WO2021212518A1 - Flight direction method, apparatus and system, control terminal, and readable storage medium - Google Patents

Abstract

Provided are a flight direction method, apparatus and system, a control terminal (100), and a readable storage medium. The method comprises: displaying a flight direction page (S101); obtaining an operation performed by a user on the control terminal (100), wherein the operation is used for generating a control command to control an unmanned aerial vehicle (200) (S102); and generating a motion vector icon on the flight direction page according to the operation, wherein the motion vector icon is used for representing the flight direction and the flight power of the unmanned aerial vehicle (200) (S103). The flight safety of an unmanned aerial vehicle is improved.

Description

Translated fromChinese

飞行指引方法、装置、系统、控制终端及可读存储介质Flight guidance method, device, system, control terminal and readable storage medium技术领域Technical field

本申请涉及信息显示技术领域，尤其涉及一种飞行指引方法、装置、系统、控制终端及可读存储介质。This application relates to the field of information display technology, and in particular to a flight guidance method, device, system, control terminal and readable storage medium.

背景技术Background technique

随着无人机应用领域的日益扩展，使用无人机的场合也变得越来越多样化，用户通过控制终端可以控制无人机向目的地飞行，而控制无人机安全飞行是极其重要的，用户在控制无人机向目的地飞行时，需要不断调整无人机的飞行控制参数，才能使得无人机可以安全的飞行至目的地，然而，用户只能通过眼睛观察无人机的飞行情况，并基于观察得到飞行情况调整无人机的飞行控制参数，而眼睛观察得到的飞行情况不准确，用户也就无法准确的调整无人机的飞行控制参数，需要花费较多的时间才能控制无人机安全的飞行至目的地，也无法保证无人机飞行的安全性，用户体验不好。With the ever-expanding application of drones, the occasions for using drones have become more and more diverse. Users can control the drone to fly to the destination through the control terminal, and it is extremely important to control the safe flight of the drone. Yes, when the user controls the drone to fly to the destination, he needs to constantly adjust the drone's flight control parameters so that the drone can safely fly to the destination. However, the user can only observe the drone's Flight conditions, and adjust the flight control parameters of the UAV based on the observed flight conditions. However, the flight conditions obtained by eye observation are not accurate, and the user cannot accurately adjust the flight control parameters of the UAV, which takes more time. Controlling the drone to safely fly to the destination cannot guarantee the safety of the drone flight, and the user experience is not good.

发明内容Summary of the invention

基于此，本申请提供了一种飞行指引方法、装置、系统、控制终端及可读存储介质，旨在指引用户控制无人机飞行，提高无人机飞行的安全性。Based on this, this application provides a flight guidance method, device, system, control terminal, and readable storage medium, which are intended to guide users to control drone flight and improve the safety of drone flight.

第一方面，本申请提供了一种飞行指引方法，应用于控制终端，所述控制终端用于与一无人机进行通信，所述方法包括：In the first aspect, this application provides a flight guidance method, which is applied to a control terminal, the control terminal is used to communicate with an unmanned aerial vehicle, and the method includes:

在所述控制终端上显示飞行指引页面；Displaying a flight guidance page on the control terminal;

获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;

根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

第二方面，本申请还提供了一种控制终端，所述控制终端包括显示装置、存储器和处理器，所述控制终端与一无人机通信连接；In a second aspect, the present application also provides a control terminal, the control terminal includes a display device, a memory, and a processor, and the control terminal is communicatively connected with an unmanned aerial vehicle;

所述存储器用于存储计算机程序；The memory is used to store a computer program;

所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

通过所述显示装置显示飞行指引页面；Displaying a flight guidance page through the display device;

获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;

根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

第三方面，本申请还提供了一种飞行指引装置，应用于控制终端，所述控制终端与一无人机进行通信，所述飞行指引装置包括处理器和存储器；In a third aspect, this application also provides a flight guidance device, which is applied to a control terminal, the control terminal communicates with an unmanned aerial vehicle, and the flight guidance device includes a processor and a memory;

所述存储器用于存储计算机程序；The memory is used to store a computer program;

所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

控制所述控制终端显示飞行指引页面；Controlling the control terminal to display a flight guidance page;

获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;

根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

第四方面，本申请还提供了一种飞行指引系统，所述飞行指引系统包括控制终端和无人机，所述控制终端与无人机通信连接。In a fourth aspect, this application also provides a flight guidance system. The flight guidance system includes a control terminal and an unmanned aerial vehicle, and the control terminal is in communication connection with the unmanned aerial vehicle.

第五方面，本申请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存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现本申请提供的任一项所述的飞行指引方法。In a fifth aspect, the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes any of the The flight guidance method described in the item.

本申请实施例提供了一种飞行指引方法、装置、系统、控制终端及可读存储介质，通过在控制终端显示飞行指引页面，之后获取用户对控制终端的操作，并根据用户对控制终端的操作在该飞行指引页面生成用于表示无人机的飞行方向和飞行动力的运动矢量图标，使得用户可以基于该运动矢量图标知晓无人机的飞行方向和飞行动力，方便用户控制无人机飞行，保证无人机飞行的安全性。The embodiments of the application provide a flight guidance method, device, system, control terminal, and readable storage medium. The flight guidance page is displayed on the control terminal, and then the user's operation on the control terminal is obtained, and the operation of the control terminal is obtained according to the user's operation on the control terminal. A motion vector icon used to indicate the flight direction and flight power of the drone is generated on the flight guide page, so that the user can know the flight direction and flight power of the drone based on the motion vector icon, and it is convenient for the user to control the flight of the drone. Ensure the safety of drone flight.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

附图说明Description of the drawings

为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以 根据这些附图获得其他的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

图1是实施本申请实施例提供的飞行指引方法的一场景示意图；FIG. 1 is a schematic diagram of a scene for implementing the flight guidance method provided by an embodiment of the present application;

图2是本申请实施例提供的一种飞行指引方法的步骤示意流程图；2 is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application;

图3是本申请实施例中的控制终端显示的飞行指引页面的一示意图；FIG. 3 is a schematic diagram of a flight guidance page displayed by the control terminal in an embodiment of the present application;

图4是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；4 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图5是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 5 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图6是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 6 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图7是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 7 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图8是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 8 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图9是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 9 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图10是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 10 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图11是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 11 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图12是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 12 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图13是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 13 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图14是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；FIG. 14 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图15是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；15 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图16是本申请实施例中的控制终端显示的飞行指引页面的另一示意图；16 is another schematic diagram of the flight guidance page displayed by the control terminal in the embodiment of the present application;

图17是本申请实施例提供的一种控制终端的结构示意性框图；FIG. 17 is a schematic block diagram of the structure of a control terminal provided by an embodiment of the present application;

图18是本申请实施例提供的一种飞行指引装置的结构示意性框图。FIG. 18 is a schematic block diagram of the structure of a flight guidance device provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

基于上述问题，本申请实施例提供一种飞行指引方法，该飞行指引方法应用于控制终端，请参照图1，图1是实施本申请实施例提供的飞行指引方法的 一场景示意图，如图1所示，控制终端100与一无人机200通信连接，控制终端100包括显示装置101，该显示装置101用于显示飞行指引页面，当获取到用户对控制终端的操作时，根据该操作在飞行指引页面生成用于表示无人机的飞行方向和飞行动力的运动矢量图标，使得用户可以基于该运动矢量图标知晓无人机的飞行方向和飞行动力，方便用户控制无人机飞行。Based on the foregoing problems, an embodiment of the application provides a flight guidance method, which is applied to a control terminal. Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scenario for implementing the flight guidance method provided by the embodiment of the application, as shown in FIG. As shown, thecontrol terminal 100 is in communication connection with an unmannedaerial vehicle 200. Thecontrol terminal 100 includes adisplay device 101, which is used to display a flight guidance page. The guidance page generates a motion vector icon used to indicate the flight direction and flight power of the drone, so that the user can know the flight direction and flight power of the drone based on the motion vector icon, and it is convenient for the user to control the flight of the drone.

在一些实施方式中，无人机200包括障碍物感知装置201，障碍物感知装置201用于获取无人机200周围的感测信号，通过对感测信号进行分析，可以得到障碍物信息，并在该飞行指引页面上显示障碍物信息，使得用户可以知晓无人机感知到的障碍物，便于用户控制无人机避开障碍物。其中，该显示装置101可以为液晶显示屏，也可以为触控屏，控制终端100包括遥控器、地面控制平台、手机、平板电脑、笔记本电脑和PC电脑等。In some embodiments, thedrone 200 includes anobstacle sensing device 201. Theobstacle sensing device 201 is used to obtain sensing signals around thedrone 200. By analyzing the sensing signals, obstacle information can be obtained, and Obstacle information is displayed on the flight guidance page, so that the user can know the obstacles that the drone perceives, and it is convenient for the user to control the drone to avoid the obstacle. Wherein, thedisplay device 101 may be a liquid crystal display or a touch screen. Thecontrol terminal 100 includes a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like.

在一些实施方式中，障碍物感知装置201可以包括至少一个传感器，用于获取来自无人机200的至少一个方向上的感测信号。例如，障碍物感知装置201可以包括一个传感器，用于检测无人机200的前方的障碍物。例如，障碍物感知装置201可以包括两个传感器，分别用于检测无人机200的前方和后方的障碍物。例如，障碍物感知装置201可以包括四个传感器，分别用于检测无人机200的前方、后方、左方、右方的障碍物。例如，障碍物感知装置201可以包括五个传感器，分别用于检测无人机200的前方、后方、左方、右方、上方的障碍物。例如，障碍物感知装置201可以包括六向传感器，分别用于检测无人机200的前方、后方、左方、右方、上方、下方的障碍物。障碍物感知装置201中的各个传感器可以是分离实现的，也可以是集成实现的。传感器的检测方向可以根据具体需要进行设置，以检测各种方向或方向组合的障碍物，而不仅限于本申请公开的上述形式。In some embodiments, theobstacle sensing device 201 may include at least one sensor for acquiring sensing signals from thedrone 200 in at least one direction. For example, theobstacle sensing device 201 may include a sensor for detecting obstacles in front of thedrone 200. For example, theobstacle sensing device 201 may include two sensors for detecting obstacles in front of and behind thedrone 200, respectively. For example, theobstacle sensing device 201 may include four sensors for detecting obstacles in the front, rear, left, and right of thedrone 200, respectively. For example, theobstacle sensing device 201 may include five sensors, which are used to detect obstacles in the front, rear, left, right, and upper sides of thedrone 200, respectively. For example, theobstacle sensing device 201 may include six-direction sensors for detecting obstacles in the front, rear, left, right, upper, and lower sides of thedrone 200, respectively. The sensors in theobstacle sensing device 201 may be implemented separately or integrated. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.

无人机200可具有一个或多个推进单元，以允许无人机200可在空中飞行。该一个或多个推进单元可使得无人机200以一个或多个、两个或多个、三个或多个、四个或多个、五个或多个、六个或多个自由角度移动。在某些情形下，无人机200可以绕一个、两个、三个或多个旋转轴旋转。旋转轴可彼此垂直。旋转轴在无人机200的整个飞行过程中可维持彼此垂直。旋转轴可包括俯仰轴、横滚轴和/或偏航轴。无人机200可沿一个或多个维度移动。例如，无人机200能够因一个或多个旋翼产生的提升力而向上移动。在某些情形下，无人机200可沿Z轴(可相对无人机200方向向上)、X轴和/或Y轴(可为横向)移动。无人机200可沿彼此垂直的一个、两个或三个轴移动。Thedrone 200 may have one or more propulsion units to allow thedrone 200 to fly in the air. The one or more propulsion units can make thedrone 200 at one or more, two or more, three or more, four or more, five or more, six or more free angles move. In some cases, thedrone 200 can rotate around one, two, three, or more rotation axes. The rotation axes may be perpendicular to each other. The rotation axes can be maintained perpendicular to each other during the entire flight of thedrone 200. The rotation axis may include a pitch axis, a roll axis, and/or a yaw axis. Thedrone 200 can move in one or more dimensions. For example, thedrone 200 can move upward due to the lifting force generated by one or more rotors. In some cases, thedrone 200 can move along the Z axis (which can be upward relative to the drone 200), the X axis, and/or the Y axis (which can be lateral). Thedrone 200 can move along one, two, or three axes that are perpendicular to each other.

无人机200可以是旋翼飞机。在某些情形下，无人机200可以是可包括多个旋翼的多旋翼飞行器。多个旋翼可旋转而为无人机200产生提升力。旋翼可以是推进单元，可使得无人机200在空中自由移动。旋翼可按相同速率旋转和/或可产生相同量的提升力或推力。旋翼可按不同的速率随意地旋转，产生不同量的提升力或推力和/或允许无人机200旋转。在某些情形下，在无人机200上可提供一个、两个、三个、四个、五个、六个、七个、八个、九个、十个或更多个旋翼。这些旋翼可布置成其旋转轴彼此平行。在某些情形下，旋翼的旋转轴可相对于彼此呈任意角度，从而可影响无人机200的运动。Thedrone 200 may be a rotary wing aircraft. In some cases, thedrone 200 may be a multi-rotor aircraft that may include multiple rotors. The multiple rotors can rotate to generate lifting force for thedrone 200. The rotor may be a propulsion unit, which allows thedrone 200 to move freely in the air. The rotor can rotate at the same rate and/or can generate the same amount of lift or thrust. The rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust, and/or allowing thedrone 200 to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten or more rotors may be provided on thedrone 200. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors can be at any angle with respect to each other, which can affect the movement of thedrone 200.

无人机200可具有多个旋翼。旋翼可连接至无人机200的本体，本体可包含控制单元、惯性测量单元(inertial measuring unit，IMU)、处理器、电池、电源和/或其他传感器。旋翼可通过从本体中心部分分支出来的一个或多个臂或延伸而连接至本体。例如，一个或多个臂可从无人机200的中心本体放射状延伸出来，而且在臂末端或靠近末端处可具有旋翼。Thedrone 200 may have multiple rotors. The rotor may be connected to the main body of thedrone 200, and the main body may include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions branching from the central part of the body. For example, one or more arms may extend radially from the central body of thedrone 200, and may have a rotor at or near the end of the arm.

请参阅图2，图2是本申请实施例提供的一种飞行指引方法的步骤示意流程图。具体地，如图2所示，该飞行指引方法包括步骤S101至步骤S103。Please refer to FIG. 2, which is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application. Specifically, as shown in FIG. 2, the flight guidance method includes step S101 to step S103.

S101、在所述控制终端上显示飞行指引页面。S101. Display a flight guidance page on the control terminal.

其中，控制终端包括一体设置的显示装置，或者控制终端包括承载平台，该承载平台用于承载显示设备，用户可以将显示设备安装在承载平台上，并建立控制终端与显示设备之间的通信连接，显示装置可以为液晶显示屏，也可以为触控显示屏，显示设备包括手机和平板电脑等。Wherein, the control terminal includes an integrated display device, or the control terminal includes a bearing platform, which is used to carry the display device. The user can install the display device on the bearing platform and establish a communication connection between the control terminal and the display device. , The display device can be a liquid crystal display or a touch screen, and display devices include mobile phones and tablet computers.

在用户通过控制终端控制无人机飞行的过程中，在控制终端的显示装置或者与控制终端连接的显示设备上显示飞行指引页面，便于用户知晓无人机的飞行情况。其中，飞行指引页面显示有无人机的拍摄装置的当前画面，飞行指引页面包括无人机的返航点、当前飞行速度、当前相对高度和当前绝对高度，当前相对高度为无人机在当前位置相对于返航点的高度。When the user controls the flight of the drone through the control terminal, the flight guidance page is displayed on the display device of the control terminal or the display device connected to the control terminal, so that the user can know the flight status of the drone. Among them, the flight guidance page displays the current picture of the drone's camera. The flight guidance page includes the drone's home point, current flight speed, current relative altitude, and current absolute altitude. The current relative altitude is the current position of the drone. The altitude relative to the home point.

在一些实施方式中，飞行指引页面还包括速度指示条和高度指示条，该速度指示条用于指示无人机的飞行速度，该高度指示条用于指示无人机的高度，该速度指示条上显示有无人机的当前飞行速度，高度指示条上显示有无人机的当前相对高度；该速度指示条显示有多条速度刻度线和每条速度刻度线各自对应的飞行速度，该高度指示条上显示有多条高度刻度线和每条高度刻度线各自对应的相对高度，该相对高度可以为无人机相对于返航点的高度，也可以为无人机相对于其他位置的高度。其中，速度刻度线和高度刻度线的数量可以基于 实际情况进行设置，本申请对此不做具体限定。在另一实施例中，高度指示条也可以指示无人机的绝对高度，在此不做具体的限定。通过在飞行指引页面上显示速度指示条和高度指示条，可以方便用户知晓无人机的飞行速度和飞行高度。In some embodiments, the flight guide page further includes a speed indicator bar and an altitude indicator bar. The speed indicator bar is used to indicate the flight speed of the drone, the altitude indicator bar is used to indicate the altitude of the drone, and the speed indicator bar is used to indicate the altitude of the drone. The current flight speed of the drone is displayed on the upper, and the current relative altitude of the drone is displayed on the altitude indicator bar; the speed indicator bar displays multiple speed scale lines and the corresponding flight speed of each speed scale line. The indicator bar displays multiple height scale lines and the corresponding relative height of each height scale line. The relative height can be the height of the drone relative to the home point or the height of the drone relative to other positions. Among them, the number of speed scale lines and height scale lines can be set based on actual conditions, which is not specifically limited in this application. In another embodiment, the height indicator bar may also indicate the absolute height of the drone, which is not specifically limited here. By displaying the speed indicator bar and the altitude indicator bar on the flight guide page, it is convenient for the user to know the flying speed and flying height of the drone.

可以理解的是，速度指示条和高度指示条在飞行指引页面上的显示位置可以根据实际情况进行设置，本申请对此不做具体限定，例如，飞行指引页面的左侧显示区域显示速度指示条，飞行指引页面的右侧显示区域显示高度指示条，或者飞行指引页面的右侧显示区域显示速度指示条，飞行指引页面的左侧显示区域显示高度指示条。It is understandable that the display position of the speed indicator bar and the altitude indicator bar on the flight guide page can be set according to the actual situation, and this application does not specifically limit this. For example, the speed indicator bar is displayed in the left display area of the flight guide page , The right display area of the flight guidance page displays the altitude indicator bar, or the right display area of the flight guidance page displays the speed indicator bar, and the left display area of the flight guidance page displays the altitude indicator bar.

