使得计算机执行如上所述的飞行控制方法。
第五方面,本申请实施例提供一种包含指令的计算机程序产品,当所述指令在计算机上运行时,使得计算机执行如上所述的飞行控制方法。
在本申请实施例中,无人机可以获取飞行任务区域对应的地形信息,获取无人机当前的对地高度信息;根据地形信息和对地高度信息,调节无人机的垂向速度控制参数,使得无人机能够及时调整相对地面或者作业对象的对地高度,保证仿地效果,避免无人机在垂直方向上的控制滞后而导致的风险,提升无人机作业的安全性和效率。
图1是本申请一实施例提供的一种飞行控制方法的流程图;
图2是本申请一实施例提供的另一种飞行控制方法的流程图;
图3是本申请一实施例提供的一种垂直方向上一次补偿的示意图;
图4是本申请一实施例提供的另一种无人机的飞行控制方法的流程图;
图5是本申请实施例提供的一种无人机作业的示意图;
图6是本申请一实施例提供的另一种飞行控制方法的流程图;
图7是本申请实施例提供的另一种无人机作业的示意图;
图8是本申请一实施例提供的一种飞行控制实例的示意图;
图9是本申请一实施例提供的一种无人机的示意图。
下面结合附图和具体实施方式对本申请作进一步详细的说明。
随着无人机的应用愈加广泛,无人机的使用场景愈加丰富,复杂场景在无人机使用场景中比例逐渐提高。例如无人机植保作业,为了达到更好的作业效果,如使药液更加均匀的附着在叶面的表面,则可以控制无人机进行仿地飞行,以保持无人机与作业对象的对地高度不变。无人机仿地飞行是指无 人机依据周围环境的起伏而始终保持在恒定的对地高度上飞行。
当无人机作业在山地、丘陵、梯田等环境复杂、地形起伏较大的场景时,无人机与作业对象之间的对地高度会随着地形的起伏而时刻变化,如果不调整垂向速度控制参数,则有很大可能,无人机无法及时响应地形的变化,导致无人机与前方障碍物碰撞或是坠落,极大的威胁无人机作业安全性。
参照图1,示出了本申请一实施例提供的一种飞行控制方法的流程图,具体可以包括:
101,获取无人机的飞行任务区域对应的地形信息。
在本申请实施例中,无人机可以在飞行任务区域执行飞行任务,飞行任务可以包括但不限于无人机仿地飞行、无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务、无人机的喷洒装置喷洒农药、无人机测绘、无人机巡线等中的至少一种。
地形信息可以为全方位的地形信息,全方位的地形信息不仅可以包括沿机头方向的范围内地形信息,还可以包括机身两侧等范围内的地形信息,进而能够通过全方位的地形信息实现360度全方位的仿地飞行。
地形信息可以通过无人机搭载的传感器获取,无人机搭载的传感器可以包括全方向雷达、超声波传感器、视觉传感器中任意一种。以全方向雷达为例,全方向雷达可以设置于无人机,如全方向雷达可以为毫米波雷达、激光雷达。
地形信息也可以通过其他方式获取,本申请对此不做限定。例如从预先采集地形信息并进行存储,以在飞行控制时从中获取。又例如,无人机可以从服务器获取预先测量得到的地形信息。又例如,无人机可以向遥控器请求获取地形信息,遥控器可以从服务器获取地形信息并发送给无人机。
在本申请实施例中,地形信息可以包括地形坡度、地形平整度的至少一种。以下通过一示例介绍如何获取地形信息。全方向雷达可以扫描周围空间点的空间方位信息(x、y、z)。对周围空间点的扫描还可以由激光雷达、超声波模块等具有测距测角的传感器模块替代。周围环境的空间方位信息感 知,也可以通过视觉传感器获取二维图像,然后从二维图像中提取三维空间点云实现。可以从扫描得到的原始空间点中剔除杂点,然后可以利用最小二乘法对周围环境进行拟合,得到平面方程:Ax+By+Cz+D=0,其中参数A、B、C、D可以根据多个空间点的空间方位信息计算得到。
在该示例中,可以采用的大地坐标系为ENU(East-North-UP coordinate system,东北天坐标系)。因此x表示目标物体相对于坐标原点正北方向上的距离,y表示目标物体相对于坐标原点正东方向上的距离,z表示目标物体相对于坐标原点垂直方向上的距离。当然本领域技术人员可以使用其他坐标系来计算,只需要对坐标点进行转换即可,例如对坐标点乘上相应的旋转矩阵。
102,获取所述无人机当前的对地高度信息。
在无人机进行作业的过程中,由于地形发生变化,无人机的对地高度信息也随之发生变化。对地高度信息可以包括对地高度和对地高度方差中的至少一种。
在根据多个空间点的空间方位信息计算得到平面方程后,可以根据平面方程,可以提取对地高度:
其中,x
i、y
i、z
