Unmanned aerial vehicle (UAV) control method and device based on earth stationTechnical field
The present invention relates to electronic technology field more particularly to a kind of unmanned aerial vehicle (UAV) control method and devices based on earth station.
Background technology
Currently, unmanned plane is widely used in ground mapping, Forest servey, disaster surveillance, logistics express delivery, high-altitude shooting etc.Field.
In the prior art, the allocation rule of control instruction is generally pre-set to unmanned aerial vehicle (UAV) control method, then basisThe allocation rule of setting is allocated unmanned plane relevant parameter, to reach the requirement of control instruction.However, due to unmanned planeState in different moments be different, if controlled unmanned plane according to preset rules, when the state of unmanned planeWhen changing, since preset rules can not be adapted to, deviation is easy tod produce.
As it can be seen that the poor technical problem of precise control exists in the prior art.
Invention content
The unmanned aerial vehicle (UAV) control method and device based on earth station that an embodiment of the present invention provides a kind of, for solving existing skillThe unmanned aerial vehicle (UAV) control method based on earth station has that accuracy is poor in art.
In a first aspect, the present invention provides a kind of unmanned aerial vehicle (UAV) control method based on earth station, including：
Earth station obtains the first control instruction, and first control instruction is to reach target-like to control unmanned plane during flyingThe original control instruction of state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Optionally, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gasStream angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
Optionally, according to second control instruction and the flight status parameter, setting phase partitioning is regular, including：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Optionally, it is based on the allocation rule, the unmanned plane is controlled, including：
The earth station is based on the allocation rule, determines the action component and sendout of unmanned plane；
The earth station controls the action component according to the sendout.
Based on same inventive concept, second aspect of the present invention provides a kind of control device of unmanned plane, including：
First obtains module, obtains the first control instruction for earth station, first control instruction is to control nothingMan-machine flight reaches the original control instruction of dbjective state；
Second obtains module, is obtained and the relevant unmanned plane during flying state of first control instruction for the earth stationParameter；
Third obtains module, is obtained according to first control instruction and the flight status parameter for the earth stationSecond control instruction；
Setup module, for the earth station according to second control instruction and the flight status parameter, setting pointWith rule；
Control module is based on the allocation rule for the earth station, controls the unmanned plane.
Optionally, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gasStream angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
Optionally, the setup module is additionally operable to：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Optionally, the control module is additionally operable to：
The earth station is based on the allocation rule, determines the action component and sendout of unmanned plane；
The earth station controls the action component according to the sendout.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereonComputer program is contained, which realizes following steps when being executed by processor：
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flyingThe original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processingOn a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storageFollowing steps：
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flyingThe original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effectsFruit：
In the technical solution of the embodiment of the present invention, earth station according to the first control instruction and with first by controlling firstIt instructs relevant unmanned plane during flying state parameter to obtain the second control instruction, the first control instruction can be converted to and unmanned planeThe second directly related control instruction of flight attitude, then the earth station is according to the second control instruction and flight status parameter,Allocation rule is set, you can allocation rule is arranged according to the state parameter of the second control instruction and unmanned plane after conversion, fromAnd when the state of unmanned plane changes, it is adapted to the state change of unmanned plane, to make unmanned plane according to allocation ruleIt is steadily flown, so improving the accuracy and robustness of the control to unmanned plane by earth station, solves existing skillUnmanned aerial vehicle (UAV) control method has that accuracy is poor in art.
Description of the drawings
Fig. 1 is a kind of flow chart of the unmanned aerial vehicle (UAV) control method based on earth station in the embodiment of the present invention；
Fig. 2 is a kind of structure chart of the controlling party device of unmanned plane in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of computer equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides the unmanned aerial vehicle (UAV) control method that an embodiment of the present invention provides a kind of based on earth station andDevice, for solving the problems, such as that there are accuracys is poor for the unmanned aerial vehicle (UAV) control method based on earth station in the prior art.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows：
The first control instruction is obtained, first control instruction is to control the original that unmanned plane during flying reaches dbjective stateBeginning control instruction；It obtains and the relevant unmanned plane during flying state parameter of first control instruction；Referred to according to first controlIt enables and the flight status parameter obtains the second control instruction；According to second control instruction and the flight status parameter,Allocation rule is set；Based on the allocation rule, the unmanned plane is controlled.