在一些实施方式中，该飞行指引页面还包括无人机的垂直速度、无人机所处环境的风速和风向，其中，该垂直速度包括无人机的爬升速度或者下降速度，无人机的垂直速度、无人机所处环境的风速和风向在该飞行指引页面上的显示位置可以根据实际情况进行设置，本申请对此不做具体限定，例如，该无人机所处环境的风速和风向显示在该速度指示条的下方显示区域，该无人机的垂直速度显示在该高度指示条的下方显示区域。In some embodiments, the flight guidance page also includes the vertical speed of the drone, the wind speed and wind direction of the environment in which the drone is located, where the vertical speed includes the climb speed or descent speed of the drone, and the speed of the drone. The display position of the vertical speed, wind speed and wind direction of the environment where the drone is located on the flight guidance page can be set according to the actual situation, and this application does not specifically limit this, for example, the wind speed and wind direction of the environment where the drone is located. The wind direction is displayed in the lower display area of the speed indicator bar, and the vertical speed of the drone is displayed in the lower display area of the altitude indicator bar.

示例性的，如图3所示，飞行指引页面的左侧显示区域显示有速度指示条，而右侧显示区域显示有高度指示条，速度指示条显示有4条速度刻度线，从上到下的速度刻度线对应的飞行速度分别为07m/s、06m/s、05.2m/s和04m/s，且05.2m/s为无人机的当前飞行速度，速度指示条下发的显示区域显示的无人机所处环境的风速为04.0m/s；高度指示条显示有4条高度刻度线，从上到下的高度刻度线对应的相对高分别为160m、140米、120米和100米，120米为无人机的当前相对高度，高度指示条的下方显示区域显示的垂直速度为2.5m/s、当前绝对高度为1234.5m，飞行指引页面显示的返航点为

Exemplarily, as shown in Figure 3, the left display area of the flight guidance page displays a speed indicator bar, while the right display area displays an altitude indicator bar, and the speed indicator bar displays 4 speed scale lines, from top to bottom. The corresponding flight speeds of the speed scale line are 07m/s, 06m/s, 05.2m/s and 04m/s, and 05.2m/s is the current flight speed of the drone. The display area issued by the speed indicator bar is displayed The wind speed of the drone's environment is 04.0m/s; the height indicator bar shows 4 height scale lines, and the corresponding relative heights of the height scale lines from top to bottom are 160m, 140m, 120m and 100m, respectively , 120 meters is the current relative altitude of the drone, the vertical speed displayed in the display area below the altitude indicator bar is 2.5m/s, the current absolute altitude is 1234.5m, and the home point displayed on the flight guidance page is

在一些实施方式中，该飞行指引页面还包括无人机的机头图标，该机体图标用于表示所述无人机的机头，该机体图标始终位于该飞行指引页面的正中心，该飞行指引页面还包括无人机的姿态指示线，该姿态指示线用于表示无人机的当前姿态；该姿态指示线随着无人机的姿态的变化而发生变化。其中，该机头图标的形状以及大小可基于实际情况进行设置，本申请对此不做具体限定，录入机头图标为十字形、圆形、方形或者其余形状等。通过显示的机头图标和姿态指示线可以反映无人机的姿态的变化情况，使得用户能够知晓无人机的姿态变化情况，便于用户控制无人机飞行。In some embodiments, the flight guidance page further includes a drone's nose icon, which is used to represent the drone's nose, and the body icon is always located in the center of the flight guidance page. The guidance page also includes the attitude indicating line of the UAV, which is used to indicate the current attitude of the UAV; the attitude indicating line changes with the attitude of the UAV. Wherein, the shape and size of the handpiece icon can be set based on actual conditions, and this application does not specifically limit this, and the input handpiece icon is cross-shaped, round, square, or other shapes. The displayed nose icon and the attitude indication line can reflect the attitude change of the drone, so that the user can know the attitude change of the drone, and it is convenient for the user to control the flight of the drone.

在一些实施方式中，该姿态指示线为海平线或地平线，该姿态指示线在该 飞行指引页面内的上下方向的移动表示无人机的俯仰角发生变化，该姿态指示线的左右倾斜表示该无人机的横滚角发生变化。具体地，该姿态指示线向上移动表示无人机的俯仰角为俯角，无人机向下倾斜；该姿态指示线向下移动表示无人机的俯仰角为仰角，无人机向上倾斜；该姿态指示线向左倾斜表示无人机的横滚角为右横滚角，无人机向右倾斜；该姿态指示线向右倾斜表示无人机的横滚角为左横滚角，无人机向左倾斜。In some embodiments, the attitude indication line is sea level or horizon, the vertical movement of the attitude indication line in the flight guide page indicates that the pitch angle of the drone has changed, and the left and right tilt of the attitude indication line indicates the The roll angle of the drone changes. Specifically, the upward movement of the attitude indication line indicates that the pitch angle of the UAV is the depression angle, and the UAV is tilted downward; the downward movement of the attitude indication line indicates that the pitch angle of the UAV is the elevation angle, and the UAV is inclined upward; The tilt of the attitude indicator line to the left indicates that the drone's roll angle is the right roll angle, and the drone is tilted to the right; the tilt of the attitude indicator line indicates that the drone's roll angle is the left roll angle, and the drone is tilted to the right. The machine tilts to the left.

示例性的，如图4所示，飞行指引页面显示的机头图标为“+”，显示姿态指示线为“——”，机头图标“+”和姿态指示线“——”显示在速度指示条与高度指示条之间，机头图标位于姿态指示线的中点。Exemplarily, as shown in Figure 4, the nose icon displayed on the flight guidance page is "+", the display attitude indicator line is "——", the nose icon "+" and the attitude indicator line "——" are displayed in the speed Between the indicator bar and the height indicator bar, the nose icon is located at the midpoint of the attitude indicator line.

S102、获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机。S102. Obtain a user's operation on the control terminal, where the operation is used to generate a control command to control the drone.

在显示飞行指引页面之后，获取用户对控制终端的操作，从而使得控制操作基于该操作生成控制命令来控制无人机执行一系列动作，例如，控制无人机转向、刹停、加速、上升、下降、斜飞、返航和调整云台姿态等。After the flight guidance page is displayed, the user's operation on the control terminal is obtained, so that the control operation generates control commands based on the operation to control the drone to perform a series of actions, for example, control the drone to turn, stop, accelerate, rise, Descending, flying diagonally, returning home, and adjusting the gimbal attitude, etc.

所述用户对控制终端的操作可以包括触控操作、打杆操作、滑动操作、按键操作等用于远程控制无人机的操作。The user's operations on the control terminal may include operations for remote control of the drone, such as touch operation, lever operation, sliding operation, key operation, and the like.

S103、根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。S103. Generate a motion vector icon on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

具体地，在获取到用户对控制终端的操作时，获取无人机的当前姿态和惯性测量单元(Inertial Measurement Unit，IMU)的测量数据；根据用户对控制终端的操作、当前姿态和IMU的测量数据在飞行指引页面生成运动矢量图标，即根据用户对控制终端的操作、当前姿态和IMU的测量数据，确定无人机的飞行方向和飞行动力，并根据飞行方向和飞行动力在该飞行指引页面生成运动矢量图标。其中，IMU的测量数据包括IMU的角加速度信息，无人机的当前姿态可以通过姿态传感器测量得到，运动矢量图标用于表示无人机的飞行方向和飞行动力。Specifically, when the user's operation on the control terminal is acquired, the current attitude of the drone and the measurement data of the Inertial Measurement Unit (IMU) are acquired; according to the user's operation on the control terminal, the current attitude and the measurement of the IMU The data generates a motion vector icon on the flight guidance page, that is, according to the user's operation of the control terminal, current attitude and IMU measurement data, the flight direction and flight power of the drone are determined, and the flight direction and flight power are displayed on the flight guidance page according to the flight direction and flight power. Build motion vector icon. Among them, the measurement data of the IMU includes the angular acceleration information of the IMU, the current attitude of the UAV can be measured by the attitude sensor, and the motion vector icon is used to indicate the flight direction and flight power of the UAV.

在一些实施方式中，该运动矢量图标包括若干条线段和圆形图标，每条线段均与圆形图标连接，该飞行指引页面还包括无人机的机头图标，机头图标与运动矢量图标之间显示有连线，该连线用于表示无人机的飞行动力，该运动矢量图标的位置用于表示无人机的飞行方向，该操作为打杆操作，机头图标与运动矢量图标之间的连线的长度是根据打杆操作的打杆量确定的，机头图标与运动矢量图标之间的连线的长度与该打杆操作的打杆量正相关。其中，飞行动力 包速度、加速度等动力参数，云台矢量图标也可以为方形、圆形、菱形和正五边形等。示例性的，如图5所示，飞行指引页面显示的运动矢量图标为

机头图标为“+”，且运动矢量图标

与机头图标“+”之间显示有连线，运动矢量图标

和机头图标

显示在速度指示条与高度指示条之间。飞行动力也可以采用数值显示或其他图形的方式进行显示，在此不做具体的限定。In some embodiments, the motion vector icon includes several line segments and circular icons, and each line segment is connected to the circular icon. The flight guidance page also includes the drone's nose icon, the nose icon, and the motion vector icon. A line is displayed between the lines. The line is used to indicate the flight power of the drone. The position of the motion vector icon is used to indicate the flight direction of the drone. This operation is a stick operation, the nose icon and the motion vector icon The length of the connecting line is determined according to the stroke amount of the stroke operation, and the length of the connecting line between the nose icon and the motion vector icon is positively related to the stroke amount of the stroke operation. Among them, the flight power pack speed, acceleration and other power parameters, the gimbal vector icon can also be square, circle, diamond, regular pentagon, etc. Exemplarily, as shown in Figure 5, the motion vector icon displayed on the flight guidance page is

The head icon is "+", and the motion vector icon

A line is displayed between the "+" icon on the nose and the motion vector icon

And nose icon

Displayed between the speed indicator bar and the altitude indicator bar. The flight power can also be displayed by means of numerical display or other graphics, which is not specifically limited here.

在另一实施例中，所述飞行指引界面也可以仅包括指示飞行方向的图标，或仅指示飞行动力的图标。In another embodiment, the flight guidance interface may also include only an icon indicating the flight direction, or only an icon indicating the flight power.

在一些实施方式中，在无人机的上方和/或下方感知到障碍物时，飞行指示页面还包括障碍物指示条，该障碍物指示条用于指示无人机与障碍物之间的距离，该障碍物指示条的长度随着无人机与障碍物之间的距离的变化而发生变化。其中，无人机与障碍物之间的距离是根据无人机的图像传感器、雷达和/或测距传感器确定的，该障碍物指示条在飞行指引页面中的显示位置可以基于实际情况进行设置，本申请对此不做具体限定。通过显示障碍物指示条，使得用户可以知晓无人机上方和/或下方的障碍物与无人机之间的距离，方便用户控制无人机避开障碍物飞行，保证无人机的飞行安全。In some embodiments, when an obstacle is sensed above and/or below the drone, the flight instruction page further includes an obstacle indicator bar, which is used to indicate the distance between the drone and the obstacle , The length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes. Among them, the distance between the drone and the obstacle is determined based on the drone's image sensor, radar and/or ranging sensor, and the display position of the obstacle indicator bar on the flight guide page can be set based on the actual situation , This application does not make specific restrictions on this. By displaying the obstacle indicator bar, the user can know the distance between the obstacles above and/or below the drone and the drone, which is convenient for the user to control the drone to avoid obstacles to fly and ensure the flight safety of the drone .

在一些实施方式中，仅在无人机的上方感知到障碍物时，该障碍物指示条的上端显示有障碍物标志，且上端附近还显示有无人机与障碍物之间的距离数值；仅在无人机的下方感知到障碍物时，该障碍物指示条的下端显示有障碍物标志，且下端附近还显示有无人机与障碍物之间的距离数值；在无人机的上方和下方均感知到障碍物时，该障碍物指示条的上端和下端均显示有障碍物标志，且上端附近显示无人机与上方的障碍物之间的距离数值，下端附近显示无人机与下方的障碍物之间的距离数值。其中，该障碍物标志的形状可以为圆形、矩形、三角形或其他形状等，在无人机的上方感知到障碍物，且无人机不断靠近障碍物时，障碍物标志不断往下压，使得显示的障碍物指示条逐渐缩短，在无人机不断远离障碍物时，障碍物标志不断往上升，使得显示的障碍物指示条不断伸长。In some embodiments, only when an obstacle is sensed above the drone, the obstacle indicator is displayed at the upper end of the obstacle indicator bar, and the distance between the drone and the obstacle is also displayed near the upper end; Only when an obstacle is detected below the drone, the obstacle indicator is displayed at the lower end of the obstacle indicator bar, and the distance between the drone and the obstacle is also displayed near the lower end; above the drone When an obstacle is sensed at and below, the upper and lower ends of the obstacle indicator bar display obstacle signs, and the distance between the drone and the obstacle above is displayed near the upper end, and the distance between the drone and the obstacle is displayed near the lower end. The value of the distance between the obstacles below. Among them, the shape of the obstacle mark can be a circle, rectangle, triangle or other shapes. When the obstacle is sensed above the drone, and the drone is constantly approaching the obstacle, the obstacle mark is continuously pressed down. The displayed obstacle indicator bar is gradually shortened. When the drone keeps moving away from the obstacle, the obstacle mark continues to rise, making the displayed obstacle indicator bar continuously expand.

在一些实施方式中，所述无人机与障碍物之间的距离大于或等于第一预设距离时，所述障碍物指示条包括第一线段、第二线段和第三线段，且第一线段、第二线段和第三线段的颜色不同，第一线段、第二线段和第三线段的长度随着无人机与障碍物之间的距离的变化而发生变化。其中，第一线段、第二线段和第三线段的颜色可以基于实际情况进行设置，本申请对此不做具体限定，例如，第一线段的颜色为红色，第二线段的颜色为黄色，第三线段的颜色为绿色。通 过以不同颜色显示三个线段，便于用户知晓无人机与障碍物之间的距离是否为安全距离，方便用户控制无人机飞行。In some embodiments, when the distance between the drone and the obstacle is greater than or equal to the first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line segment The colors of the first line segment, the second line segment and the third line segment are different. The length of the first line segment, the second line segment and the third line segment changes with the distance between the drone and the obstacle. Among them, the colors of the first line segment, the second line segment, and the third line segment can be set based on actual conditions, which are not specifically limited in this application. For example, the color of the first line segment is red, and the color of the second line segment is yellow. , The color of the third line segment is green. By displaying three line segments in different colors, it is convenient for the user to know whether the distance between the drone and the obstacle is a safe distance, and it is convenient for the user to control the flight of the drone.

可以理解的是，红色表示无人机与障碍物之间的距离很近，无人机与障碍物碰撞的可能性很大，黄色表示无人机与障碍物之间的距离较近，无人机与障碍物碰撞的可能性较大，绿色表示无人机与障碍物之间的距离较远，无人机与障碍物碰撞的可能性较小。It is understandable that red means that the distance between the drone and the obstacle is very close, and the possibility of collision between the drone and the obstacle is high, and yellow means that the distance between the drone and the obstacle is relatively short, and no one is there. The probability of collision between the drone and the obstacle is higher. The green color indicates that the distance between the drone and the obstacle is far, and the probability of collision between the drone and the obstacle is less.

在一些实施方式中，无人机与障碍物之间的距离小于第一预设距离，且大于或等于第二预设距离时，该障碍物指示条包括第一线段和第二线段，并播报第一预设告警声音，第一预设告警声音用于提醒用户无人机处于避障告警范围内。通过在无人机与障碍物之间的距离达到避障告警距离时，显示红色的第一线段和黄色的第二线段，并播报告警声音，从而提醒用户无人机处于避障告警范围内，无人机存在与障碍物碰撞的风险，方便用户及时的控制无人机避开障碍物飞行。In some embodiments, when the distance between the drone and the obstacle is less than the first preset distance and greater than or equal to the second preset distance, the obstacle indicator bar includes a first line segment and a second line segment, and The first preset warning sound is broadcast, and the first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range. When the distance between the UAV and the obstacle reaches the obstacle avoidance warning distance, the red first line segment and the yellow second line segment are displayed, and the alarm sound is broadcast to remind the user that the UAV is within the obstacle avoidance warning range , The drone has the risk of collision with obstacles, which is convenient for users to control the drone to fly avoiding obstacles in time.

在一些实施方式中，无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，该障碍物指示条包括第一线段，并播报第二预设告警声音，第二预设告警声音用于提醒用户无人机处于避障刹停范围内。当无人机逐渐靠近障碍物，且无人机与障碍物之间的距离较为危险时，仅显示红色的第一线段播报告警声音，从而提醒用户处于避障刹停范围内，无人机与障碍物发生碰撞的风险较大，方便用户及时的控制无人机避开障碍物飞行。In some implementations, when the distance between the drone and the obstacle is less than the second preset distance and greater than or equal to the third preset distance, the obstacle indicator bar includes the first line segment and broadcasts the second prediction. An alarm sound is set, and the second preset alarm sound is used to remind the user that the drone is within the obstacle avoidance braking range. When the drone is gradually approaching an obstacle and the distance between the drone and the obstacle is dangerous, only the first red line segment will broadcast the alarm sound to remind the user that the drone is within the obstacle avoidance parking range. There is a greater risk of collision with obstacles, which is convenient for users to control drones to fly to avoid obstacles in time.

在一些实施方式中，无人机与障碍物之间的距离达到第四预设距离时，控制无人机刹停，其中，第一预设距离大于第二预设距离，第二预设距离大于第三预设距离，第三预设距离大于第四预设距离。当无人机逐渐靠近障碍物，且无人机与障碍物之间的距离非常近，无人机即将碰撞障碍物时，自动的控制无人机刹停，避免无人机与障碍物碰撞，保证无人机的飞行安全。In some embodiments, when the distance between the drone and the obstacle reaches the fourth preset distance, the drone is controlled to stop, wherein the first preset distance is greater than the second preset distance, and the second preset distance Greater than the third preset distance, and the third preset distance is greater than the fourth preset distance. When the drone is gradually approaching obstacles and the distance between the drone and the obstacle is very close, when the drone is about to collide with the obstacle, the drone will be automatically controlled to stop to avoid the drone colliding with the obstacle. Ensure the flight safety of drones.