i为无人机机身的坐标。对地高度是飞机相对环境的高度,例如,可以是飞机相对地面的高度,也可以是飞机相对作业对象的高度。
计算多帧对地高度方差:s
2=var(h),多帧对地高度方差可以用于描述地面起伏程度。
103,根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
垂向速度控制参数可以是用于控制无人机在垂直方向飞行的参数。无人机在仿地飞行时,需要尽量保证相对地面或者作业对象的对地高度稳定在预设高度。在地形变化时,无人机需要尽快调整对地高度以达到预设高度,通过调节垂向速度控制参数,可以调节无人机调整至预设高度的时间,无人机 所能达到的高度以及稳定性。
在本申请实施例中,无人机可以获取飞行任务区域对应的地形信息,获取无人机当前的对地高度信息;根据地形信息和对地高度信息,调节无人机的垂向速度控制参数,使得无人机能够及时调整相对地面或者作业对象的对地高度,保证仿地效果,避免无人机在垂直方向上的控制滞后而导致的风险,提升无人机作业的安全性和效率。
参照图2,示出了本申请一实施例提供的另一种飞行控制方法的流程图,具体可以包括:
201,获取无人机的飞行任务区域对应的地形信息。
202,获取所述无人机当前的对地高度信息。
在本申请实施例中,垂向速度控制参数可以包括垂向速度、垂向速度限制范围、垂向速度控制增益。可以执行203-205任一项的操作,以调节无人机的垂向速度、垂向速度限制范围、垂向速度控制增益中的至少一种。
203,根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度。
地形坡度越大,表示无人机作业的对地高度变化越快,为了能让无人机能跟上高度变化,需要增大无人机的垂向速度。
当地形坡度较小时,可以表示无人机作业的对地高度变化较慢,可以保持适当的垂向速度,无需调整垂向速度,使得无人机可以较为稳定的进行仿地作业。
在本申请实施例中,所述203可以包括:
11,获取所述无人机在水平方向上的水平速度控制信息。
水平方向可以为在地轴系中的水平方向,水平速度控制信息可以包括水平速度,水平速度可以为在水平方向上的速度模长。
12,根据所述水平速度控制信息和所述地形坡度,确定所述无人机在垂直方向上的初始速度补偿信息。
可以根据水平速度控制信息和地形坡度进行计算,进而可以确定无人机在垂直方向上的初始速度补偿信息,即在垂直方向上进行速度补偿的初始速 度分量。
参照图3为本申请实施例提供的一种垂直方向上一次补偿的示意图,其中,V
b对应水平速度,θ对应地形坡度,V
comp对应初始速度补偿信息,则可以采用如下公式计算:
V
comp=V
b*tan(θ)
在一种可选实施例中,所述根据所述水平速度和所述地形坡度,确定所述无人机在垂直方向上的初始速度补偿信息的步骤可以进一步包括:
获取所述地形坡度对应的置信度;根据所述水平速度、所述地形坡度,以及所述置信度,确定所述无人机在垂直方向上的初始速度补偿信息。
对于每个地形坡度,可以获取地形坡度对应的置信度,该置信度可以用于表征地形坡度的可信程度。
在获得水平速度、地形坡度,以及置信度后,可以根据水平速度、地形坡度,以及置信度进行计算,进而可以确定无人机在垂直方向上的初始速度补偿信息。
如图3,V
b对应水平速度,θ对应地形坡度,Wright对应置信度,V
comp对应初始速度补偿信息,则可以采用如下公式计算:
V
comp=V
b*tan(θ)*Wright
13,根据所述对地高度,对所述初始速度补偿信息进行二次补偿,得到所述无人机在垂直方向上的垂向速度补偿信息。
在确定初始速度补偿信息后,可以根据无人机与作业对象之间的对地高度信息,对初始速度补偿信息进行二次补偿增益,进而可以得到无人机在垂直方向上的垂直速度补偿信息。
14,根据所述垂向速度补偿信息,调节所述无人机的垂向速度。
根据垂直速度补偿信息,调节无人机的垂向速度,实现了对对无人机在垂直方向上进行二次补偿控制,无人机可以根据地形坡度和对地高度调节垂向速度,使得无人机能够及时调整相对地面或者作业对象的对地高度,更大地提高了无人机在地形起伏较大的复杂环境中仿地飞行的能力。
和/或,204,根据所述地形坡度,调节所述无人机的垂向速度限制范围。
无人机的垂向速度需要在垂向速度限制范围内进行调节。
参照图4所示为本申请实施例提供的一种无人机作业的示意图。其中,虚线可以为无人机的实际飞行轨迹,实线可以为地形曲线。无人机在进行仿地飞行的过程中,当遇到地面海拔高度下降较大的情况时,无人机也需要根据降低高度。若垂向速度限制范围较小,即使无人机将垂向速度设置为最大值,下降的垂向速度也能适配地形下降的坡度。