The present invention the above method, by according to the first control instruction and with the relevant unmanned plane during flying of the first control instructionState parameter obtains the second control instruction, can convert the first control instruction to directly related with unmanned plane during flying posture theThen according to the second control instruction and flight status parameter allocation rule is arranged, you can after according to conversion in two control instructionsAllocation rule is arranged in second control instruction and the state of unmanned plane, thus allocation rule is adapted with the state parameter of unmanned plane, from the accuracy and robustness that can improve the control to unmanned plane, solve nobody based on earth station in the prior artMachine control method has that accuracy is poor.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the applicationSpecific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniquesThe restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation of description affiliated partner, indicates that there may be three kinds of passesSystem, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, hereinMiddle character "/", it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
First aspect present invention provides the unmanned aerial vehicle (UAV) control method based on earth station, referring to FIG. 1, implementing for the present inventionThe flow chart of unmanned aerial vehicle (UAV) control method based on earth station in example.
It needing to illustrate first, the method can be applied to the communication command vehicle for controlling and monitoring unmanned plane,Or (earth station is a portable box body to the earth station with computer operation control function, and built-in there are one integratedLaptop) or long-range control terminal (such as control room, monitoring room).In other words, the embodiment of the present invention is upperState step include the steps that it is following will illustrate, executive agent can be communication command vehicle, allow in this way in vehicle i.e.The control method method of unmanned plane can be controlled, can also be the ground with computer operation and Portable outgoing functionFace station, allows in this way in or beyond vehicle or movement can control the method for controlling unmanned plane；It can also be long-rangeControl terminal (such as control room, monitoring room), the control method of unmanned plane can remotely controlled in this way.And pass throughCommunication command vehicle, earth station and long-range control terminal carry out Communication Control according to the equipment such as communications protocol and unmanned plane, are existingThere is the normal procedure intelligent in technology to control, as the prior art, and the innovation of the invention consists in that, based on communication command vehicle, groundIt stands and long-range control terminal is applied to the control method of the present invention, is controlled unmanned plane with reaching as executive agentTechnique effect, it is therefore, winged according to communications protocol and unmanned plane etc. for communication command vehicle, earth station and long-range control terminalCommunication Control between row equipment is controlled using prior art normal procedure intelligent and is realized, the present invention is not limited, under the present inventionIn face of elaborating with innovative control method and step.
This method includes：
S101：Earth station obtains the first control instruction, and first control instruction is to reach to control unmanned plane during flyingThe original control instruction of dbjective state.
Specifically, the first control instruction is instructed for controlling the Comprehensive Control of drone status, Comprehensive Control instructionCan be comprehensive amount of speed and posture, or overload, angular speed and the comprehensive amount of dynamic pressure etc., the first control instruction can be to nothingMan-machine action is controlled.
S102：The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
For example, above-mentioned flight status parameter includes：Flying speed, dynamic pressure, overload, height, attitude angle, angle accelerateIt is one or more in degree, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.For example, when the first control instructionWhen being measured for the synthesis of height and rate, include with the relevant state parameter of the first control instruction then：Flying speed, height, airDensity etc..
As a kind of optional embodiment, can be converted first control instruction to according to preset ideal modelThe control instruction being consistent with intended response dynamic.In specific implementation process, in specific implementation process, since control refers toOrder changes at any time, if directly controlled unmanned plane according to control instruction, may result in the variation of unmanned planeAmplitude is excessive, or even the problem of can not execute the control instruction.For example, if the first control instruction is for controlling nobodyThe angular acceleration of machine, if the flight angular acceleration of unmanned plane is 1 degree per second, the first control instruction is 10 degree per seconds, then needsThe angular acceleration of unmanned plane is directly become 10 from 1, this may result in, and unmanned plane during flying is unstable, and larger deflection occurs in fuselageDeng；And the method for the embodiment of the present invention, then the first control instruction can be handled, for example, by 10 degree per seconds be processed into 7 degree it is everySecond.
Specifically, the first control instruction and the dynamic correspondence of intended response, Ke Yishi are provided in ideal modelAccording to the correspondence that existing data, knowledge and experience obtain, more specifically, can inputted according to closed loopsThe lower response of driving and the requirement of flight quality determine, if the first control instruction of input is acceleration instruction, there will be withCorresponding intended response dynamic, equally, if input the first control instruction be speed command, also have corresponding pre-Phase response dynamics.By taking speed command as an example, when inputting some control instruction, intended response dynamic is preceding 0.3s slowly (lowIn default response speed) variation, waits and is changed according to preset response speed after reaching stable 1s.
The relationship that between first control instruction and the second control instruction can be corresponding ratio can also be other relationships, exampleSuch as when the first control instruction is 10, the second control instruction can be that the 8, second control instruction may be 7.Concrete condition can be withIt is arranged according to actual conditions, is not specifically limited herein.
More specifically, it is that cycle executes to process to obtain the second control instruction by the first control instruction, when obtaining theAfter two control instructions, it can be handled to obtain control instruction next time to the second control instruction again, until state of flightUntil tending to the first control instruction.