其中，第一预设距离、第二预设距离、第三预设距离和第四预设距离可以由用户自行设置，本申请对此不做具体限定，例如，第一预设距离为16米、第二预设距离为12米、第三预设距离为8米和第四预设距离为5米，在无人机的上方感知到障碍物时，如果障碍物与无人机之间的距离为18米，则显示的障碍物指示条包括红色线段、黄色线段和绿色线段，在无人机不断靠近障碍物的过程中，障碍物指示条的绿色线段不断变短，当障碍物与无人机之间的距离小于或等于12米时，障碍物指示条的绿色线段消失，仅显示红色线段和黄色线段，如果无人机继续靠近障碍物，则障碍物指示条的黄色线段逐渐缩短，当障碍物 与无人机之间的距离小于或等于8米时，障碍物指示条的黄色线段消失，仅显示红色线段，如果无人机继续靠近障碍物，则障碍物指示条的红色线段逐渐缩短，并在障碍物与无人机之间的距离小于或等于5米时，控制无人机刹停。Among them, the first preset distance, the second preset distance, the third preset distance, and the fourth preset distance can be set by the user, which is not specifically limited in this application. For example, the first preset distance is 16 meters. , The second preset distance is 12 meters, the third preset distance is 8 meters, and the fourth preset distance is 5 meters. When the distance is 18 meters, the displayed obstacle indicator bar includes a red line segment, a yellow line segment and a green line segment. When the drone is constantly approaching the obstacle, the green line segment of the obstacle indicator bar keeps getting shorter. When the distance between man and machine is less than or equal to 12 meters, the green line segment of the obstacle indicator bar disappears, and only the red line segment and yellow line segment are displayed. If the drone continues to approach the obstacle, the yellow line segment of the obstacle indicator bar will gradually shorten. When the distance between the obstacle and the drone is less than or equal to 8 meters, the yellow line segment of the obstacle indicator bar disappears and only the red line segment is displayed. If the drone continues to approach the obstacle, the red line segment of the obstacle indicator bar gradually Shorten it and control the drone to stop when the distance between the obstacle and the drone is less than or equal to 5 meters.

示例性的，如图6所示，在无人机的上方感知到障碍物时，飞行指引页面还显示有用于指示上方障碍物与无人机之间的距离的障碍物指示条，且该障碍物指示条位于高度指示条的左侧显示区域，该障碍物指示条的上端显示有障碍物标识

上端附近显示的障碍物与无人机之间的距离为20.8m，障碍物指示条下端与无人机的高度指示条的高度刻度线对齐。Exemplarily, as shown in FIG. 6, when an obstacle is sensed above the drone, the flight guidance page also displays an obstacle indicator bar for indicating the distance between the obstacle above and the drone, and the obstacle The object indicator bar is located in the left display area of the height indicator bar, and the obstacle indicator is displayed on the upper end of the obstacle indicator bar

The distance between the obstacle displayed near the upper end and the drone is 20.8m, and the lower end of the obstacle indicator bar is aligned with the height scale line of the drone's height indicator bar.

示例性的，如图7所示，在无人机的下方感知到障碍物时，飞行指引页面还显示有用于指示下方障碍物与无人机之间的距离的障碍物指示条，且该障碍物指示条位于高度指示条的左侧显示区域，该障碍物指示条的下端显示有障碍物标识

下端附近显示的障碍物与无人机之间的距离为18.5m，障碍物指示条的上端与无人机的高度指示条的高度刻度线对齐。Exemplarily, as shown in FIG. 7, when an obstacle is sensed below the drone, the flight guidance page also displays an obstacle indicator bar for indicating the distance between the obstacle below and the drone, and the obstacle The object indicator bar is located in the left display area of the height indicator bar, and the lower end of the obstacle indicator bar displays an obstacle mark

The distance between the obstacle displayed near the lower end and the drone is 18.5m, and the upper end of the obstacle indicator bar is aligned with the height scale line of the drone's height indicator bar.

示例性的，如图8所示，在无人机的上方和下方感知到障碍物时，飞行指引页面还显示有用于指示上方障碍物和下方障碍物与无人机之间的距离的障碍物指示条，该障碍物指示条位于高度指示条的左侧显示区域，该障碍物指示条的上端和下端均显示有障碍物标识

上端附近显示的上方障碍物与无人机之间的距离为20.8m，下端附近显示的下方障碍物与无人机之间的距离为5m，该障碍物指示条由上方障碍物指示条和下方障碍物指示条组成，上方障碍物指示条和下方障碍物指示条的相交线与无人机的高度指示条的高度刻度线对齐。Exemplarily, as shown in Figure 8, when obstacles are sensed above and below the drone, the flight guidance page also displays obstacles for indicating the distance between the upper obstacle and the lower obstacle and the drone. Indicator bar, the obstacle indicator bar is located in the display area on the left side of the height indicator bar, and both the upper and lower ends of the obstacle indicator bar display obstacle marks

The distance between the upper obstacle and the drone displayed near the upper end is 20.8m, and the distance between the lower obstacle and the drone displayed near the lower end is 5m. The obstacle indicator bar consists of the upper obstacle indicator bar and the lower one. The obstacle indicator bar is composed of, and the intersection line of the upper obstacle indicator bar and the lower obstacle indicator bar is aligned with the height scale line of the height indicator bar of the drone.

在一些实施方式中，该飞行指示页面还包括无人机的飞行距离指示线，该飞行距离指示线用于指示无人机在垂直方向上的飞行距离，飞行距离指示线的长度是根据无人机的垂直速度和预设时间确定的，其中，垂直速度包括爬升速度或者下降速度；该障碍物指示条与该飞行距离指示线相邻显示，使得用户能够根据相邻显示的障碍物指示条与飞行距离指示线确定无人机是否安全。In some embodiments, the flight instruction page further includes a flight distance indicator line of the drone, the flight distance indicator line is used to indicate the flight distance of the drone in the vertical direction, and the length of the flight distance indicator line is based on the drone. The vertical speed of the aircraft and the preset time are determined, where the vertical speed includes the climb speed or the descent speed; the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can follow the obstacle indicator bar displayed adjacent to the The flight distance indicator line determines whether the drone is safe.

可以理解的是，上述预设时间可以基于实际情况进行设置，本申请对此不做具体限定，例如，预设时间为2秒。通过飞行距离指示线可以知道无人机按照该垂直速度(当前的垂直速度)从当前位置飞行预设时间能够飞行的距离，使得用户能够根据飞行距离指示线和障碍物指示条确定无人机是否安全，方便用户及时控制无人机避开障碍物，保证无人机的飞行安全。It is understandable that the foregoing preset time can be set based on actual conditions, which is not specifically limited in this application, for example, the preset time is 2 seconds. Through the flight distance indicator line, you can know the distance that the drone can fly from the current position at the vertical speed (current vertical speed) for a preset time, so that the user can determine whether the drone can fly according to the flight distance indicator line and the obstacle indicator bar. It is safe and convenient for users to control the drone in time to avoid obstacles and ensure the flight safety of the drone.

在一些实施方式中，该障碍物指示条和飞行距离指示线的颜色不同，通过以不同的颜色显示障碍物指示条和飞行距离指示线，便于用户区分障碍物指示 条和飞行距离指示线，使得用户能够根据飞行距离指示线和障碍物指示条确定无人机是否安全，方便用户及时地控制无人机避开障碍物，保证无人机的飞行安全。In some embodiments, the obstacle indicator bar and the flight distance indicator line have different colors. By displaying the obstacle indicator bar and the flight distance indicator line in different colors, it is convenient for the user to distinguish the obstacle indicator bar from the flight distance indicator line, so that The user can determine whether the drone is safe according to the flight distance indicator line and the obstacle indicator bar, which is convenient for the user to control the drone to avoid obstacles in time and ensure the flight safety of the drone.

在一些实施方式中，该飞行指示页面还包括高度指示条，该障碍物指示条和飞行距离指示线显示在高度指示条上。通过在高度指示条上显示障碍物指示条和飞行距离指示线，便于用户区分障碍物指示条和飞行距离指示线，使得用户能够根据飞行距离指示线和障碍物指示条确定无人机是否安全，方便用户及时地控制无人机避开障碍物，保证无人机的飞行安全。示例性的，如图9所示，在无人机的上方感知到障碍物时，飞行指引页面还显示有用于指示上方障碍物与无人机之间的距离的障碍物指示条，且该障碍物指示条位于高度指示条的左侧显示区域，该障碍物指示条的上端显示有障碍物标识

上端附近显示的障碍物与无人机之间的距离为20.8m，该障碍物指示条的右侧显示有飞行距离指示线“|”，且障碍物指示条下端以及飞行距离指示线的下端与无人机的高度指示条的高度刻度线对齐。In some embodiments, the flight instruction page further includes an altitude indicator bar, and the obstacle indicator bar and the flight distance indicator line are displayed on the altitude indicator bar. By displaying the obstacle indicator bar and the flight distance indicator line on the altitude indicator bar, it is convenient for the user to distinguish the obstacle indicator bar and the flight distance indicator line, so that the user can determine whether the drone is safe according to the flight distance indicator line and the obstacle indicator bar. It is convenient for users to control the drone in time to avoid obstacles and ensure the flight safety of the drone. Exemplarily, as shown in FIG. 9, when an obstacle is sensed above the drone, the flight guidance page also displays an obstacle indicator bar for indicating the distance between the obstacle above and the drone, and the obstacle The object indicator bar is located in the left display area of the height indicator bar, and the obstacle indicator is displayed on the upper end of the obstacle indicator bar

The distance between the obstacle displayed near the upper end and the drone is 20.8m, the right side of the obstacle indicator bar shows the flight distance indicator line "|", and the lower end of the obstacle indicator bar and the lower end of the flight distance indicator line are with The height scale line of the height indicator bar of the drone is aligned.

在一些实施方式中，该飞行指示页面还包括飞行指引罗盘，该飞行指引罗盘用于表示无人机的方位。在一优选实施例中，所述飞行指引罗盘指示周围预设距离的空间区域。该飞行指引罗盘的附近显示有无人机的机头朝向对应的角度数值，显示的该角度数值用于指示无人机的机头朝向，其中，该角度数值是无人机的机头朝向相对于正北方向、正南方向、正西方向或者正东方向的角度，飞行指引罗盘包括姿态球和水平状态指示器(Horizontal Situation Indicator，HSI)中的任一项，该预设距离和飞行指引罗盘的显示位置可以根据实际情况进行设置，本申请对此不作具体限定，例如，预设距离为16m，在飞行指引页面的下侧中部区域显示飞行指引罗盘。通过在飞行指示页面显示飞行指引罗盘，使得用户可以根据该飞行指引罗盘知晓无人机的方位，便于用户控制无人机飞行。In some embodiments, the flight instruction page further includes a flight instruction compass, which is used to indicate the position of the drone. In a preferred embodiment, the flight guidance compass indicates a space area with a preset distance around it. The angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, where the angle value is relative to the nose of the drone. For the angle of true north, true south, true west, or true east, the flight guidance compass includes any of the attitude ball and the horizontal status indicator (Horizontal Situation Indicator, HSI), the preset distance and flight guidance The display position of the compass can be set according to the actual situation. This application does not specifically limit this. For example, the preset distance is 16m, and the flight guidance compass is displayed in the lower middle area of the flight guidance page. By displaying the flight guide compass on the flight instruction page, the user can know the position of the drone based on the flight guide compass, which is convenient for the user to control the flight of the drone.

在一些实施方式中，飞行指引罗盘随着无人机的旋转而发生旋转，该飞行指引罗盘的中心区域显示有无人机图标，该无人机图标用于表示无人机，该无人机图标不随着无人机的旋转而发生旋转，该无人机图标为箭头图标，该箭头图标固定指向飞行指引页面的上方，该箭头图标的朝向与无人机的机头朝向一致。在飞行指引罗盘上显示无人机图标，在无人机旋转时，飞行指引罗盘随之旋转，而无人机图标不旋转，方便用户知晓无人机的方位，便于用户控制无人机飞行。In some embodiments, the flight guidance compass rotates with the rotation of the drone, and a drone icon is displayed in the center area of the flight guidance compass. The drone icon is used to represent the drone. The icon does not rotate with the rotation of the drone. The drone icon is an arrow icon. The arrow icon is fixed to the top of the flight guidance page. The direction of the arrow icon is consistent with the nose of the drone. The drone icon is displayed on the flight guide compass. When the drone rotates, the flight guide compass rotates with it, but the drone icon does not rotate, which is convenient for the user to know the position of the drone and control the flight of the drone.

在一些实施方式中，该飞行指引罗盘的中心区域还显示有无人机的速度指 示线，该速度指示线与该无人机图标相交，该速度指示线用于指示无人机的飞行速度和飞行方向，该速度指示线的朝向随着无人机的飞行方向的变化而发生变化，该速度指示线的长度随着无人机的飞行速度的变化而发生变化。其中，无人机的飞行速度越大，则该速度指示线的长度越长，而无人机的飞行速度越慢，则该速度指示线的长度越短。通过在飞行指引罗盘的中心区域显示无人机的速度指示线，便于用户知晓无人机的飞行方向和飞行速度，方便用户控制无人机飞行。在另一实施例中，该速度指示线也可以用于表示加速度等其他动力参数。In some embodiments, the center area of the flight guidance compass also displays the drone's speed indicator line, the speed indicator line intersects the drone icon, and the speed indicator line is used to indicate the drone's flight speed and Flight direction, the direction of the speed indicating line changes with the flight direction of the drone, and the length of the speed indicating line changes with the flight speed of the drone. Among them, the greater the flying speed of the drone, the longer the length of the speed indicating line, and the slower the flying speed of the drone, the shorter the length of the speed indicating line. By displaying the speed indicator line of the drone in the center area of the flight guidance compass, it is convenient for the user to know the flight direction and speed of the drone, and it is convenient for the user to control the flight of the drone. In another embodiment, the speed indicator line can also be used to indicate acceleration and other dynamic parameters.

在一些实施方式中，该飞行指引罗盘的边缘区域显示有正东方向、正西方向、正南方向和正北方向各自对应的指示字符，飞行指引罗盘的边缘区域还显示有多条角度刻度线和每条角度刻度线各自对应的角度数值，该角度数值是相对于正北方向的角度。其中，指示字符可以根据实际情况进行设置，本申请对此不作具体限定，例如，正东方向、正西方向、正南方向和正北方向各自对应的指示字符分别为E、W、S和N。通过在飞行指引罗盘的边缘区域显示正东方向、正西方向、正南方向和正北方向各自对应的指示字符，便于用户知晓无人机的方位，方便用户控制无人机飞行。In some embodiments, the edge area of the flight guidance compass displays indication characters corresponding to the true east, west, south and true north directions, and the edge area of the flight guidance compass also displays multiple angle graduation lines and The angle value corresponding to each angle scale line is the angle relative to the true north direction. The indicator characters can be set according to actual conditions, and this application does not specifically limit this. For example, the indicator characters corresponding to the east, west, south, and north directions are E, W, S, and N, respectively. By displaying the corresponding indicator characters of the true east, true west, true south and true north directions on the edge area of the flight guidance compass, it is convenient for the user to know the position of the drone, and it is convenient for the user to control the flight of the drone.

示例性的，如图10所示，飞行指引页面显示有飞行指引罗盘，飞行指引罗盘显示在飞行指引页面的下侧中部区域，飞行指引罗盘的中心区域显示的无人机图标为

飞行指引罗盘的上侧附近显示的无人机的机头朝向对应的角度数值为300°，飞行指引罗盘的边缘区域显示的正东方向、正西方向、正南方向和正北方向各自对应的指示字符分别为E、W、S和N，飞行指引罗盘的边缘区域显示有6条角度刻度线，按照顺时针方向，每条刻度线各自对应的角度数值分别为33、3、6、12、15和24，显示的33、3、6、12、15和24为角度330°、30°、60°、120°、150°和240°的简写。Exemplarily, as shown in Figure 10, the flight guide page displays a flight guide compass, the flight guide compass is displayed in the lower middle area of the flight guide page, and the drone icon displayed in the center area of the flight guide compass is

The nose of the drone displayed near the upper side of the flight guidance compass corresponds to an angle of 300°, and the edge area of the flight guidance compass displays the corresponding directions for the true east, west, south and true north directions. The characters are E, W, S, and N. There are 6 angle scale lines displayed on the edge area of the flight guidance compass. According to the clockwise direction, the corresponding angle value of each scale line is 33, 3, 6, 12, 15 respectively. And 24, 33, 3, 6, 12, 15 and 24 shown are the abbreviations for angles of 330°, 30°, 60°, 120°, 150° and 240°.

在一些实施方式中，飞行指引罗盘的边缘区域还显示有云台图标，该云台图标用于表示无人机的云台，该云台图标在该飞行指引罗盘的边缘区域中的位置是根据云台的Yaw轴的朝向确定的，该云台图标在边缘区域中的位置随着所述云台的Yaw轴的朝向的变化而发生变化，无人机包括多个云台时，该飞行指引罗盘的边缘区域显示有每个云台各自对应的云台图标，且每个云台图标的颜色不同。其中，云台图标可以为五边形、三角形或其他形状。通过在飞行指引罗盘上显示云台图标，使得用户能够知晓云台的朝向以及相对于无人机的方位，方便用户控制无人机和无人机的云台。In some embodiments, the edge area of the flight guidance compass is also displayed with a gimbal icon, the gimbal icon is used to represent the gimbal of the drone, and the position of the gimbal icon in the edge area of the flight guidance compass is based on The direction of the Yaw axis of the gimbal is determined, and the position of the gimbal icon in the edge area changes with the change of the direction of the Yaw axis of the gimbal. When the drone includes multiple gimbals, the flight guide The edge area of the compass shows the corresponding PTZ icon for each PTZ, and the color of each PTZ icon is different. Among them, the pan/tilt icon can be pentagonal, triangular or other shapes. By displaying the gimbal icon on the flight guidance compass, the user can know the direction of the gimbal and the position relative to the drone, which is convenient for the user to control the drone and the gimbal of the drone.