在本申请实施例中,当地形坡度较大时,需要增加无人机的垂向速度,如果垂向速度限制范围较小,会导致无人机无法调节到所需的垂向速度。当地形坡度较小时,说明无人机作业的对地高度变化比较缓慢,可以保持适当的垂向速度,无需调整垂向速度限制范围。
在本申请实施例中,所述204可以包括:
21,当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围。
具体的,当地形坡度大于预设坡度阈值时可以认为地形坡度满足预设陡峭判断条件,通过增大垂向速度限制范围,可以在无人机高速作业情况下,令垂直速度和水平速度的合速度,可以和高度变化方向保持平行,使得无人机可以跟上高度的快速变化,及时调整相对地面或者作业对象的对地高度,保证了仿地效果。
和/或,205,根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益。
地形平整度可以描述地形起伏程度。地形平整度越大,地形起伏越大;地形平整度越小,地形起伏越小。对地高度方差可以描述环境高度变化情况和地形起伏程度。对地高度方差越大,地形起伏越大;对地高度方差越小,地形起伏越小。
垂向速度控制增益可以用于控制垂向速度的变化快慢,垂向速度控制增益越大,垂向速度的变化越快,实际飞行高度达到预设高度所需响应时间越小,无人机能越快达到预设高度,无人机对地形贴合程度较高,但是无人机的高度稳定性越低。垂向速度控制增益越小,垂向速度的变化越慢,实际飞 行高度达到预设高度所需响应时间越大,无人机的高度稳定性越高,但是无人机对地形贴合程度越低。
如图5所示为本申请实施例提供的另一种无人机作业的示意图。其中,虚线可以为无人机的实际飞行轨迹,实线可以为地形曲线。在无人机进行仿地作业的过程中,当地形凹凸不平,地形起伏较大时,若垂向速度控制增益较小,会导致无人机对地形贴合程度较低,仿地效果差。
在本申请实施例中,所述204可以包括:
31,当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益。
具体的,当所述地形平整度大于预设第一平整度阈值时,和/或,所述对地高度方差大于预设第一对地高度方差阈值时,可以认为满足预设地势崎岖判断条件,通过增大无人机的垂向速度控制增益,可以缩小实际飞行高度达到预设高度所需时间,提高无人机对地形贴合程度,但是会降低高度稳定性。
32,当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益。
具体的,当所述地形平整度小于预设第二平整度阈值时,和/或,所述对地高度方差小于预设第二对地高度方差阈值时,可以认为满足足预设地势平缓判断条件,通过减小无人机的垂向速度控制增益,可以增加实际飞行高度达到预设高度所需时间较大,提高无人机的高度稳定性,但是会降低无人机对地形贴合程度。其中,预设第一平整度阈值可以大于或等于预设第二平整度阈值,设第一对地高度方差阈值可以大于或等于预设第二对地高度方差阈值。
在本申请实施例中,可以获取无人机的飞行任务区域对应的地形信息,获取无人机当前的对地高度信息,根据地形坡度和所述对地高度调节无人机的垂向速度;和/或,根据地形坡度调节无人机的垂向速度限制范围;和/或,根据地形平整度和/或对地高度方差调节无人机的垂向速度控制增益。可以使得无人机能够及时调整相对地面或者作业对象的对地高度,保证仿地效果,避免无人机在垂直方向上的控制滞后而导致的风险,提升无人机作业的安全 性和效率。
参照图6,示出了本申请一实施例提供的另一种飞行控制方法的流程图,具体可以包括:
601,获取无人机的飞行任务区域对应的地形信息。
602,获取所述无人机当前的对地高度信息。
603,当所述地形信息表征地势崎岖时,根据所述对地高度信息,增大所述无人机的垂向速度控制增益。
地形信息可以表征地势崎岖或者平缓。例如,地形信息包括地形平整度和/或对地高度方差。如果地形平整度大于预设第一平整度阈值,和/或,对地高度方差大于预设第一对地高度方差阈值,则可以认为地势崎岖。如果地形平整度小于预设第二平整度阈值时,和/或,对地高度方差小于预设第二对地高度方差阈值,则可以认为地势平缓。
当地形信息表征地势崎岖时,通增大无人机的垂向速度控制增益,可以缩小实际飞行高度达到预设高度所需时间,提高无人机对地形贴合程度,但是会降低高度稳定性。
604,当所述地形信息表征地势平缓时,根据所述对地高度信息,减小所述无人机的垂向速度控制增益。