S103：The earth station obtains the second control according to first control instruction and the flight status parameter and refers toIt enables；
Specifically, it since the first control instruction is comprehensive instruction, then needs to be translated into and the practical feelings of unmanned planeCondition changes the second control instruction being consistent, such as the comprehensive comprehensive directive measured that the first control instruction is speed and posture, then willIt is converted into the instruction of angular acceleration, while needing to consider the flight status parameter of unmanned plane.Second control instruction is direct shadowRing the instruction to flight attitude, such as angular acceleration, torque；
Specifically, above-mentioned state parameter includes comprising can be with motion parameter measured directly and the fortune not directly measuredDynamic parameter value, such as speed, angle, which are, to be the movement not directly measured with motion parameter measured directly, angular accelerationParameter value.
As a kind of optional embodiment, integrative feedback can be generated according to flight status parameter, then with integrative feedbackFirst control instruction is adjusted to obtain the second control instruction, concrete implementation mode is as follows：Obtain the shape of unmanned planeMeasurable first motion parameter in state parameter；It is estimated in the state parameter not based on default plant modelMeasurable second motion parameter；According to first motion parameter and second motion parameter, obtain comprehensive anti-Feedback.
It specifically, can be by equipment such as sensor, speedometers to nobody for measurable first motion parameterMachine measures, and to obtain corresponding measured value, above-mentioned measured value may include the rudder face degree of bias, speed, angle rate etc..ForImmeasurablel first motion parameter then can preset plant model to be estimated by structure, such as six freeModel etc. is spent, above-mentioned default plant model can be linear mathematical model, or non-linear mathematical model.It is optionalGround estimates the immeasurablel motion state of the unmanned plane using nonlinear model, so as to adapt to more flyState.It, then can be in such a way that setting controls variable after obtaining the first motion parameter and the second motion parameter respectivelyObtain integrative feedback.
S104：Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station.
In specific implementation process, the relevant parameter with the relevant action component of state of flight can also be considered,Such as action component be can be with motor, and to the scope limitation of the position of action component, rate.If an action component is fullIt still can be used for generating the control effect being consistent with the second control instruction with, other action components.Furthermore it is also possible to be directed to specific meshMark realizes system optimization, such as minimum drag, airfoil load minimum, the total degree of bias minimum of control plane etc..It thus can be in conjunction with wingedAllocation rule is arranged in row state, and common allocation rule, which includes the control allocation algorithm based on optimization, direct distribution method, broad senseInverse method is based on linear programming (simplex method, interior point method), is based on quadratic programming (sequential quadratic programming, fix point method, active setMethod), the control distribution method based on unoptimizable has concatenation chain method etc., originally grabs you and the concatenation chain method based on quadratic programming may be used.
Specifically, when the second control instruction be angular acceleration instruct when, and flight status parameter be speed and height when,Angular speed instructs the control to unmanned plane, the as control of unmanned plane motor torque.The method of allocation rule, which is then arranged, to lead toCross following step realization：
Obtain the correspondence of second control instruction and action component；
According to the correspondence and the flight status parameter, the allocation rule is set.
Specifically, the second control instruction is angular acceleration, then action component is motor, the power of angular acceleration and motorSquare can rule of thumb can be obtained with actual numerical value there are one correspondence.Then consider the current surplus of motor, such as in totalAllocation rule can be arranged according to the current state of each motor in four motors, according to a certain percentage, or can work as certainWhen the deflection of a motor is larger, by the amount of deflection of other several motors, reach expected control effect.
S105：The earth station is based on the allocation rule, controls the unmanned plane.
Based on the allocation rule, the action component and sendout of unmanned plane are determined；
The action component is controlled according to the sendout.
Specifically, according to allocation rule, it may be determined that the sendout of action component reaches corresponding control instructionControl effect.
Embodiment two
Based on inventive concept same as the unmanned aerial vehicle (UAV) control method based on earth station in aforementioned first aspect, the present invention is realIt applies example two and additionally provides the control device of unmanned plane, as shown in Fig. 2, including：
First obtains module 201, obtains the first control instruction for earth station, first control instruction is to controlUnmanned plane during flying reaches the original control instruction of dbjective state；
Second obtains module 202, is obtained and the relevant unmanned plane during flying of the first control instruction for the earth stationState parameter；
Third obtains module 203, for the earth station according to first control instruction and the flight status parameterObtain the second control instruction；
Setup module 204, for the earth station according to second control instruction and the flight status parameter, settingAllocation rule；
Control module 205 is based on the allocation rule for the earth station, controls the unmanned plane.
Device provided in this embodiment, the flight status parameter, including：Flying speed, dynamic pressure, overload, height, postureIt is one or more in angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.
Device provided in this embodiment, setup module 204 are additionally operable to：
The earth station obtains the correspondence of second control instruction and action component；
The allocation rule is arranged according to the correspondence and the flight status parameter in the earth station.