示例性的，如图11所示，飞行指引罗盘的边缘区域显示有三个云台图标，且显示的三个云台图标分别为

和

云台图标

在飞行指引罗盘上的位置为偏离正北方向300°，云台图标

在飞行指引罗盘上的位置的角度位于偏离正北方向330°与偏离正北方向360°之间，云台图标

飞行指引罗盘上的位置为偏离正北方向210°。Exemplarily, as shown in Fig. 11, three pan/tilt icons are displayed on the edge area of the flight guidance compass, and the three pan/tilt icons displayed are respectively

with

PTZ icon

The position on the flight guidance compass is 300° from true north, and the gimbal icon

The angle of the position on the flight guidance compass is between 330° from true north and 360° from true north, the gimbal icon

The position on the flight guidance compass is 210° from true north.

在一些实施方式中，该飞行指引罗盘还显示有无人机的返航点图标，该返航点图标用于表示无人机的返航点，该返航点图标在该飞行指引罗盘上的位置是根据无人机的返航点相对于无人机的方向和距离确定的；在无人机的返航点相对于无人机的距离小于预设距离时，返航点图标位于飞行指引罗盘的内部，在无人机的返航点相对于无人机的距离大于或等于预设距离时，返航点图标位于飞行指引罗盘的边缘区域的内侧；该飞行指引罗盘的附近还显示返航点图标和无人机的返航点相对于无人机的距离。其中，该返航点图标可基于实际情况进行设置，本申请对此不做具体限定，例如，该返航点图标的形状为圆形、矩形、三角形或者其它形状等。通过在飞行指引罗盘上显示无人机的返航点图标，使得用户可以知晓无人机相对于返航点的方向和距离，便于用户控制无人机返航。In some embodiments, the flight guidance compass also displays a home point icon of the drone, the home point icon is used to indicate the home point of the drone, and the position of the home point icon on the flight guidance compass is based on The home point of the man-machine is determined relative to the direction and distance of the drone; when the distance between the home point of the drone and the drone is less than the preset distance, the home point icon is located inside the flight guidance compass, When the distance between the home point of the aircraft and the drone is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass; the home point icon and the home point of the drone are also displayed near the flight guidance compass. The distance relative to the drone. Wherein, the home point icon can be set based on actual conditions, which is not specifically limited in this application. For example, the shape of the home point icon is a circle, rectangle, triangle, or other shapes. By displaying the home point icon of the drone on the flight guidance compass, the user can know the direction and distance of the drone relative to the home point, which is convenient for the user to control the drone to return home.

在一些实施方式中，飞行指引罗盘还包括标记点图标，该标记点图标用于表示无人机标记的空间点，标记点图标在该飞行指引罗盘上的位置是根据标记的空间点相对于无人机的方向和距离确定的；在标记的空间点相对于无人机的距离小于预设距离时，标记点图标位于飞行指引罗盘的内部，在标记的空间点相对于无人机的距离大于或等于预设距离时，标记点图标位于飞行指引罗盘的边缘区域的内侧；该飞行指引罗盘的附近还显示标记点图标和标记的空间点相对于无人机的距离。其中，标记点图标可基于实际情况进行设置，本申请对此不做具体限定，例如，标记点图标为菱形框，飞行指引页面还显示有打点按钮，当用户对打点按钮进行触控时，控制终端控制无人机标记空间点，得到空间点的三维坐标，并根据空间点的三维坐标在飞行指引罗盘上显示标记的空间点的标记点图标。通过在飞行指引罗盘上显示无人机的返航点图标，使得用户可以知晓无人机相对于标记的空间点的方向和距离，便于用户控制无人机向标记的空间点飞行。In some embodiments, the flight guidance compass further includes a mark point icon, the mark point icon is used to represent the space point marked by the drone, and the position of the mark point icon on the flight guidance compass is based on the marked space point relative to the space point. The direction and distance of the man-machine are determined; when the distance between the marked space point and the drone is less than the preset distance, the marked point icon is located inside the flight guidance compass, and the distance between the marked space point and the drone is greater than When the distance is equal to or equal to the preset distance, the mark point icon is located inside the edge area of the flight guidance compass; the mark point icon and the distance of the marked space point relative to the drone are also displayed near the flight guidance compass. Among them, the marker point icon can be set based on the actual situation, and this application does not specifically limit it. For example, the marker point icon is a diamond-shaped frame, and the flight guidance page also displays a dot button. When the user touches the dot button, the control The terminal controls the drone to mark the space point, obtain the three-dimensional coordinates of the space point, and display the marked point icon of the marked space point on the flight guidance compass according to the three-dimensional coordinates of the space point. By displaying the drone's home point icon on the flight guidance compass, the user can know the direction and distance of the drone relative to the marked space point, which is convenient for the user to control the drone to fly to the marked space point.

在一些实施方式中，该飞行指引罗盘还包括跟随图标，该跟随图标用于表示无人机跟随的对象，该跟随图标在该飞行指引罗盘上的位置是根据无人机跟随的对象相对于无人机的方向和距离确定的；在无人机跟随的对象相对于无人 机的距离小于预设距离时，跟随图标位于飞行指引罗盘的内部，在无人机跟随的对象相对于无人机的距离大于或等于预设距离时，跟随图标位于飞行指引罗盘的边缘区域的内侧；该飞行指引罗盘的附近还显示标记点图标和标记的空间点相对于无人机的距离。其中，跟随图标可基于实际情况进行设置，本申请对此不做具体限定，例如，跟随图标为

飞行指引页面还显示有对象跟随按钮，当用户对该对象跟随按钮进行触控时，无人机自动识别人车船等对象，并调整相机的焦距，使得人车船等对象位于画面中央，当用户选择跟随的对象后，根据跟随的对象相对于无人机的方向和距离，在飞行指引罗盘上显示跟随图标。In some embodiments, the flight guidance compass further includes a follow icon, the follow icon is used to indicate the object followed by the drone, and the position of the follow icon on the flight guidance compass is based on the relative The direction and distance of the man-machine are determined; when the distance of the object followed by the drone relative to the drone is less than the preset distance, the follow icon is located inside the flight guidance compass, and the object followed by the drone is relative to the drone When the distance is greater than or equal to the preset distance, the follow icon is located inside the edge area of the flight guidance compass; the mark point icon and the distance of the marked space point relative to the drone are also displayed near the flight guidance compass. Among them, the follow icon can be set based on actual conditions, and this application does not specifically limit this. For example, the follow icon is

The flight guide page also displays an object follow button. When the user touches the object follow button, the drone automatically recognizes people, vehicles, and ships and other objects, and adjusts the camera's focus so that objects such as people, vehicles, and ships are in the center of the screen. When the user selects After the following object, according to the direction and distance of the following object relative to the drone, a follow icon is displayed on the flight guidance compass.

示例性的，如图12所示，该飞行指引罗盘的内部显示有无人机的返航点图标

同时该飞行指引罗盘的右下侧的附近显示有返航点图标

和无人机的返航点相对于无人机的距离10m；该飞行指引罗盘的边缘区域的内侧显示有标记点图标

同时该飞行指引罗盘的左下侧的附近显示有标记点图标

和标记的空间点相对于无人机的距离45m；该飞行指引罗盘的内部显示有跟随图标

同时该飞行指引罗盘的左上侧的附近显示有跟随图标

和跟随的对象相对于无人机的距离5m。Exemplarily, as shown in FIG. 12, the home point icon of the drone is displayed inside the flight guidance compass

At the same time, the home point icon is displayed near the lower right side of the flight guidance compass

The distance from the home point of the drone to the drone is 10m; the inner side of the edge area of the flight guidance compass is displayed with a marker icon

At the same time, a marker icon is displayed near the lower left side of the flight guidance compass

The distance from the marked space point to the drone is 45m; the follow icon is displayed inside the flight guidance compass

At the same time, a follow icon is displayed near the upper left side of the flight guidance compass

The distance from the following object to the drone is 5m.

在一些实施方式中，该飞行指引罗盘包括障碍物感知盲区和障碍物感知区域，该障碍物感知盲区和障碍物感知区域的颜色不同，该障碍物感知盲区的数量是根据无人机的旋翼的数量确定的。其中，障碍物感知盲区为无人机无法感知障碍物的空间区域，飞行指引罗盘上的障碍物感知盲区对称分布，障碍物感知盲区呈预设角度的扇形，障碍物感知区域的面积大于障碍物感知盲区的面积。通过在飞行指引罗盘上显示障碍物感知盲区和障碍物感知区域，使得用户知晓障碍物感知盲区，提高无人机的飞行安全。In some embodiments, the flight guidance compass includes an obstacle perception blind zone and an obstacle perception zone. The obstacle perception blind zone and the obstacle perception zone have different colors. The number of the obstacle perception blind zone depends on the rotor of the drone. The number is determined. Among them, the obstacle perception blind zone is the space area where the UAV cannot perceive the obstacle. The obstacle perception blind zone on the flight guidance compass is symmetrically distributed. The obstacle perception blind zone is fan-shaped with a preset angle, and the obstacle perception area is larger than the obstacle. Perceive the area of the blind zone. By displaying the obstacle perception blind area and obstacle perception area on the flight guidance compass, the user is aware of the obstacle perception blind area and improves the flight safety of the UAV.

示例性的，如图13所示，该飞行指引罗盘包括4个障碍物感知盲区和4个障碍物感知区域，障碍物感知盲区的颜色为灰色，障碍物感知区域的颜色为白色，从机头朝向开始按照顺时针方向阅览可知第一个障碍物感知盲区的角度范围为偏离正北方向330°与偏离正北方向360°之间，第二障碍物碍物感知盲区的角度范围为偏离正北方向60°与偏离正北方向90°之间，第三障碍物感知盲区的角度范围为偏离正北方向150°与偏离正北方向180°之间，第四障碍物感知盲区的角度范围为偏离正北方向240°与偏离正北方向270°之间。Exemplarily, as shown in Figure 13, the flight guidance compass includes 4 obstacle perception blind areas and 4 obstacle perception areas. The color of the obstacle perception blind area is gray, and the color of the obstacle perception area is white. When you start reading in a clockwise direction, you can see that the angle range of the first obstacle perception blind zone is between 330° from the true north direction and 360° from the true north direction, and the angle range of the second obstacle perception blind zone is the deviation from true north. Between the direction of 60° and the deviation of 90° from the true north direction, the angle range of the third obstacle sensing blind zone is between 150° from the true north direction and 180° deviation from the true north direction, and the angle range of the fourth obstacle sensing blind zone is deviation Between 240° from true north and 270° from true north.

在一些实施方式中，在无人机的至少一个方向上感知到障碍物时，该飞行指引罗盘显示障碍物图标，该障碍物图标用于表示无人机感知到的障碍物，无人机的至少一个方向包括无人机的前方、后方、左方和后方中的至少一个，该 障碍物图标在该飞行指引罗盘的位置是根据感知到的障碍物相对于无人机的方向确定的。通过在飞行指引罗盘上显示障碍物图标，使得用户能够知晓障碍物相当于无人机的方位，便于用户及时的控制无人机避开障碍物，保证无人机的飞行安全。In some embodiments, when an obstacle is sensed in at least one direction of the drone, the flight guidance compass displays an obstacle icon, and the obstacle icon is used to indicate the obstacle perceived by the drone, The at least one direction includes at least one of the front, rear, left, and rear of the drone, and the position of the obstacle icon on the flight guidance compass is determined according to the direction of the perceived obstacle relative to the drone. By displaying the obstacle icon on the flight guidance compass, the user can know the position of the obstacle equivalent to the drone, which is convenient for the user to control the drone to avoid the obstacle in time and ensure the flight safety of the drone.

在一些实施方式中，该障碍物图标的形状是根据感知到的障碍物的形状确定的，或者，该障碍物图标的形状是根据感知到的障碍物与无人机之间的距离确定的，具体地，感知到的障碍物与无人机之间的距离大于或等于预设距离，障碍物图标的形状为弧形线段，感知到的障碍物与无人机之间的距离小于预设距离时，障碍物图标的形状为四边形或者五边形；该障碍物图标的颜色和/或大小是根据感知到的障碍物与无人机之间的距离确定的。通过显示不同形状、颜色和/或大小的障碍物图标，使得用户可以知晓无人机与障碍物之间的距离变化情况，便于用户及时的控制无人机避开障碍物，保证无人机的飞行安全。In some embodiments, the shape of the obstacle icon is determined based on the shape of the obstacle that is perceived, or the shape of the obstacle icon is determined based on the distance between the perceived obstacle and the drone, Specifically, the perceived distance between the obstacle and the drone is greater than or equal to the preset distance, the shape of the obstacle icon is an arc line segment, and the distance between the perceived obstacle and the drone is less than the preset distance When, the shape of the obstacle icon is quadrilateral or pentagon; the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone. By displaying obstacle icons of different shapes, colors and/or sizes, the user can know the changes in the distance between the drone and the obstacle, which is convenient for the user to control the drone to avoid the obstacle in time and ensure the drone’s safety. Flight safety.

感知到的障碍物与无人机之间的距离越近，则该障碍物图标越大，而感知到的障碍物与无人机之间的距离越远，该障碍物图标越小，当感知到的障碍物与无人机之间的距离大于预设告警距离时，障碍物图标的颜色为绿色，当感知到的障碍物与无人机之间的距离小于或等于预设告警距离时，障碍物图标的颜色为黄色，当感知到的障碍物与无人机之间的距离小于或等于预设刹停距离时，障碍物图标的颜色为红色，其中，预设告警距离大于预设刹停距离，预设告警距离和预设刹停距离可由用户自行设置，本申请对此不做具体限定，例如，预设告警距离为10m，预设刹停距离为4m。The closer the distance between the perceived obstacle and the drone, the larger the obstacle icon, and the farther the distance between the perceived obstacle and the drone, the smaller the obstacle icon. When the distance between the obstacle and the drone is greater than the preset warning distance, the color of the obstacle icon is green. When the distance between the obstacle and the drone is less than or equal to the preset warning distance, The color of the obstacle icon is yellow. When the perceived distance between the obstacle and the drone is less than or equal to the preset stopping distance, the color of the obstacle icon is red. The preset warning distance is greater than the preset stopping distance. The stopping distance, the preset warning distance and the preset stopping distance can be set by the user, which is not specifically limited in this application, for example, the preset warning distance is 10m, and the preset stopping distance is 4m.

在一些实施方式中，在感知到的障碍物与无人机之间的距离小于或等于预设告警距离时，该障碍物图标以间隔预设时长闪烁，和/或，播报告警提示音，以提醒用户避开障碍物，具体地，当感知到的障碍物与无人机之间的距离小于或等于预设告警距离时，障碍物图标的颜色为黄色，同时黄色的障碍物图标以间隔预设时长闪烁，并播报第一告警提示音，当感知到的障碍物与无人机之间的距离小于或等于预设刹停距离时，障碍物图标的颜色为红色，同时红色的障碍物图标以间隔预设时长闪烁，并播报第二告警提示音，第一告警提示音与第二告警提示音不同，第二告警提示音比第一告警提示音密集和急促。In some implementations, when the perceived distance between the obstacle and the drone is less than or equal to the preset warning distance, the obstacle icon flashes at intervals for a preset duration, and/or a warning tone is played to indicate Remind the user to avoid obstacles. Specifically, when the perceived distance between the obstacle and the drone is less than or equal to the preset warning distance, the color of the obstacle icon is yellow, and the yellow obstacle icon is pre-set at intervals. Set the duration to flash and broadcast the first warning tone. When the perceived distance between the obstacle and the drone is less than or equal to the preset stopping distance, the color of the obstacle icon is red, and the red obstacle icon Flashes at intervals for a preset duration, and broadcasts a second alarm prompt sound. The first alarm prompt sound is different from the second alarm prompt sound, and the second alarm prompt sound is denser and more rapid than the first alarm prompt sound.

在一些实施方式中，在无人机的前方、后方、左方和后方中的至少一个方向感知到障碍物时，就会在飞行指引罗盘上显示障碍物图标，如果感知到的障碍物与无人机之间的距离大于预设告警距离，且预设告警距离大于预设距离，则障碍物图标为绿色的弧形线段，如果感知到的障碍物与无人机之间的距离小 于或等于预设告警距离，则障碍物图标为黄色的弧形线段，且黄色的弧形线段以间隔预设时长闪烁，同时播报第一告警提示音，如果感知到的障碍物与无人机之间的距离小于或等于预设刹停距离，则障碍物图标为红色的弧形线段，且红色的弧形线段以间隔预设时长闪烁，同时播报第二告警提示音。In some embodiments, when an obstacle is detected in at least one of the front, rear, left, and rear of the drone, an obstacle icon will be displayed on the flight guidance compass. The distance between the human and the machine is greater than the preset warning distance, and the preset warning distance is greater than the preset distance, the obstacle icon is a green arc line segment, if the distance between the perceived obstacle and the drone is less than or equal to If the warning distance is preset, the obstacle icon is a yellow arc line segment, and the yellow arc line segment flashes at a preset interval, and the first warning tone is broadcast at the same time. If the distance is less than or equal to the preset stopping distance, the obstacle icon is a red arc line segment, and the red arc line segment flashes at a preset interval, and the second warning tone is broadcast at the same time.

如果感知到的障碍物与无人机之间的距离大于预设告警距离，且预设告警距离小于预设距离，则障碍物图标为绿色的方框，如果感知到的障碍物与无人机之间的距离小于或等于预设告警距离，则障碍物图标为黄色的方框，且黄色的方框以间隔预设时长闪烁，同时播报第一告警提示音，如果感知到的障碍物与无人机之间的距离小于或等于预设刹停距离，则障碍物图标为红色的方框，且红色的方框以间隔预设时长闪烁，同时播报第二告警提示音。If the distance between the perceived obstacle and the drone is greater than the preset warning distance, and the preset warning distance is less than the preset distance, the obstacle icon is a green box, if the perceived obstacle is from the drone If the distance between the obstacles is less than or equal to the preset warning distance, the obstacle icon is a yellow box, and the yellow box flashes at the preset time interval, and the first warning tone is played at the same time. The distance between the human and the machine is less than or equal to the preset stopping distance, the obstacle icon is a red box, and the red box flashes at the preset interval, and the second warning tone is broadcast at the same time.