当地形信息表征地势平缓时,通过减小无人机的垂向速度控制增益,可以增加实际飞行高度达到预设高度所需时间较大,提高无人机的高度稳定性,但是会降低无人机对地形贴合程度。
如图7所示所示为本申请实施例提供的另一种无人机作业的示意图。其中,虚线可以为无人机的实际飞行轨迹,实线可以为地形曲线。在地形曲线A段地势崎岖,可以增大无人机的垂向速度控制增益,使得无人机能快速调整对地高度。在地形曲线B段,地形从地势崎岖变成地形平缓,此时可以减小无人机的垂向速度控制增益,使得无人机的对地高度更加稳定。
本申请实施例可以获取无人机的飞行任务区域对应的地形信息,获取无人机当前的对地高度信息;当地形信息表征地势崎岖时,根据对地高度信息, 增大无人机的垂向速度控制增益;当地形信息表征地势平缓时,根据对地高度信息,减小无人机的垂向速度控制增益。使得无人机能及时响应地形变化,保证高度的稳定性,保证了仿地效果,避免了无人机在垂直方向上的控制滞后而导致的风险,提升了无人机作业的安全性和效率。
为了使本领域技术人员能够更好地理解本申请实施例,下面通过一个例子对本申请实施例加以说明:参照图8所示为本申请实施例提供的一种飞行控制实例的示意图。无人机可以包括雷达模块和飞行控制模块。
雷达模块可以扫描周围空间点的空间方位信息;从扫描得到的原始空间点中剔除杂点,然后可以利用最小二乘法对周围环境进行拟合,得到平面方程;根据平面方程确定地形信息和对地高度信息,地形信息可以包括地形坡度、地形平整度;对地高度信息可以包括对地高度、对地高度方差。
飞行控制模块可以按照预设频率接收雷达模块发送的地形信息。预设频率可以是20Hz-100Hz,在一种示例中,预设频率可以是50Hz。
在接收到地形信息后,飞行控制模块可以根据地形坡度、对地高度,调节垂向速度;生成垂向速度调节指令,并向电机输出垂向速度调节指令,以使电机调节垂向速度。
飞行控制模块可以根据地形坡度,调节垂向速度限制范围;生成垂向速度限制范围调节指令,并向电机输出垂向速度限制范围调节指令,以使电机调节垂向速度限制范围。
飞行控制模块可以根据地形平整度、对地高度方差,调节垂向速度控制增益;生成垂向速度控制增益调节指令,并向电机输出垂向速度控制增益调节指令,以使电机调节垂向速度控制增益。
需要说明的是,对于方法实施例,为了简单描述,故将其都表述为一系列的动作组合,但是本领域技术人员应该知悉,本申请实施例并不受所描述的动作顺序的限制,因为依据本申请实施例,某些步骤可以采用其他顺序或者同时进行。其次,本领域技术人员也应该知悉,说明书中所描述的实施例均属于优选实施例,所涉及的动作并不一定是本申请实施例所必须的。
参照图9,示出了本申请一实施例提供的一种无人机的示意图,所述无 人机包括处理器910和存储器920,所述存储器920用于存储指令,所述处理器910调用所述存储器920中存储的所述指令用于执行以下操作:
获取无人机的飞行任务区域对应的地形信息;
获取所述无人机当前的对地高度信息;
根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
在本申请实施例中,所述垂向速度控制参数包括:垂向速度、垂向速度限制范围、垂向速度控制增益中的至少一种
在本申请实施例中,所述地形信息包括地形坡度、地形平整度的至少一种;所述对地高度信息包括对地高度、对地高度方差中的至少一种。
在本申请实施例中,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括如下至少一种操作:
根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度;
根据所述地形坡度,调节所述无人机的垂向速度限制范围;
根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益。
在本申请实施例中,所述处理器具体用于根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度,包括:
获取所述无人机在水平方向上的水平速度控制信息;
根据所述水平速度控制信息和所述地形坡度,确定所述无人机在垂直方向上的初始速度补偿信息;
根据所述对地高度,对所述初始速度补偿信息进行二次补偿,得到所述无人机在垂直方向上的垂向速度补偿信息;
根据所述垂向速度补偿信息,调节所述无人机的垂向速度。
在本申请实施例中,所述处理器具体用于根据所述地形坡度,调节所述无人机的垂向速度限制范围,包括:
当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围。