Device provided in this embodiment, control module 205 are additionally operable to：
The earth station is based on the allocation rule, determines the action component and sendout of unmanned plane；
The earth station controls the action component according to the sendout.
The various change mode and specific example of the unmanned aerial vehicle (UAV) control method based on earth station in 1 embodiment of earlier figures are sameSample is suitable for the control device of the unmanned plane of the present embodiment, by aforementioned to the detailed of the unmanned aerial vehicle (UAV) control method based on earth stationDescription, those skilled in the art are clear that the implementation of the control device of unmanned plane in the present embodiment, so beingSpecification it is succinct, this will not be detailed here.
Embodiment three
Based on inventive concept same as the unmanned aerial vehicle (UAV) control method based on earth station in previous embodiment one, the present invention is realIt applies example three and additionally provides a kind of computer readable storage medium, as shown in figure 3, it is stored thereon with computer program, the program quiltProcessor realizes following steps when executing：
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flyingThe original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
The various change mode and specific example of the unmanned aerial vehicle (UAV) control method based on earth station in 1 embodiment of earlier figures are sameSample is suitable for the computer readable storage medium of the unmanned plane of the present embodiment, by aforementioned to the unmanned aerial vehicle (UAV) control based on earth stationThe detailed description of method, those skilled in the art are clear that the implementation of the present embodiment Computer readable storage medium storing program for executingMethod, so in order to illustrate the succinct of book, this will not be detailed here.
Example IV
Based on inventive concept same as the unmanned aerial vehicle (UAV) control method based on earth station in previous embodiment one, the present invention is realIt applies example four and additionally provides a kind of computer equipment, including memory 401, processor 402 and storage on a memory and can locatedThe computer program 403 run on reason device, the processor realize following steps when executing described program：
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control unmanned plane during flyingThe original control instruction of mark state；
The earth station obtains and the relevant unmanned plane during flying state parameter of first control instruction；
The earth station obtains the second control instruction according to first control instruction and the flight status parameter；
Allocation rule is arranged according to second control instruction and the flight status parameter in the earth station；
The earth station is based on the allocation rule, controls the unmanned plane.
For convenience of description, it illustrates only and does not disclose, ask with the relevant part of the embodiment of the present invention, particular technique detailsWith reference to present invention method part.Memory 401 can be used for storing computer program 403, and above computer program includesSoftware program, module and data, processor 402 execute the computer program 403 for being stored in memory 401 by running, toExecute various function application and the data processing of electronic equipment.
In specific implementation process, memory 401 can be used for storing software program and module, processor 402 pass throughOperation is stored in the software program and module of memory 401, to execute the various function application and data of electronic equipmentProcessing.Memory 401 can include mainly storing program area and storage data field, wherein storing program area can storage program area,Application program etc. needed at least one function；Storage data field can be stored uses created data according to electronic equipmentDeng.In addition, memory 401 may include high-speed random access memory, can also include nonvolatile memory, for example, at leastOne disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipmentCenter is stored in memory using the various pieces of various interfaces and the entire electronic equipment of connection by running or executingSoftware program in 401 and/or module, and the data being stored in memory 401 are called, execute the various work(of electronic equipmentData can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processingUnit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong HujieFace and application program etc..
The various change mode and specific example of the unmanned aerial vehicle (UAV) control method based on earth station in 1 embodiment of earlier figures are sameSample is suitable for the computer equipment of the unmanned plane of the present embodiment, by aforementioned to the detailed of the unmanned aerial vehicle (UAV) control method based on earth stationThin description, those skilled in the art are clear that the implementation of the present embodiment Computer equipment, so in order to sayBright book it is succinct, this will not be detailed here.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effectsFruit：
In the technical solution of the embodiment of the present invention, first by according to the first control instruction and with the first control instruction phaseThe unmanned plane during flying state parameter of pass obtains the second control instruction, can convert the first control instruction to and unmanned plane during flying appearanceAllocation rule is arranged then according to the second control instruction and flight status parameter in the second directly related control instruction of state, you canAllocation rule is arranged according to the state of the second control instruction and unmanned plane after conversion, to which the state when unmanned plane becomesWhen change, it is adapted to the state change of unmanned plane, to make unmanned plane accurately be flown according to allocation rule, so can be withThe accuracy and robustness for improving the control to unmanned plane, solve the unmanned aerial vehicle (UAV) control method based on earth station in the prior artThere is a problem of that accuracy is poor.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer programProduct.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present inventionApply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computerThe computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program productFigure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagramThe combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be providedInstruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produceA raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for realThe device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spyDetermine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring toEnable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram orThe function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that countSeries of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer orThe instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram oneThe step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the artGod and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologiesWithin, then the present invention is also intended to include these modifications and variations.