示例性的，如图14所示，该飞行指引罗盘显示有两个障碍物图标，从机头朝向开始按照顺时针方向阅览可知第一障碍物图标位于偏离正北方向60°的位置区域内，且第一障碍物图标为弧形线段，第二障碍物图标位于偏离正北方向180°的位置区域内，且第二障碍物图标为四边形。Exemplarily, as shown in Fig. 14, the flight guidance compass displays two obstacle icons. When viewed in a clockwise direction from the nose, it can be seen that the first obstacle icon is located in a location area 60° away from true north. In addition, the first obstacle icon is an arc-shaped line segment, the second obstacle icon is located in a location area 180° away from the true north direction, and the second obstacle icon is a quadrilateral.

在一些实施方式中，获取用户触发的画面切换指令，并根据画面切换指令将该飞行指引页面的背景画面由当前图传画面切换为与该画面切换指令对应的画面。例如，根据画面切换指令将该飞行指引页面的背景画面由FPV(FIRST PERSON VIEW)图传画面切换为主摄图传画面。其中，飞行指引页面显示有主摄图传画面，主摄图传画面以小窗口的方式显示在飞行指引页面的右下角，当用户触控以小窗口的方式显示的主摄图传画面时，触发画面切换指令，从而使得控制终端将飞行指引页面的背景画面由FPV图传画面切换为主摄图传画面，而FPV图传画面以小窗口的方式显示在飞行指引页面的右下角，可以理解的是，当用户触控以小窗口的方式显示的FPV图传画面时，触发画面切换指令，从而使得控制终端将飞行指引页面的背景画面由主摄图传画面切换为FPV图传画面。In some embodiments, the screen switching instruction triggered by the user is acquired, and the background screen of the flight guidance page is switched from the current image transmission screen to the screen corresponding to the screen switching instruction according to the screen switching instruction. For example, according to the screen switching instruction, the background screen of the flight guidance page is switched from the FPV (FIRST PERSON VIEW) image transmission screen to the main camera image transmission screen. Among them, the flight guidance page displays the main image transmission screen, which is displayed in the lower right corner of the flight guidance page in a small window. When the user touches the main image transmission screen displayed in the small window, Trigger the screen switching instruction, so that the control terminal will switch the background screen of the flight guidance page from the FPV image transmission screen to the main image transmission screen, and the FPV image transmission screen is displayed in the lower right corner of the flight guidance page in a small window, which is understandable However, when the user touches the FPV image transmission screen displayed in a small window, a screen switching instruction is triggered, so that the control terminal switches the background image of the flight guidance page from the main image transmission screen to the FPV image transmission screen.

其中，切换背景画面后的飞行指引页面中的飞行指引罗盘的左侧显示区域显示有无人机的当前飞行速度以及无人机所处环境的风速和风向，飞行指引罗盘的右侧显示区域显示有无人机相对于返航点的高度、无人机的当前绝对高度和垂直速度，垂直速度为爬升速度和下降速度中的任一项，不显示速度指示条和高度指示条。通过在飞行指引页面的背景画面切换为其余画面后，在飞行指引罗盘的两侧显示区域显示无人机的飞行速度和相对高度，不显示速度指示条和高度指示条，可以避免速度指示条和高度指示条遮挡画面，不方便用户控制 无人机。Among them, the left display area of the flight guidance compass on the flight guidance page after switching the background screen displays the current flying speed of the drone and the wind speed and direction of the environment where the drone is located, and the right display area of the flight guidance compass displays There are the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone. The vertical speed is any one of the climb speed and the descent speed. The speed indicator bar and the altitude indicator bar are not displayed. After switching the background screen of the flight guidance page to the rest of the screens, the display area on both sides of the flight guidance compass displays the flight speed and relative altitude of the drone. The speed indicator bar and altitude indicator bar are not displayed, which can avoid the speed indicator bar and the altitude indicator bar. The height indicator bar blocks the screen, making it inconvenient for the user to control the drone.

在一些实施方式中，在无人机的上方和/或下方感知到障碍物时，该飞行指引罗盘的右侧显示区域还显示有障碍物指示条，该障碍物指示条用于指示无人机与障碍物之间的距离，飞行指引罗盘的右侧显示区域还显示有飞行距离指示线，该飞行距离指示线用于指示无人机在垂直方向上的飞行距离，飞行距离指示线的长度是根据无人机的垂直速度和预设时间确定的。通过在飞行指引罗盘的右侧显示障碍物指示条和飞行距离指示线，便于用户区分障碍物指示条和飞行距离指示线，使得用户能够根据飞行距离指示线和障碍物指示条确定无人机是否安全，方便用户及时地控制无人机避开障碍物，保证无人机的飞行安全。In some embodiments, when an obstacle is sensed above and/or below the drone, the right display area of the flight guidance compass also displays an obstacle indicator bar, and the obstacle indicator bar is used to indicate the drone The distance to the obstacle, the right display area of the flight guidance compass also shows the flight distance indicator line, the flight distance indicator line is used to indicate the flying distance of the drone in the vertical direction, the length of the flight distance indicator line is Determined according to the vertical speed of the drone and the preset time. By displaying the obstacle indicator bar and the flight distance indicator line on the right side of the flight guidance compass, it is convenient for the user to distinguish the obstacle indicator bar and the flight distance indicator line, so that the user can determine whether the drone is based on the flight distance indicator line and the obstacle indicator bar It is safe and convenient for users to control the UAV to avoid obstacles in time to ensure the flight safety of the UAV.

示例性的，如图15所示，飞行指引罗盘的左侧显示区域显示的无人机的当前飞行速度为05.2m/s，显示的风速为04.0m/s，显示的风向为

飞行指引罗盘的右侧显示区域显示的无人机的当前相对高度为120m，当前绝对高度为1234.5m，垂直速度为2.5m/s，飞行指引罗盘的右侧显示区域还显示有用于障碍物指示条，该障碍物指示条的上端和下端均显示有障碍物标识

上端附近显示的上方障碍物与无人机之间的距离为20.8m，下端附近显示的下方障碍物与无人机之间的距离为5m，该障碍物指示条由上方障碍物指示条和下方障碍物指示条组成，上方障碍物指示条和下方障碍物指示条的相交线与无人机的当前相对高度对应的直线对齐，该障碍物指示条的右侧显示有飞行距离指示线“|”，且飞行距离指示线的下端与无人机的当前相对高度对应的直线对齐。Exemplarily, as shown in Figure 15, the current flight speed of the drone displayed in the left display area of the flight guidance compass is 05.2m/s, the displayed wind speed is 04.0m/s, and the displayed wind direction is

The display area on the right side of the flight guidance compass shows that the current relative altitude of the drone is 120m, the current absolute altitude is 1234.5m, and the vertical speed is 2.5m/s. The right display area of the flight guidance compass also displays obstacle indications. Bar, the upper and lower ends of the obstacle indicator bar show obstacle marks

The distance between the upper obstacle and the drone displayed near the upper end is 20.8m, and the distance between the lower obstacle and the drone displayed near the lower end is 5m. The obstacle indicator bar consists of the upper obstacle indicator bar and the lower one. It is composed of obstacle indicator bars. The intersection line of the upper obstacle indicator bar and the lower obstacle indicator bar is aligned with the straight line corresponding to the current relative height of the drone. The right side of the obstacle indicator bar shows the flight distance indicator line "|" , And the lower end of the flight distance indicator line is aligned with the straight line corresponding to the current relative height of the drone.

在一些实施方式中，该飞行指引页面还包括状态指示栏，该状态指示栏内显示有定位模块标识、图传标识、避障模块标识、控制终端连接标识、网络标识和电池标识，定位模块标识用于指示无人机使用的定位模块的类型以及定位模块的工作情况，图传标识用于指示无人机与控制终端之间的图传情况，避障模块标识用于指示无人机的避障模块的工作情况，控制终端连接标识用于指示无人机与控制终端的通信连接情况，网络标识用于指示控制终端的网络情况，电池标识用于指示无人机的电池的电量、电压以及工作情况，定位模块标识、图传标识、避障模块标识、控制终端连接标识、网络标识和电池标识可基于实际情况进行设置，本申请对此不做具体限定。In some embodiments, the flight guidance page further includes a status indication bar, and the status indication bar displays the positioning module identification, image transmission identification, obstacle avoidance module identification, control terminal connection identification, network identification and battery identification, and positioning module identification. It is used to indicate the type of positioning module used by the drone and the working status of the positioning module. The image transmission indicator is used to indicate the image transmission between the drone and the control terminal, and the obstacle avoidance module indicator is used to indicate the avoidance of the drone. The working status of the obstacle module, the control terminal connection identifier is used to indicate the communication connection between the drone and the control terminal, the network identifier is used to indicate the network status of the control terminal, and the battery identifier is used to indicate the power and voltage of the drone’s battery. Working conditions, positioning module identification, image transmission identification, obstacle avoidance module identification, control terminal connection identification, network identification and battery identification can be set based on actual conditions, and this application does not specifically limit this.

示例性的，如图16所示，状态指示栏显示于该飞行指引页面的顶部区域，通过状态指示栏显示的定位模块标识、图传标识、避障模块标识、控制终端连接标识、网络标识和电池标识可知，无人机是使用GPS定位模块定位的，无人机与控制终端之间的图传正常，避障模块正常工作，无人机与控制终端通信连 接正常，控制终端的网络良好、无人机的两块电池的电量分别为80％和100％，且两块电池的工作电压分别为20.7v和26.1v。另外，还可以用预设的不同的颜色标识来标识电池的异常状态和正常状态。Exemplarily, as shown in Figure 16, the status indicator bar is displayed in the top area of the flight guidance page, and the positioning module identification, image transmission identification, obstacle avoidance module identification, control terminal connection identification, network identification, and The battery identification shows that the drone is positioned using the GPS positioning module, the image transmission between the drone and the control terminal is normal, the obstacle avoidance module is working normally, the communication connection between the drone and the control terminal is normal, and the network of the control terminal is good, The power of the two batteries of the drone are 80% and 100%, and the operating voltages of the two batteries are 20.7v and 26.1v, respectively. In addition, you can also use preset different color marks to identify the abnormal state and normal state of the battery.

上述实施例提供的飞行指引方法，通过在控制终端显示飞行指引页面，之后获取用户对控制终端的操作，并根据用户对控制终端的操作在该飞行指引页面生成用于表示无人机的飞行方向和飞行动力的运动矢量图标，使得用户可以基于该运动矢量图标知晓无人机的飞行方向和飞行动力，方便用户控制无人机飞行，保证无人机飞行的安全性。The flight guidance method provided by the above embodiment displays the flight guidance page on the control terminal, and then obtains the user's operation on the control terminal, and generates the flight guidance page on the flight guidance page according to the user's operation on the control terminal to indicate the flight direction of the drone The motion vector icon with the flight power allows the user to know the flight direction and flight power of the drone based on the motion vector icon, which is convenient for the user to control the drone flight and ensure the safety of the drone flight.

请参阅图17，图17是本申请实施例提供的控制终端的示意性框图。在一种实施方式中，该控制终端包括但不限于遥控器、地面控制平台、手机、平板电脑、笔记本电脑和PC电脑等。进一步地，该控制终端300包括处理器301、存储器302和显示装置303，处理器301、存储器302和显示装置303通过总线304连接，该总线304比如为I2C(Inter-integrated Circuit)总线。该显示装置303可以为液晶显示屏，也可以为触控屏，还可以为外接的显示设备，如手机和平板电脑等。Please refer to FIG. 17, which is a schematic block diagram of a control terminal according to an embodiment of the present application. In an embodiment, the control terminal includes, but is not limited to, a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like. Further, thecontrol terminal 300 includes aprocessor 301, amemory 302, and adisplay device 303. Theprocessor 301, thememory 302, and thedisplay device 303 are connected by abus 304, such as an I2C (Inter-integrated Circuit) bus. Thedisplay device 303 may be a liquid crystal display, a touch screen, or an external display device, such as a mobile phone and a tablet computer.

在一些实施方式中，控制终端300包括承载平台，该承载平台用于承载显示设备，用户可以将显示设备安装在承载平台上，并建立控制终端与显示设备之间的通信连接，使得显示设备能够显示飞行指引页面。In some embodiments, thecontrol terminal 300 includes a carrier platform for carrying a display device. The user can install the display device on the carrier platform and establish a communication connection between the control terminal and the display device, so that the display device can The flight guidance page is displayed.

具体地，控制终端300与一无人机通信连接，无人机包括障碍物感知装置，障碍物感知装置用于获取无人机周围的感测信号，通过对感测信号进行分析，可以得到障碍物信息，并在该飞行指引页面上显示障碍物信息，使得用户可以知晓无人机感知到的障碍物，便于用户控制无人机避开障碍物。Specifically, thecontrol terminal 300 is in communication connection with an unmanned aerial vehicle. The unmanned aerial vehicle includes an obstacle sensing device. The obstacle sensing device is used to obtain sensing signals around the drone. By analyzing the sensing signals, the obstacle can be obtained. Obstacle information is displayed on the flight guidance page, so that the user can know the obstacles that the drone perceives, and it is convenient for the user to control the drone to avoid the obstacle.

在一些实施方式中，障碍物感知装置可以包括至少一个传感器，用于获取来自无人机的至少一个方向上的感测信号。例如，障碍物感知装置可以包括一个传感器，用于检测无人机的前方的障碍物。例如，障碍物感知装置可以包括两个传感器，分别用于检测无人机的前方和后方的障碍物。例如，障碍物感知装置可以包括四个传感器，分别用于检测无人机的前方、后方、左方、右方的障碍物。例如，障碍物感知装置可以包括五个传感器，分别用于检测无人机的前方、后方、左方、右方、上方的障碍物。例如，障碍物感知装置可以包括六向传感器，分别用于检测无人机的前方、后方、左方、右方、上方、下方的障碍物。障碍物感知装置中的各个传感器可以是分离实现的，也可以是集成实现的。传感器的检测方向可以根据具体需要进行设置，以检测各种方向或方向组 合的障碍物，而不仅限于本申请公开的上述形式。In some embodiments, the obstacle sensing device may include at least one sensor for acquiring sensing signals from the drone in at least one direction. For example, the obstacle sensing device may include a sensor for detecting obstacles in front of the drone. For example, the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively. For example, the obstacle sensing device may include four sensors, which are respectively used to detect obstacles in the front, rear, left, and right of the drone. For example, the obstacle sensing device may include five sensors, which are respectively used to detect obstacles in the front, rear, left, right, and above of the drone. For example, the obstacle sensing device may include six-directional sensors, which are respectively used to detect obstacles in the front, rear, left, right, above, and below of the drone. The sensors in the obstacle sensing device can be implemented separately or integrated. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.

具体地，处理器301可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。Specifically, theprocessor 301 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

具体地，存储器302可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。Specifically, thememory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

其中，所述处理器301用于运行存储在存储器302中的计算机程序，并在执行所述计算机程序时实现如下步骤：Wherein, theprocessor 301 is configured to run a computer program stored in thememory 302, and implement the following steps when the computer program is executed:

通过所述显示装置显示飞行指引页面；Displaying a flight guidance page through the display device;

获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;

根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

可选地，所述处理器实现根据所述操作在所述飞行指引页面生成运动矢量图标时，用于实现：Optionally, the processor realizes that when a motion vector icon is generated on the flight guidance page according to the operation, it is used to realize:

获取所述无人机的当前姿态和IMU的测量数据；Acquiring the current attitude of the UAV and the measurement data of the IMU;

根据所述操作、当前姿态和IMU的测量数据在所述飞行指引页面生成运动矢量图标。A motion vector icon is generated on the flight guidance page according to the operation, the current attitude and the measurement data of the IMU.

可选地，所述运动矢量图标包括若干条线段和圆形图标，每条所述线段均与所述圆形图标连接。Optionally, the motion vector icon includes several line segments and circular icons, and each of the line segments is connected to the circular icon.

可选地，所述飞行指引页面还包括所述无人机的机头图标，所述机头图标与所述运动矢量图标之间显示有连线，所述连线用于表示所述无人机的飞行动力。Optionally, the flight guidance page further includes a nose icon of the drone, and a line is displayed between the nose icon and the motion vector icon, and the line is used to indicate that the drone The flight dynamics of the aircraft.

可选地，所述运动矢量图标的位置用于表示所述无人机的飞行方向。Optionally, the position of the motion vector icon is used to indicate the flying direction of the drone.

可选地，所述操作为打杆操作，所述连线的长度是根据所述打杆操作的打杆量确定的。Optionally, the operation is a lever operation, and the length of the connecting line is determined according to the amount of the lever of the lever operation.

可选地，所述连线的长度与所述打杆操作的打杆量正相关。Optionally, the length of the connecting line is positively correlated with the amount of stroke of the stroke operation.

可选地，所述飞行指引页面还包括所述无人机的姿态指示线，所述姿态指示线用于表示所述无人机的当前姿态。Optionally, the flight guidance page further includes an attitude indicating line of the drone, and the attitude indicating line is used to indicate the current attitude of the drone.

可选地，所述姿态指示线随着所述无人机的姿态的变化而发生变化。Optionally, the attitude indication line changes as the attitude of the drone changes.

可选地，所述姿态指示线为海平线或地平线，所述姿态指示线在所述飞行指引页面内的上下方向的移动表示所述无人机的俯仰角发生变化，所述姿态指 示线的左右倾斜表示所述无人机的横滚角发生变化。Optionally, the attitude indication line is sea level or horizon, and the upward and downward movement of the attitude indication line in the flight guidance page indicates that the pitch angle of the drone has changed, and the attitude indication line is The left and right tilt indicates that the roll angle of the drone has changed.