在本申请实施例中,所述处理器具体用于当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围,包括:
当所述地形坡度大于预设坡度阈值时,增大所述无人机的垂向速度限制范围。
在本申请实施例中,所述处理器具体用于根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益,包括:
当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益;
当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益。
在本申请实施例中,所述处理器具体用于当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益,包括:
当所述地形平整度大于预设第一平整度阈值时,和/或,所述对地高度方差大于预设第一对地高度方差阈值时,增大所述无人机的垂向速度控制增益;
所述处理器具体用于当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益,包括:
当所述地形平整度小于预设第二平整度阈值时,和/或,所述对地高度方差小于预设第二对地高度方差阈值时,减小所述无人机的垂向速度控制增益。
在本申请实施例中,所述地形信息通过所述无人机搭载的传感器获取。
在本申请实施例中,所述传感器包括:全方向雷达、超声波传感器、视觉传感器中任意一种。
在本申请实施例中,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:
当所述地形信息表征地势崎岖时,根据所述对地高度信息,增大所述无人机的垂向速度控制增益。
在本申请实施例中,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:
当所述地形信息表征地势平缓时,根据所述对地高度信息,减小所述无人机的垂向速度控制增益。
在本申请实施例中,无人机可以获取飞行任务区域对应的地形信息,获取无人机当前的对地高度信息;根据地形信息和对地高度信息,调节无人机的垂向速度控制参数,使得无人机能够及时调整相对地面或者作业对象的对地高度,保证了仿地效果,避免了无人机在垂直方向上的控制滞后而导致的风险,提升了无人机作业的安全性和效率。
本申请一实施例还提供了一种电子设备,可以包括处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序,计算机程序被处理器执行时实现如上所述的飞行控制方法。
本申请一实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质上存储指令,当所述指令在计算机上运行时,使得所述计算机执行如上所述的飞行控制方法。
本申请一实施例还提供了一种包含指令的计算机程序产品,当所述指令在计算机上运行时,使得所述计算机执行如上所述的飞行控制方法。
对于装置实施例而言,由于其与方法实施例基本相似,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。
本说明书中的各个实施例均采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似的部分互相参见即可。本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着,结合实施例描述的特定特征、结构或者特性包括在本申请的至少一个实施例中。此外,请注意,这里“在一个实施例中”的词语例子不一定全指同一个实施例。在此处所提供的说明书中,说明了大量具体细节。然而,能够理解,本申请的实施例可以在没有这些具体细节的情况下被实践。在一些实例中,并未详细示出公知的方法、结构和技术,以便不模糊对本说明书的理解。在权利要求中,不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请 可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中,这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。最后应说明的是:以上实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
Claims (29)