可选地，所述姿态指示线向上移动表示所述无人机的俯仰角为俯角，所述无人机向下倾斜；Optionally, the upward movement of the attitude indication line indicates that the pitch angle of the drone is a depression angle, and the drone is tilted downward;

所述姿态指示线向下移动表示所述无人机的俯仰角为仰角，所述无人机向上倾斜；The downward movement of the attitude indication line indicates that the pitch angle of the drone is the elevation angle, and the drone is tilted upward;

所述姿态指示线向左倾斜表示所述无人机的横滚角为右横滚角，所述无人机向右倾斜；If the attitude indication line is inclined to the left, it means that the roll angle of the drone is a right roll angle, and the drone is inclined to the right;

所述姿态指示线向右倾斜表示所述无人机的横滚角为左横滚角，所述无人机向左倾斜。The tilt of the attitude indication line to the right indicates that the roll angle of the drone is the left roll angle, and the drone is tilted to the left.

可选地，所述飞行指引页面还包括所述无人机的拍摄装置的当前画面。Optionally, the flight guidance page further includes the current picture of the camera of the drone.

可选地，所述飞行指引页面还包括所述无人机的返航点、当前飞行速度、当前相对高度和当前绝对高度，其中，所述当前相对高度为所述无人机在当前位置相对于所述返航点的高度。Optionally, the flight guidance page further includes the home point, current flight speed, current relative altitude, and current absolute altitude of the drone, where the current relative altitude is the current position of the drone relative to the current position. The height of the home point.

可选地，所述飞行指引页面还包括速度指示条和高度指示条，所述速度指示条用于指示所述无人机的飞行速度，所述高度指示条用于指示所述无人机的高度，所述速度指示条上显示有所述当前飞行速度，所述高度指示条上显示有所述当前相对高度。Optionally, the flight guide page further includes a speed indicator bar and an altitude indicator bar, the speed indicator bar is used to indicate the flight speed of the drone, and the altitude indicator bar is used to indicate the drone's flight speed. Altitude, the current flight speed is displayed on the speed indicator bar, and the current relative altitude is displayed on the altitude indicator bar.

可选地，所述速度指示条显示有多条速度刻度线和每条所述速度刻度线各自对应的飞行速度，所述高度指示条上显示有多条高度刻度线和每条所述高度刻度线各自对应的相对高度，所述相对高度为所述无人机相对于返航点的高度。Optionally, the speed indicator bar displays a plurality of speed scale lines and the flight speed corresponding to each of the speed scale lines, and the altitude indicator bar displays a plurality of altitude scale lines and each of the altitude scales. The relative height corresponding to each line, and the relative height is the height of the drone relative to the home point.

可选地，所述飞行指引页面还包括所述无人机的垂直速度、所述无人机所处环境的风速和风向，其中，所述垂直速度包括爬升速度或者下降速度。Optionally, the flight guidance page further includes the vertical speed of the drone, and the wind speed and wind direction of the environment in which the drone is located, where the vertical speed includes a climb speed or a descent speed.

可选地，所述无人机所处环境的风速和风向显示在所述速度指示条的下方显示区域，所述无人机的垂直速度显示在所述高度指示条的下方显示区域。Optionally, the wind speed and wind direction of the environment where the drone is located are displayed in a display area below the speed indicator bar, and the vertical speed of the drone is displayed in a display area below the height indicator bar.

可选地，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指示页面还包括障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。Optionally, when an obstacle is sensed above and/or below the drone, the flight instruction page further includes an obstacle indicator bar, and the obstacle indicator bar is used to indicate the drone and the obstacle The distance between objects.

可选地，所述障碍物指示条的长度随着所述无人机与障碍物之间的距离的变化而发生变化。Optionally, the length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes.

可选地，所述无人机与障碍物之间的距离是根据所述无人机的图像传感器、雷达和/或测距传感器确定的。Optionally, the distance between the drone and the obstacle is determined according to the image sensor, radar and/or ranging sensor of the drone.

可选地，所述无人机与障碍物之间的距离大于或等于第一预设距离时，所 述障碍物指示条包括第一线段、第二线段和第三线段，且第一线段、第二线段和第三线段的颜色不同。Optionally, when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line The colors of the segment, the second line segment, and the third line segment are different.

可选地，所述无人机与障碍物之间的距离小于第一预设距离，且大于或等于第二预设距离时，所述障碍物指示条包括第一线段和第二线段。Optionally, when the distance between the drone and the obstacle is less than a first preset distance and greater than or equal to a second preset distance, the obstacle indicator bar includes a first line segment and a second line segment.

可选地，所述无人机与障碍物之间的距离小于第一预设距离，且大于第二预设距离时，播报第一预设告警声音，所述第一预设告警声音用于提醒用户所述无人机处于避障告警范围内。Optionally, when the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset alarm sound is broadcast, and the first preset alarm sound is used for Remind the user that the drone is within the obstacle avoidance warning range.

可选地，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，所述障碍物指示条包括第一线段。Optionally, when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the obstacle indicator bar includes a first line segment.

可选地，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，播报第二预设告警声音，所述第二预设告警声音用于提醒用户所述无人机处于避障刹停范围内。Optionally, when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset alarm sound is broadcast, and the second preset alarm sound It is used to remind the user that the drone is within the obstacle avoidance braking range.

可选地，所述无人机与障碍物之间的距离达到第四预设距离时，控制所述无人机刹停，其中，所述第三预设距离大于所述第四预设距离。Optionally, when the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance is greater than the fourth preset distance .

可选地，所述飞行指示页面还包括所述无人机的飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离。Optionally, the flight instruction page further includes a flight distance indicating line of the drone, and the flight distance indicating line is used to indicate the flying distance of the drone in a vertical direction.

可选地，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的，其中，所述垂直速度包括爬升速度或者下降速度。Optionally, the length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, wherein the vertical speed includes a climbing speed or a descent speed.

可选地，所述障碍物指示条与所述飞行距离指示线相邻显示，使得用户能够根据相邻显示的障碍物指示条与所述飞行距离指示线确定所述无人机是否安全。Optionally, the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can determine whether the drone is safe according to the obstacle indicator bar displayed adjacently and the flight distance indicator line.

可选地，所述障碍物指示条和所述飞行距离指示线的颜色不同。Optionally, the obstacle indicator bar and the flying distance indicator line have different colors.

可选地，所述飞行指示页面还包括高度指示条，所述障碍物指示条和所述飞行距离指示线显示在所述高度指示条上。Optionally, the flight instruction page further includes an altitude indicator bar, and the obstacle indicator bar and the flight distance indicator line are displayed on the altitude indicator bar.

可选地，所述飞行指引页面还包括飞行指引罗盘，所述飞行指引罗盘用于表示所述无人机周围预设距离的空间区域。Optionally, the flight guide page further includes a flight guide compass, and the flight guide compass is used to indicate a space area with a preset distance around the drone.

可选地，所述飞行指引罗盘的附近显示有所述无人机的机头朝向对应的角度数值，显示的所述角度数值用于指示所述无人机的机头朝向，其中，所述角度数值是所述无人机的机头朝向相对于正北方向、正南方向、正西方向或者正东方向的角度。Optionally, an angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, wherein the The angle value is the angle of the drone's nose with respect to the true north, true south, true west, or true east direction.

可选地，所述飞行指引罗盘随着所述无人机的旋转而发生旋转。Optionally, the flight guidance compass rotates with the rotation of the drone.

可选地，所述飞行指引罗盘的中心区域显示有无人机图标，所述无人机图 标用于表示所述无人机，所述无人机图标不随着所述无人机的旋转而发生旋转。Optionally, a drone icon is displayed in the center area of the flight guidance compass, the drone icon is used to represent the drone, and the drone icon does not change with the rotation of the drone. Rotation occurs.

可选地，所述无人机图标为箭头图标，所述箭头图标指向所述飞行指引页面的上方，所述箭头图标的朝向与所述无人机的机头朝向一致。Optionally, the drone icon is an arrow icon, the arrow icon points to the upper side of the flight guidance page, and the direction of the arrow icon is consistent with the nose of the drone.

可选地，所述飞行指引罗盘的中心区域还显示有所述无人机的速度指示线，所述速度指示线与所述无人机图标相交，所述速度指示线用于指示所述无人机的飞行速度和飞行方向。Optionally, the center area of the flight guidance compass also displays a speed indicator line of the drone, the speed indicator line intersects the drone icon, and the speed indicator line is used to indicate the drone. The flight speed and direction of the man-machine.

可选地，所述速度指示线的朝向随着所述无人机的飞行方向的变化而发生变化。Optionally, the direction of the speed indication line changes as the flying direction of the drone changes.

可选地，所述速度指示线的长度随着所述无人机的飞行速度的变化而发生变化。Optionally, the length of the speed indication line changes as the flying speed of the drone changes.

可选地，所述飞行指引罗盘的边缘区域显示有正东方向、正西方向、正南方向和正北方向各自对应的指示字符。Optionally, the edge area of the flight guidance compass is displayed with respective indication characters corresponding to the true east direction, the true west direction, the true south direction, and the true north direction.

可选地，所述飞行指引罗盘的边缘区域还显示有云台图标，所述云台图标用于表示所述无人机的云台，所述云台图标在所述边缘区域中的位置是根据所述云台的Yaw轴的朝向确定的。Optionally, a pan/tilt icon is also displayed on the edge area of the flight guidance compass, the pan/tilt icon is used to represent the pan/tilt of the drone, and the position of the pan/tilt icon in the edge area is Determined according to the direction of the Yaw axis of the pan/tilt.

可选地，所述无人机包括多个云台时，所述飞行指引罗盘的边缘区域显示有每个云台各自对应的云台图标，且每个云台图标的颜色不同。Optionally, when the drone includes multiple pan-tilts, the edge area of the flight guidance compass displays a pan-tilt icon corresponding to each pan-tilt, and the color of each pan-tilt icon is different.

可选地，所述云台图标在所述边缘区域中的位置随着所述云台的Yaw轴的朝向的变化而发生变化。Optionally, the position of the pan/tilt icon in the edge area changes as the direction of the Yaw axis of the pan/tilt changes.

可选地，所述飞行指引罗盘的边缘区域还显示有多条角度刻度线和每条所述角度刻度线各自对应的角度数值。Optionally, a plurality of angle scale lines and the angle value corresponding to each of the angle scale lines are also displayed on the edge area of the flight guidance compass.

可选地，所述飞行指引罗盘显示有所述无人机的返航点图标，所述返航点图标用于表示所述无人机的返航点，所述返航点图标在所述飞行指引罗盘上的位置是根据所述无人机的返航点相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass displays a home point icon of the drone, the home point icon is used to indicate the home point of the drone, and the home point icon is on the flight guidance compass The position of is determined according to the direction and distance of the UAV's home point relative to the UAV.

可选地，在所述无人机的返航点相对于所述无人机的距离小于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的内部，在所述无人机的返航点相对于所述无人机的距离大于或等于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的边缘区域的内侧。Optionally, when the distance between the home point of the drone and the drone is less than the preset distance, the home point icon is located inside the flight guidance compass, and the drone When the distance from the home point of the UAV to the UAV is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass.

可选地，所述飞行指引罗盘还包括标记点图标，所述标记点图标用于表示所述无人机标记的空间点，所述标记点图标在所述飞行指引罗盘上的位置是根据所述标记的空间点相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass further includes a mark point icon, the mark point icon is used to represent a space point marked by the drone, and the position of the mark point icon on the flight guidance compass is based on The marked spatial point is determined relative to the direction and distance of the drone.

可选地，所述飞行指引罗盘的附近还显示有标记的空间点相对于所述无人 机的距离和所述标记点图标。Optionally, the distance of the marked space point relative to the UAV and the marked point icon are also displayed near the flight guidance compass.

可选地，所述飞行指引罗盘还包括跟随图标，所述跟随图标用于表示所述无人机跟随的对象，所述跟随图标在所述飞行指引罗盘上的位置是根据所述无人机跟随的对象相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass further includes a follow icon, the follow icon is used to indicate an object followed by the drone, and the position of the follow icon on the flight guidance compass is based on the drone The following object is determined relative to the direction and distance of the drone.

可选地，所述飞行指引罗盘的附近还显示有所述无人机跟随的对象相对于所述无人机的距离和所述跟随图标。Optionally, the distance of the object followed by the drone relative to the drone and the follow icon are also displayed near the flight guidance compass.

可选地，在所述无人机的至少一个方向上感知到障碍物时，所述飞行指引罗盘显示障碍物图标，所述障碍物图标用于表示所述无人机感知到的障碍物。Optionally, when an obstacle is sensed in at least one direction of the drone, the flight guidance compass displays an obstacle icon, and the obstacle icon is used to represent the obstacle sensed by the drone.

可选地，所述无人机的至少一个方向包括所述无人机的前方、后方、左方和后方中的至少一个。Optionally, the at least one direction of the drone includes at least one of the front, the rear, the left, and the rear of the drone.

可选地，所述障碍物图标在所述飞行指引罗盘的位置是根据感知到的障碍物相对于所述无人机的方向确定的。Optionally, the position of the obstacle icon on the flight guidance compass is determined according to the direction of the perceived obstacle relative to the drone.

可选地，所述障碍物图标的形状是根据感知到的障碍物的形状确定的。Optionally, the shape of the obstacle icon is determined according to the perceived shape of the obstacle.

可选地，所述障碍物图标的形状是根据感知到的障碍物与所述无人机之间的距离确定的。Optionally, the shape of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.

可选地，所述障碍物图标的颜色和/或大小是根据感知到的障碍物与所述无人机之间的距离确定的。Optionally, the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.

可选地，在感知到的障碍物与所述无人机之间的距离小于或等于预设告警距离时，所述障碍物图标以间隔预设时长闪烁，和/或，播报告警提示音，以提醒用户避开障碍物。Optionally, when the perceived distance between the obstacle and the drone is less than or equal to a preset warning distance, the obstacle icon flashes at intervals for a preset duration, and/or a warning tone is played, To remind users to avoid obstacles.

可选地，所述飞行指引罗盘包括障碍物感知盲区和障碍物感知区域，所述障碍物感知盲区和障碍物感知区域的颜色不同。Optionally, the flight guidance compass includes an obstacle perception blind zone and an obstacle perception zone, and the obstacle perception blind zone and the obstacle perception zone have different colors.

可选地，所述障碍物感知盲区的数量是根据所述无人机的旋翼的数量确定的。Optionally, the number of obstacle perception blind areas is determined according to the number of rotors of the drone.

可选地，所述处理器还用于实现以下步骤：Optionally, the processor is further configured to implement the following steps:

获取用户触发的画面切换指令，并将所述飞行指引页面的背景画面由当前图传画面切换为所述画面切换指令对应的画面；Acquiring the screen switching instruction triggered by the user, and switching the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction;

其中，切换背景画面后的飞行指引页面中的所述飞行指引罗盘的左侧显示区域显示有所述无人机的当前飞行速度以及所述无人机所处环境的风速和风向，所述飞行指引罗盘的右侧显示区域显示有所述无人机相对于返航点的高度、所述无人机的当前绝对高度和垂直速度，所述垂直速度为爬升速度和下降速度中的任一项。Wherein, the left display area of the flight guide compass on the flight guide page after switching the background screen displays the current flight speed of the drone and the wind speed and direction of the environment in which the drone is located. The right display area of the guidance compass displays the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed.

可选地，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指引罗盘的右侧显示区域还显示有障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。Optionally, when an obstacle is sensed above and/or below the drone, an obstacle indicator bar is also displayed in the right display area of the flight guidance compass, and the obstacle indicator bar is used to indicate all obstacles. Describe the distance between the drone and the obstacle.

可选地，所述飞行指引罗盘的右侧显示区域还显示有飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的。Optionally, the right display area of the flight guidance compass also displays a flight distance indicator line, the flight distance indicator line is used to indicate the flying distance of the drone in the vertical direction, and the flight distance indicator line The length of is determined according to the vertical speed of the UAV and the preset time.

需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的控制终端的具体工作过程，可以参考前述飞行指引方法实施例中的对应过程，在此不再赘述。It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the control terminal described above can refer to the corresponding process in the foregoing flight guidance method embodiment, which will not be omitted here. Go into details.

请参阅图18，图18是本申请实施例提供的飞行指引装置的示意性框图。Please refer to FIG. 18, which is a schematic block diagram of a flight guidance device provided by an embodiment of the present application.

如图18所示，飞行指引装置400包括处理器401和存储器402，处理器401和存储器402通过总线403连接，该总线403比如为I2C(Inter-integrated Circuit)总线。飞行指引装置400应用于控制终端，控制终端与一无人机进行通信。As shown in FIG. 18, theflight guidance device 400 includes aprocessor 401 and amemory 402, and theprocessor 401 and thememory 402 are connected by abus 403, which is, for example, an I2C (Inter-integrated Circuit) bus. Theflight guidance device 400 is applied to a control terminal, and the control terminal communicates with an unmanned aerial vehicle.

在一些实施方式中，控制终端包括显示装置，显示装置可以为液晶显示屏，也可以为触控屏，或者，控制终端包括承载平台，该承载平台用于承载显示设备，用户可以将显示设备安装在承载平台上，并建立控制终端与显示设备之间的通信连接。In some embodiments, the control terminal includes a display device. The display device may be a liquid crystal display or a touch screen. Alternatively, the control terminal includes a carrier platform for carrying a display device. The user can install the display device. On the bearing platform, a communication connection between the control terminal and the display device is established.

在一些实施方式中，无人机包括障碍物感知装置，障碍物感知装置用于获取无人机周围的感测信号，通过对感测信号进行分析，可以得到障碍物信息，并在该飞行指引页面上显示障碍物信息，使得用户可以知晓无人机感知到的障碍物，便于用户控制无人机避开障碍物。In some embodiments, the drone includes an obstacle sensing device, which is used to obtain sensing signals around the drone. By analyzing the sensing signals, obstacle information can be obtained, and the flight guidance The obstacle information is displayed on the page, so that the user can know the obstacles that the drone perceives, and it is convenient for the user to control the drone to avoid the obstacle.

在一些实施方式中，障碍物感知装置可以包括至少一个传感器，用于获取来自无人机的至少一个方向上的感测信号。例如，障碍物感知装置可以包括一个传感器，用于检测无人机的前方的障碍物。例如，障碍物感知装置可以包括两个传感器，分别用于检测无人机的前方和后方的障碍物。例如，障碍物感知装置可以包括四个传感器，分别用于检测无人机的前方、后方、左方、右方的障碍物。例如，障碍物感知装置可以包括五个传感器，分别用于检测无人机的前方、后方、左方、右方、上方的障碍物。例如，障碍物感知装置可以包括六向传感器，分别用于检测无人机的前方、后方、左方、右方、上方、下方的障碍物。障碍物感知装置中的各个传感器可以是分离实现的，也可以是集成实现的。传感器的检测方向可以根据具体需要进行设置，以检测各种方向或方向组合的障碍物，而不仅限于本申请公开的上述形式。In some embodiments, the obstacle sensing device may include at least one sensor for acquiring sensing signals from the drone in at least one direction. For example, the obstacle sensing device may include a sensor for detecting obstacles in front of the drone. For example, the obstacle sensing device may include two sensors for detecting obstacles in front of and behind the drone, respectively. For example, the obstacle sensing device may include four sensors, which are respectively used to detect obstacles in the front, rear, left, and right of the drone. For example, the obstacle sensing device may include five sensors, which are respectively used to detect obstacles in the front, rear, left, right, and above of the drone. For example, the obstacle sensing device may include six-directional sensors, which are respectively used to detect obstacles in the front, rear, left, right, above, and below of the drone. The sensors in the obstacle sensing device can be implemented separately or integrated. The detection direction of the sensor can be set according to specific needs to detect obstacles in various directions or combinations of directions, and is not limited to the above-mentioned forms disclosed in this application.

具体地，处理器401可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。Specifically, theprocessor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

具体地，存储器402可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。Specifically, thememory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

其中，所述处理器401用于运行存储在存储器402中的计算机程序，并在执行所述计算机程序时实现如下步骤：Wherein, theprocessor 401 is configured to run a computer program stored in thememory 402, and implement the following steps when the computer program is executed:

控制所述控制终端显示飞行指引页面；Controlling the control terminal to display a flight guidance page;

获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;

根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.

可选地，所述处理器实现根据所述操作在所述飞行指引页面生成运动矢量图标时，用于实现：Optionally, the processor realizes that when a motion vector icon is generated on the flight guidance page according to the operation, it is used to realize:

获取所述无人机的当前姿态和IMU的测量数据；Acquiring the current attitude of the UAV and the measurement data of the IMU;

根据所述操作、当前姿态和IMU的测量数据在所述飞行指引页面生成运动矢量图标。A motion vector icon is generated on the flight guidance page according to the operation, the current attitude and the measurement data of the IMU.

可选地，所述运动矢量图标包括若干条线段和圆形图标，每条所述线段均与所述圆形图标连接。Optionally, the motion vector icon includes several line segments and circular icons, and each of the line segments is connected to the circular icon.

可选地，所述飞行指引页面还包括所述无人机的机头图标，所述机头图标与所述运动矢量图标之间显示有连线，所述连线用于表示所述无人机的飞行动力。Optionally, the flight guidance page further includes a nose icon of the drone, and a line is displayed between the nose icon and the motion vector icon, and the line is used to indicate that the drone The flight dynamics of the aircraft.

可选地，所述运动矢量图标的位置用于表示所述无人机的飞行方向。Optionally, the position of the motion vector icon is used to indicate the flying direction of the drone.

可选地，所述操作为打杆操作，所述连线的长度是根据所述打杆操作的打杆量确定的。Optionally, the operation is a lever operation, and the length of the connecting line is determined according to the amount of the lever of the lever operation.

可选地，所述连线的长度与所述打杆操作的打杆量正相关。Optionally, the length of the connecting line is positively correlated with the amount of stroke of the stroke operation.

可选地，所述飞行指引页面还包括所述无人机的姿态指示线，所述姿态指示线用于表示所述无人机的当前姿态。Optionally, the flight guidance page further includes an attitude indicating line of the drone, and the attitude indicating line is used to indicate the current attitude of the drone.

可选地，所述姿态指示线随着所述无人机的姿态的变化而发生变化。Optionally, the attitude indication line changes as the attitude of the drone changes.

可选地，所述姿态指示线为海平线或地平线，所述姿态指示线在所述飞行指引页面内的上下方向的移动表示所述无人机的俯仰角发生变化，所述姿态指示线的左右倾斜表示所述无人机的横滚角发生变化。Optionally, the attitude indication line is a sea level or a horizon line, and the upward and downward movement of the attitude indication line in the flight guide page indicates that the pitch angle of the drone changes, and the attitude indication line is The left and right tilt indicates that the roll angle of the drone has changed.

可选地，所述姿态指示线向上移动表示所述无人机的俯仰角为俯角，所述无人机向下倾斜；Optionally, the upward movement of the attitude indication line indicates that the pitch angle of the drone is a depression angle, and the drone is tilted downward;

所述姿态指示线向下移动表示所述无人机的俯仰角为仰角，所述无人机向上倾斜；The downward movement of the attitude indication line indicates that the pitch angle of the drone is the elevation angle, and the drone is tilted upward;

所述姿态指示线向左倾斜表示所述无人机的横滚角为右横滚角，所述无人机向右倾斜；If the attitude indication line is inclined to the left, it means that the roll angle of the drone is a right roll angle, and the drone is inclined to the right;

所述姿态指示线向右倾斜表示所述无人机的横滚角为左横滚角，所述无人机向左倾斜。The tilt of the attitude indication line to the right indicates that the roll angle of the drone is the left roll angle, and the drone is tilted to the left.

可选地，所述飞行指引页面还包括所述无人机的拍摄装置的当前画面。Optionally, the flight guidance page further includes the current picture of the camera of the drone.

可选地，所述飞行指引页面还包括所述无人机的返航点、当前飞行速度、当前相对高度和当前绝对高度，其中，所述当前相对高度为所述无人机在当前位置相对于所述返航点的高度。Optionally, the flight guidance page further includes the home point, current flight speed, current relative altitude, and current absolute altitude of the drone, where the current relative altitude is the current position of the drone relative to the current position. The height of the home point.

可选地，所述飞行指引页面还包括速度指示条和高度指示条，所述速度指示条用于指示所述无人机的飞行速度，所述高度指示条用于指示所述无人机的高度，所述速度指示条上显示有所述当前飞行速度，所述高度指示条上显示有所述当前相对高度。Optionally, the flight guide page further includes a speed indicator bar and an altitude indicator bar, the speed indicator bar is used to indicate the flight speed of the drone, and the altitude indicator bar is used to indicate the drone's flight speed. Altitude, the current flight speed is displayed on the speed indicator bar, and the current relative altitude is displayed on the altitude indicator bar.

可选地，所述速度指示条显示有多条速度刻度线和每条所述速度刻度线各自对应的飞行速度，所述高度指示条上显示有多条高度刻度线和每条所述高度刻度线各自对应的相对高度，所述相对高度为所述无人机相对于返航点的高度。Optionally, the speed indicator bar displays a plurality of speed scale lines and the flight speed corresponding to each of the speed scale lines, and the altitude indicator bar displays a plurality of altitude scale lines and each of the altitude scales. The relative height corresponding to each line, and the relative height is the height of the drone relative to the home point.

可选地，所述飞行指引页面还包括所述无人机的垂直速度、所述无人机所处环境的风速和风向，其中，所述垂直速度包括爬升速度或者下降速度。Optionally, the flight guidance page further includes the vertical speed of the drone, and the wind speed and wind direction of the environment in which the drone is located, where the vertical speed includes a climb speed or a descent speed.

可选地，所述无人机所处环境的风速和风向显示在所述速度指示条的下方显示区域，所述无人机的垂直速度显示在所述高度指示条的下方显示区域。Optionally, the wind speed and wind direction of the environment where the drone is located are displayed in a display area below the speed indicator bar, and the vertical speed of the drone is displayed in a display area below the height indicator bar.

可选地，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指示页面还包括障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。Optionally, when an obstacle is sensed above and/or below the drone, the flight instruction page further includes an obstacle indicator bar, and the obstacle indicator bar is used to indicate the drone and the obstacle The distance between objects.

可选地，所述障碍物指示条的长度随着所述无人机与障碍物之间的距离的变化而发生变化。Optionally, the length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes.

可选地，所述无人机与障碍物之间的距离是根据所述无人机的图像传感器、雷达和/或测距传感器确定的。Optionally, the distance between the drone and the obstacle is determined according to the image sensor, radar and/or ranging sensor of the drone.

可选地，所述无人机与障碍物之间的距离大于或等于第一预设距离时，所述障碍物指示条包括第一线段、第二线段和第三线段，且第一线段、第二线段 和第三线段的颜色不同。Optionally, when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment, a second line segment, and a third line segment, and the first line The colors of the segment, the second line segment, and the third line segment are different.

可选地，所述无人机与障碍物之间的距离小于第一预设距离，且大于或等于第二预设距离时，所述障碍物指示条包括第一线段和第二线段。Optionally, when the distance between the drone and the obstacle is less than a first preset distance and greater than or equal to a second preset distance, the obstacle indicator bar includes a first line segment and a second line segment.

可选地，所述无人机与障碍物之间的距离小于第一预设距离，且大于第二预设距离时，播报第一预设告警声音，所述第一预设告警声音用于提醒用户所述无人机处于避障告警范围内。Optionally, when the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset alarm sound is broadcast, and the first preset alarm sound is used for Remind the user that the drone is within the obstacle avoidance warning range.

可选地，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，所述障碍物指示条包括第一线段。Optionally, when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the obstacle indicator bar includes a first line segment.

可选地，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，播报第二预设告警声音，所述第二预设告警声音用于提醒用户所述无人机处于避障刹停范围内。Optionally, when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset alarm sound is broadcast, and the second preset alarm sound It is used to remind the user that the drone is within the obstacle avoidance braking range.

可选地，所述无人机与障碍物之间的距离达到第四预设距离时，控制所述无人机刹停，其中，所述第三预设距离大于所述第四预设距离。Optionally, when the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance is greater than the fourth preset distance .

可选地，所述飞行指示页面还包括所述无人机的飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离。Optionally, the flight instruction page further includes a flight distance indicating line of the drone, and the flight distance indicating line is used to indicate the flying distance of the drone in a vertical direction.

可选地，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的，其中，所述垂直速度包括爬升速度或者下降速度。Optionally, the length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, wherein the vertical speed includes a climbing speed or a descent speed.

可选地，所述障碍物指示条与所述飞行距离指示线相邻显示，使得用户能够根据相邻显示的障碍物指示条与所述飞行距离指示线确定所述无人机是否安全。Optionally, the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can determine whether the drone is safe according to the obstacle indicator bar displayed adjacently and the flight distance indicator line.

可选地，所述障碍物指示条和所述飞行距离指示线的颜色不同。Optionally, the obstacle indicator bar and the flying distance indicator line have different colors.

可选地，所述飞行指示页面还包括高度指示条，所述障碍物指示条和所述飞行距离指示线显示在所述高度指示条上。Optionally, the flight instruction page further includes an altitude indicator bar, and the obstacle indicator bar and the flight distance indicator line are displayed on the altitude indicator bar.

可选地，所述飞行指引页面还包括飞行指引罗盘，所述飞行指引罗盘用于表示所述无人机周围预设距离的空间区域。Optionally, the flight guide page further includes a flight guide compass, and the flight guide compass is used to indicate a space area with a preset distance around the drone.

可选地，所述飞行指引罗盘的附近显示有所述无人机的机头朝向对应的角度数值，显示的所述角度数值用于指示所述无人机的机头朝向，其中，所述角度数值是所述无人机的机头朝向相对于正北方向、正南方向、正西方向或者正东方向的角度。Optionally, an angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, wherein the The angle value is the angle of the drone's nose with respect to the true north, true south, true west, or true east direction.

可选地，所述飞行指引罗盘随着所述无人机的旋转而发生旋转。Optionally, the flight guidance compass rotates with the rotation of the drone.

可选地，所述飞行指引罗盘的中心区域显示有无人机图标，所述无人机图标用于表示所述无人机，所述无人机图标不随着所述无人机的旋转而发生旋转。Optionally, a drone icon is displayed in the center area of the flight guidance compass, the drone icon is used to represent the drone, and the drone icon does not change with the rotation of the drone. Rotation occurs.

可选地，所述无人机图标为箭头图标，所述箭头图标指向所述飞行指引页面的上方，所述箭头图标的朝向与所述无人机的机头朝向一致。Optionally, the drone icon is an arrow icon, the arrow icon points to the upper side of the flight guidance page, and the direction of the arrow icon is consistent with the nose of the drone.

可选地，所述飞行指引罗盘的中心区域还显示有所述无人机的速度指示线，所述速度指示线与所述无人机图标相交，所述速度指示线用于指示所述无人机的飞行速度和飞行方向。Optionally, the center area of the flight guidance compass also displays a speed indicator line of the drone, the speed indicator line intersects the drone icon, and the speed indicator line is used to indicate the drone. The flight speed and direction of the man-machine.

可选地，所述速度指示线的朝向随着所述无人机的飞行方向的变化而发生变化。Optionally, the direction of the speed indication line changes as the flying direction of the drone changes.

可选地，所述速度指示线的长度随着所述无人机的飞行速度的变化而发生变化。Optionally, the length of the speed indication line changes as the flying speed of the drone changes.

可选地，所述飞行指引罗盘的边缘区域显示有正东方向、正西方向、正南方向和正北方向各自对应的指示字符。Optionally, the edge area of the flight guidance compass displays respective indication characters corresponding to the true east direction, the true west direction, the true south direction, and the true north direction.

可选地，所述飞行指引罗盘的边缘区域还显示有云台图标，所述云台图标用于表示所述无人机的云台，所述云台图标在所述边缘区域中的位置是根据所述云台的Yaw轴的朝向确定的。Optionally, a pan/tilt icon is also displayed on the edge area of the flight guidance compass, the pan/tilt icon is used to represent the pan/tilt of the drone, and the position of the pan/tilt icon in the edge area is Determined according to the direction of the Yaw axis of the pan/tilt.

可选地，所述无人机包括多个云台时，所述飞行指引罗盘的边缘区域显示有每个云台各自对应的云台图标，且每个云台图标的颜色不同。Optionally, when the drone includes multiple pan-tilts, the edge area of the flight guidance compass displays a pan-tilt icon corresponding to each pan-tilt, and the color of each pan-tilt icon is different.

可选地，所述云台图标在所述边缘区域中的位置随着所述云台的Yaw轴的朝向的变化而发生变化。Optionally, the position of the pan/tilt icon in the edge area changes as the direction of the Yaw axis of the pan/tilt changes.

可选地，所述飞行指引罗盘的边缘区域还显示有多条角度刻度线和每条所述角度刻度线各自对应的角度数值。Optionally, a plurality of angle scale lines and the angle value corresponding to each of the angle scale lines are also displayed on the edge area of the flight guidance compass.

可选地，所述飞行指引罗盘显示有所述无人机的返航点图标，所述返航点图标用于表示所述无人机的返航点，所述返航点图标在所述飞行指引罗盘上的位置是根据所述无人机的返航点相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass displays a home point icon of the drone, the home point icon is used to indicate the home point of the drone, and the home point icon is on the flight guidance compass The position of is determined according to the direction and distance of the UAV's home point relative to the UAV.

可选地，在所述无人机的返航点相对于所述无人机的距离小于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的内部，在所述无人机的返航点相对于所述无人机的距离大于或等于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的边缘区域的内侧。Optionally, when the distance between the home point of the drone and the drone is less than the preset distance, the home point icon is located inside the flight guidance compass, and the drone When the distance of the home point of, with respect to the drone, is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass.

可选地，所述飞行指引罗盘还包括标记点图标，所述标记点图标用于表示所述无人机标记的空间点，所述标记点图标在所述飞行指引罗盘上的位置是根据所述标记的空间点相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass further includes a mark point icon, the mark point icon is used to represent a space point marked by the drone, and the position of the mark point icon on the flight guidance compass is based on The marked spatial point is determined relative to the direction and distance of the drone.

可选地，所述飞行指引罗盘的附近还显示有标记的空间点相对于所述无人机的距离和所述标记点图标。Optionally, the distance of the marked space point relative to the drone and the marked point icon are also displayed near the flight guidance compass.

可选地，所述飞行指引罗盘还包括跟随图标，所述跟随图标用于表示所述无人机跟随的对象，所述跟随图标在所述飞行指引罗盘上的位置是根据所述无人机跟随的对象相对于所述无人机的方向和距离确定的。Optionally, the flight guidance compass further includes a follow icon, the follow icon is used to indicate an object followed by the drone, and the position of the follow icon on the flight guidance compass is based on the drone The following object is determined relative to the direction and distance of the drone.

可选地，所述飞行指引罗盘的附近还显示有所述无人机跟随的对象相对于所述无人机的距离和所述跟随图标。Optionally, the distance of the object followed by the drone relative to the drone and the follow icon are also displayed near the flight guidance compass.

可选地，在所述无人机的至少一个方向上感知到障碍物时，所述飞行指引罗盘显示障碍物图标，所述障碍物图标用于表示所述无人机感知到的障碍物。Optionally, when an obstacle is sensed in at least one direction of the drone, the flight guidance compass displays an obstacle icon, and the obstacle icon is used to represent the obstacle sensed by the drone.

可选地，所述无人机的至少一个方向包括所述无人机的前方、后方、左方和后方中的至少一个。Optionally, the at least one direction of the drone includes at least one of the front, the rear, the left, and the rear of the drone.

可选地，所述障碍物图标在所述飞行指引罗盘的位置是根据感知到的障碍物相对于所述无人机的方向确定的。Optionally, the position of the obstacle icon on the flight guidance compass is determined according to the direction of the perceived obstacle relative to the drone.

可选地，所述障碍物图标的形状是根据感知到的障碍物的形状确定的。Optionally, the shape of the obstacle icon is determined according to the perceived shape of the obstacle.

可选地，所述障碍物图标的形状是根据感知到的障碍物与所述无人机之间的距离确定的。Optionally, the shape of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.

可选地，所述障碍物图标的颜色和/或大小是根据感知到的障碍物与所述无人机之间的距离确定的。Optionally, the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.

可选地，在感知到的障碍物与所述无人机之间的距离小于或等于预设告警距离时，所述障碍物图标以间隔预设时长闪烁，和/或，播报告警提示音，以提醒用户避开障碍物。Optionally, when the perceived distance between the obstacle and the drone is less than or equal to a preset warning distance, the obstacle icon flashes at intervals for a preset duration, and/or a warning tone is played, To remind users to avoid obstacles.