- 一种飞行控制方法,其特征在于,所述方法包括:获取无人机的飞行任务区域对应的地形信息;获取所述无人机当前的对地高度信息;根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
- 根据权利要求1所述的方法,其特征在于,所述垂向速度控制参数包括:垂向速度、垂向速度限制范围、垂向速度控制增益中的至少一种。
- 根据权利要求2所述的方法,其特征在于,所述地形信息包括地形坡度、地形平整度的至少一种;所述对地高度信息包括对地高度、对地高度方差中的至少一种。
- 根据权利要求3所述的方法,其特征在于,所述根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括如下至少一种操作:根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度;根据所述地形坡度,调节所述无人机的垂向速度限制范围;根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益。
- 根据权利要求4所述的方法,其特征在于,所述根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度,包括:获取所述无人机在水平方向上的水平速度控制信息;根据所述水平速度控制信息和所述地形坡度,确定所述无人机在垂直方向上的初始速度补偿信息;根据所述对地高度,对所述初始速度补偿信息进行二次补偿,得到所述无人机在垂直方向上的垂向速度补偿信息;根据所述垂向速度补偿信息,调节所述无人机的垂向速度。
- 根据权利要求4所述的方法,其特征在于,所述根据所述地形坡度,调节所述无人机的垂向速度限制范围,包括:当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度 限制范围。
- 根据权利要求6所述的方法,其特征在于,所述当所述坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围,包括:当所述地形坡度大于预设坡度阈值时,增大所述无人机的垂向速度限制范围。
- 根据权利要求4所述的方法,其特征在于,所述根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益,包括:当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益;当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益。
- 根据权利要求8所述的方法,其特征在于,所述当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益,包括:当所述地形平整度大于预设第一平整度阈值时,和/或,所述对地高度方差大于预设第一对地高度方差阈值时,增大所述无人机的垂向速度控制增益;所述当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益,包括:当所述地形平整度小于预设第二平整度阈值时,和/或,所述对地高度方差小于预设第二对地高度方差阈值时,减小所述无人机的垂向速度控制增益。
- 根据权利要求1所述的方法,其特征在于,所述地形信息通过所述无人机搭载的传感器获取。
- 根据权利要求10所述的方法,其特征在于,所述传感器包括:全方向雷达、超声波传感器、视觉传感器中任意一种。
- 根据权利要求1所述的方法,其特征在于,所述根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:当所述地形信息表征地势崎岖时,根据所述对地高度信息,增大所述无人机的垂向速度控制增益。
- 根据权利要求1或12所述的方法,其特征在于,所述根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:当所述地形信息表征地势平缓时,根据所述对地高度信息,减小所述无人机的垂向速度控制增益。
- 一种无人机,其特征在于,所述无人机包括处理器和存储器,所述存储器用于存储指令,所述处理器调用所述存储器中存储的所述指令用于执行以下操作:获取无人机的飞行任务区域对应的地形信息;获取所述无人机当前的对地高度信息;根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数。
- 根据权利要求14所述的无人机,其特征在于,所述垂向速度控制参数包括:垂向速度、垂向速度限制范围、垂向速度控制增益中的至少一种
- 根据权利要求15所述的无人机,其特征在于,所述地形信息包括地形坡度、地形平整度的至少一种;所述对地高度信息包括对地高度、对地高度方差中的至少一种。
- 根据权利要求16所述的无人机,其特征在于,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括如下至少一种操作:根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度;根据所述地形坡度,调节所述无人机的垂向速度限制范围;根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益。
- 根据权利要求17所述的无人机,其特征在于,所述处理器具体用于根据所述地形坡度和所述对地高度,调节所述无人机的垂向速度,包括:获取所述无人机在水平方向上的水平速度控制信息;根据所述水平速度控制信息和所述地形坡度,确定所述无人机在垂直方向上的初始速度补偿信息;根据所述对地高度,对所述初始速度补偿信息进行二次补偿,得到所述无人机在垂直方向上的垂向速度补偿信息;根据所述垂向速度补偿信息,调节所述无人机的垂向速度。
- 根据权利要求17所述的无人机,其特征在于,所述处理器具体用于根据所述地形坡度,调节所述无人机的垂向速度限制范围,包括:当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围。
- 根据权利要求19所述的无人机,其特征在于,所述处理器具体用于当所述地形坡度满足预设陡峭判断条件时,增大所述无人机的垂向速度限制范围,包括:当所述地形坡度大于预设坡度阈值时,增大所述无人机的垂向速度限制范围。
- 根据权利要求17所述的无人机,其特征在于,所述处理器具体用于根据所述地形平整度和/或所述对地高度方差,调节所述无人机的垂向速度控制增益,包括:当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益;当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益。
- 根据权利要求21所述的无人机,其特征在于,所述处理器具体用于当所述地形平整度和/或所述对地高度方差满足预设地势崎岖判断条件时,增大所述无人机的垂向速度控制增益,包括:当所述地形平整度大于预设第一平整度阈值时,和/或,所述对地高度方差大于预设第一对地高度方差阈值时,增大所述无人机的垂向速度控制增益;所述处理器具体用于当所述地形平整度和/或所述对地高度方差满足预设地势平缓判断条件时,减小所述无人机的垂向速度控制增益,包括:当所述地形平整度小于预设第二平整度阈值时,和/或,所述对地高度方差小于预设第二对地高度方差阈值时,减小所述无人机的垂向速度控制增益。
- 根据权利要求14所述的无人机,其特征在于,所述地形信息通过所述无人机搭载的传感器获取。
- 根据权利要求23所述的无人机,其特征在于,所述传感器包括:全方向雷达、超声波传感器、视觉传感器中任意一种。
- 根据权利要求14所述的无人机,其特征在于,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:当所述地形信息表征地势崎岖时,根据所述对地高度信息,增大所述无人机的垂向速度控制增益。
- 根据权利要求14或25所述的无人机,其特征在于,所述处理器具体用于根据所述地形信息和所述对地高度信息,调节所述无人机的垂向速度控制参数,包括:当所述地形信息表征地势平缓时,根据所述对地高度信息,减小所述无人机的垂向速度控制增益。
- 一种电子设备,其特征在于,包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序,所述计算机程序被所述处理器执行时实现如权利要求1至13中任一项所述的飞行控制方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质上存储指令,当所述指令在计算机上运行时,使得所述计算机执行如权利要求1至13中任一项所述的飞行控制方法。
- 一种包含指令的计算机程序产品,其特征在于,当所述指令在计算机上运行时,使得所述计算机执行如权利要求1至13中任一项所述的飞行控制方法。
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