可选地，所述飞行指引罗盘包括障碍物感知盲区和障碍物感知区域，所述障碍物感知盲区和障碍物感知区域的颜色不同。Optionally, the flight guidance compass includes an obstacle perception blind zone and an obstacle perception zone, and the obstacle perception blind zone and the obstacle perception zone have different colors.

可选地，所述障碍物感知盲区的数量是根据所述无人机的旋翼的数量确定的。Optionally, the number of obstacle perception blind areas is determined according to the number of rotors of the drone.

可选地，所述处理器还用于实现以下步骤：Optionally, the processor is further configured to implement the following steps:

获取用户触发的画面切换指令，并将所述飞行指引页面的背景画面由当前图传画面切换为所述画面切换指令对应的画面；Acquiring the screen switching instruction triggered by the user, and switching the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction;

其中，切换背景画面后的飞行指引页面中的所述飞行指引罗盘的左侧显示区域显示有所述无人机的当前飞行速度以及所述无人机所处环境的风速和风向，所述飞行指引罗盘的右侧显示区域显示有所述无人机相对于返航点的高度、所述无人机的当前绝对高度和垂直速度，所述垂直速度为爬升速度和下降速度中的任一项。Wherein, the left display area of the flight guide compass on the flight guide page after switching the background screen displays the current flight speed of the drone and the wind speed and direction of the environment in which the drone is located. The right display area of the guidance compass displays the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed.

可选地，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指引罗 盘的右侧显示区域还显示有障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。Optionally, when an obstacle is sensed above and/or below the drone, an obstacle indicator bar is also displayed in the right display area of the flight guidance compass, and the obstacle indicator bar is used to indicate all obstacles. Describe the distance between the drone and the obstacle.

可选地，所述飞行指引罗盘的右侧显示区域还显示有飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的。Optionally, the right display area of the flight guidance compass also displays a flight distance indicator line, the flight distance indicator line is used to indicate the flying distance of the drone in the vertical direction, and the flight distance indicator line The length of is determined according to the vertical speed of the UAV and the preset time.

需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的飞行指引装置的具体工作过程，可以参考前述飞行指引方法实施例中的对应过程，在此不再赘述。It should be noted that those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process of the flight guidance device described above can refer to the corresponding process in the foregoing flight guidance method embodiment. Go into details again.

本申请的实施例中还提供一种飞行指引系统，所述飞行指引系统包括无人机和如本申请实施例提供的任一种控制终端，所述无人机与所述控制终端通信连接。需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的飞行指引系统的具体工作过程，可以参考前述飞行指引方法实施例中的对应过程，在此不再赘述。An embodiment of the present application also provides a flight guidance system. The flight guidance system includes an unmanned aerial vehicle and any control terminal provided in the embodiments of the present application, and the unmanned aerial vehicle is communicatively connected with the control terminal. It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the flight guidance system described above can refer to the corresponding process in the foregoing flight guidance method embodiment. Go into details again.

本申请的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的飞行指引方法的步骤。The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the flight guidance method provided in the example.

其中，所述计算机可读存储介质可以是前述任一实施例所述的控制终端的内部存储单元，例如所述控制终端的硬盘或内存。所述计算机可读存储介质也可以是所述控制终端的外部存储设备，例如所述控制终端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。The computer-readable storage medium may be the internal storage unit of the control terminal described in any of the foregoing embodiments, such as the hard disk or memory of the control terminal. The computer-readable storage medium may also be an external storage device of the control terminal, for example, a plug-in hard disk equipped on the control terminal, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital, SD) ) Card, Flash Card, etc.

应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims (127)

Translated fromChinese

一种飞行指引方法，其特征在于，应用于控制终端，所述控制终端用于与一无人机进行通信，所述方法包括：A flight guidance method, characterized in that it is applied to a control terminal, the control terminal is used to communicate with an unmanned aerial vehicle, and the method includes:在所述控制终端上显示飞行指引页面；Displaying a flight guidance page on the control terminal;获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.根据权利要求1所述的飞行指引方法，其特征在于，所述根据所述操作在所述飞行指引页面生成运动矢量图标，包括：The flight guidance method according to claim 1, wherein the generating a motion vector icon on the flight guidance page according to the operation comprises:获取所述无人机的当前姿态和IMU的测量数据；Acquiring the current attitude of the UAV and the measurement data of the IMU;根据所述操作、当前姿态和IMU的测量数据在所述飞行指引页面生成运动矢量图标。A motion vector icon is generated on the flight guidance page according to the operation, the current attitude and the measurement data of the IMU.根据权利要求1所述的飞行指引方法，其特征在于，所述运动矢量图标包括若干条线段和圆形图标，每条所述线段均与所述圆形图标连接。The flight guidance method according to claim 1, wherein the motion vector icon includes a plurality of line segments and circular icons, and each of the line segments is connected to the circular icon.根据权利要求1所述的飞行指引方法，其特征在于，所述飞行指引页面还包括所述无人机的机头图标，所述机头图标与所述运动矢量图标之间显示有连线，所述连线用于表示所述无人机的飞行动力。The flight guidance method according to claim 1, wherein the flight guidance page further includes a nose icon of the drone, and a line is displayed between the nose icon and the motion vector icon, The line is used to indicate the flight power of the drone.根据权利要求4所述的飞行指引方法，其特征在于，所述运动矢量图标的位置用于表示所述无人机的飞行方向。The flight guidance method according to claim 4, wherein the position of the motion vector icon is used to indicate the flight direction of the drone.根据权利要求4所述的飞行指引方法，其特征在于，所述操作为打杆操作，所述连线的长度是根据所述打杆操作的打杆量确定的。The flight guidance method according to claim 4, wherein the operation is a lever operation, and the length of the connection line is determined according to the amount of the lever of the lever operation.根据权利要求6所述的飞行指引方法，其特征在于，所述连线的长度与所述打杆操作的打杆量正相关。The flight guidance method according to claim 6, wherein the length of the connecting line is positively correlated with the amount of stroke of the stroke operation.根据权利要求1所述的飞行指引方法，其特征在于，所述飞行指引页面还包括所述无人机的姿态指示线，所述姿态指示线用于表示所述无人机的当前姿态。The flight guidance method according to claim 1, wherein the flight guidance page further includes an attitude indicating line of the UAV, and the attitude indicating line is used to indicate the current attitude of the UAV.根据权利要求8所述的飞行指引方法，其特征在于，所述姿态指示线随着所述无人机的姿态的变化而发生变化。The flight guidance method according to claim 8, wherein the attitude indication line changes with the attitude of the drone.根据权利要求9所述的飞行指引方法，其特征在于，所述姿态指示线 为海平线或地平线，所述姿态指示线在所述飞行指引页面内的上下方向的移动表示所述无人机的俯仰角发生变化，所述姿态指示线的左右倾斜表示所述无人机的横滚角发生变化。The flight guidance method according to claim 9, wherein the attitude indication line is sea level or horizon, and the upward and downward movement of the attitude indication line in the flight guidance page indicates the UAV's The pitch angle changes, and the left and right tilt of the attitude indication line indicates that the roll angle of the UAV has changed.根据权利要求10所述的飞行指引方法，其特征在于，所述姿态指示线向上移动表示所述无人机的俯仰角为俯角，所述无人机向下倾斜；The flight guidance method according to claim 10, wherein the upward movement of the attitude indication line indicates that the pitch angle of the drone is a depression angle, and the drone is tilted downward;所述姿态指示线向下移动表示所述无人机的俯仰角为仰角，所述无人机向上倾斜；The downward movement of the attitude indication line indicates that the pitch angle of the drone is the elevation angle, and the drone is tilted upward;所述姿态指示线向左倾斜表示所述无人机的横滚角为右横滚角，所述无人机向右倾斜；If the attitude indication line is inclined to the left, it means that the roll angle of the drone is a right roll angle, and the drone is inclined to the right;所述姿态指示线向右倾斜表示所述无人机的横滚角为左横滚角，所述无人机向左倾斜。The tilt of the attitude indication line to the right indicates that the roll angle of the drone is the left roll angle, and the drone is tilted to the left.根据权利要求1所述的飞行指引方法，其特征在于，所述飞行指引页面还包括所述无人机的拍摄装置的当前画面。The flight guidance method according to claim 1, wherein the flight guidance page further includes a current picture of a camera of the drone.根据权利要求1所述的飞行指引方法，其特征在于，所述飞行指引页面还包括所述无人机的返航点、当前飞行速度、当前相对高度和当前绝对高度，其中，所述当前相对高度为所述无人机在当前位置相对于所述返航点的高度。The flight guidance method according to claim 1, wherein the flight guidance page further includes the home point, current flight speed, current relative altitude, and current absolute altitude of the drone, wherein the current relative altitude Is the altitude of the UAV at the current position relative to the home point.根据权利要求13所述的飞行指引方法，其特征在于，所述飞行指引页面还包括速度指示条和高度指示条，所述速度指示条用于指示所述无人机的飞行速度，所述高度指示条用于指示所述无人机的高度，所述速度指示条上显示有所述当前飞行速度，所述高度指示条上显示有所述当前相对高度。The flight guidance method according to claim 13, wherein the flight guidance page further comprises a speed indicator bar and an altitude indicator bar, the speed indicator bar is used to indicate the flight speed of the drone, and the altitude The indicator bar is used to indicate the altitude of the drone, the current flight speed is displayed on the speed indicator bar, and the current relative altitude is displayed on the altitude indicator bar.根据权利要求14所述的飞行指引方法，其特征在于，所述速度指示条显示有多条速度刻度线和每条所述速度刻度线各自对应的飞行速度，所述高度指示条上显示有多条高度刻度线和每条所述高度刻度线各自对应的相对高度，所述相对高度为所述无人机相对于返航点的高度。The flight guidance method according to claim 14, wherein the speed indicator bar displays a plurality of speed scale lines and the flight speed corresponding to each of the speed scale lines, and how much is displayed on the altitude indicator bar. A relative height corresponding to each of the height scale lines and each of the height scale lines, and the relative height is the height of the drone relative to the home point.根据权利要求14所述的飞行指引方法，其特征在于，所述飞行指引页面还包括所述无人机的垂直速度、所述无人机所处环境的风速和风向，其中，所述垂直速度包括爬升速度或者下降速度。The flight guidance method according to claim 14, wherein the flight guidance page further includes the vertical speed of the drone, the wind speed and the wind direction of the environment in which the drone is located, wherein the vertical speed Including climb speed or descent speed.根据权利要求16所述的飞行指引方法，其特征在于，所述无人机所处环境的风速和风向显示在所述速度指示条的下方显示区域，所述无人机的垂直速度显示在所述高度指示条的下方显示区域。The flight guidance method according to claim 16, wherein the wind speed and wind direction of the environment in which the drone is located are displayed in the display area below the speed indicator bar, and the vertical speed of the drone is displayed in the display area below the speed indicator bar. The display area below the height indicator bar.根据权利要求1所述的飞行指引方法，其特征在于，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指示页面还包括障碍物指示条，所述 障碍物指示条用于指示所述无人机与障碍物之间的距离。The flight guidance method according to claim 1, wherein when an obstacle is sensed above and/or below the UAV, the flight instruction page further includes an obstacle indicator bar, and the obstacle indicator The bar is used to indicate the distance between the drone and the obstacle.根据权利要求18所述的飞行指引方法，其特征在于，所述障碍物指示条的长度随着所述无人机与障碍物之间的距离的变化而发生变化。The flight guidance method according to claim 18, wherein the length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes.根据权利要求18所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离是根据所述无人机的图像传感器、雷达和/或测距传感器确定的。The flight guidance method according to claim 18, wherein the distance between the UAV and the obstacle is determined according to an image sensor, a radar and/or a ranging sensor of the UAV.根据权利要求18所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离大于或等于第一预设距离时，所述障碍物指示条包括第一线段、第二线段和第三线段，且第一线段、第二线段和第三线段的颜色不同。The flight guidance method according to claim 18, wherein when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment and a first line segment. The second line segment and the third line segment, and the first line segment, the second line segment and the third line segment have different colors.根据权利要求21所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离小于第一预设距离，且大于或等于第二预设距离时，所述障碍物指示条包括第一线段和第二线段。The flight guidance method of claim 21, wherein when the distance between the drone and the obstacle is less than a first preset distance and greater than or equal to a second preset distance, the obstacle indicates The bar includes a first line segment and a second line segment.根据权利要求22所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离小于第一预设距离，且大于第二预设距离时，播报第一预设告警声音，所述第一预设告警声音用于提醒用户所述无人机处于避障告警范围内。The flight guidance method of claim 22, wherein when the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset warning sound is broadcast The first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.根据权利要求22所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，所述障碍物指示条包括第一线段。The flight guidance method according to claim 22, wherein when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the obstacle indicates Bar includes the first line segment.根据权利要求24所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，播报第二预设告警声音，所述第二预设告警声音用于提醒用户所述无人机处于避障刹停范围内。The flight guidance method according to claim 24, wherein when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the second preset is broadcast An alarm sound, the second preset alarm sound is used to remind the user that the drone is within the obstacle avoidance braking range.根据权利要求25所述的飞行指引方法，其特征在于，所述无人机与障碍物之间的距离达到第四预设距离时，控制所述无人机刹停，其中，所述第三预设距离大于所述第四预设距离。The flight guidance method according to claim 25, wherein when the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third The preset distance is greater than the fourth preset distance.根据权利要求18所述的飞行指引方法，其特征在于，所述飞行指示页面还包括所述无人机的飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离。The flight guidance method according to claim 18, wherein the flight instruction page further includes a flight distance indicator line of the drone, and the flight distance indicator line is used to indicate that the drone is in a vertical direction. Flight distance.根据权利要求27所述的飞行指引方法，其特征在于，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的，其中，所述垂直速度包括爬升速度或者下降速度。The flight guidance method according to claim 27, wherein the length of the flight distance indication line is determined according to the vertical speed of the drone and a preset time, wherein the vertical speed includes a climb speed or The rate of decline.根据权利要求27所述的飞行指引方法，其特征在于，所述障碍物指示条与所述飞行距离指示线相邻显示，使得用户能够根据相邻显示的障碍物指示 条与所述飞行距离指示线确定所述无人机是否安全。The flight guidance method according to claim 27, wherein the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can follow the obstacle indicator bar displayed adjacently and the flight distance indicator Line to determine whether the drone is safe.根据权利要求29所述的飞行指引方法，其特征在于，所述障碍物指示条和所述飞行距离指示线的颜色不同。The flight guidance method according to claim 29, wherein the obstacle indicator bar and the flight distance indicator line have different colors.根据权利要求27所述的飞行指引方法，其特征在于，所述飞行指示页面还包括高度指示条，所述障碍物指示条和所述飞行距离指示线显示在所述高度指示条上。The flight guidance method according to claim 27, wherein the flight instruction page further comprises an altitude indicator bar, and the obstacle indicator bar and the flight distance indicator line are displayed on the altitude indicator bar.根据权利要求1至31中任一项所述的飞行指引方法，其特征在于，所述飞行指引页面还包括飞行指引罗盘，所述飞行指引罗盘用于表示所述无人机周围预设距离的空间区域。The flight guidance method according to any one of claims 1 to 31, wherein the flight guidance page further comprises a flight guidance compass, and the flight guidance compass is used to indicate a preset distance around the drone. Space area.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘的附近显示有所述无人机的机头朝向对应的角度数值，显示的所述角度数值用于指示所述无人机的机头朝向，其中，所述角度数值是所述无人机的机头朝向相对于正北方向、正南方向、正西方向或者正东方向的角度。The flight guidance method according to claim 32, wherein the angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the no The nose orientation of the human-machine, wherein the angle value is the angle of the drone's nose orientation with respect to the true north direction, the true south direction, the true west direction, or the true east direction.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘随着所述无人机的旋转而发生旋转。The flight guidance method according to claim 32, wherein the flight guidance compass rotates with the rotation of the drone.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘的中心区域显示有无人机图标，所述无人机图标用于表示所述无人机，所述无人机图标不随着所述无人机的旋转而发生旋转。The flight guidance method according to claim 32, wherein a drone icon is displayed in a central area of the flight guidance compass, and the drone icon is used to represent the drone, the drone The icon does not rotate with the rotation of the drone.根据权利要求35所述的飞行指引方法，其特征在于，所述无人机图标为箭头图标，所述箭头图标指向所述飞行指引页面的上方，所述箭头图标的朝向与所述无人机的机头朝向一致。The flight guidance method according to claim 35, wherein the drone icon is an arrow icon, the arrow icon points to the top of the flight guidance page, and the direction of the arrow icon is the same as that of the drone. The nose of the aircraft is facing the same.根据权利要求35所述的飞行指引方法，其特征在于，所述飞行指引罗盘的中心区域还显示有所述无人机的速度指示线，所述速度指示线与所述无人机图标相交，所述速度指示线用于指示所述无人机的飞行速度和飞行方向。The flight guidance method according to claim 35, wherein the center area of the flight guidance compass also displays a speed indicator line of the drone, and the speed indicator line intersects the drone icon, The speed indication line is used to indicate the flight speed and flight direction of the drone.根据权利要求37所述的飞行指引方法，其特征在于，所述速度指示线的朝向随着所述无人机的飞行方向的变化而发生变化。The flight guidance method according to claim 37, wherein the direction of the speed indication line changes with the flight direction of the drone.根据权利要求37所述的飞行指引方法，其特征在于，所述速度指示线的长度随着所述无人机的飞行速度的变化而发生变化。The flight guidance method according to claim 37, wherein the length of the speed indication line changes with the flight speed of the drone.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘的边缘区域显示有正东方向、正西方向、正南方向和正北方向各自对应的指示字符。The flight guidance method according to claim 32, wherein the edge area of the flight guidance compass displays indication characters corresponding to each of the true east direction, the true west direction, the true south direction and the true north direction.根据权利要求40所述的飞行指引方法，其特征在于，所述飞行指引罗 盘的边缘区域还显示有云台图标，所述云台图标用于表示所述无人机的云台，所述云台图标在所述边缘区域中的位置是根据所述云台的Yaw轴的朝向确定的。The flight guidance method of claim 40, wherein the edge area of the flight guidance compass also displays a pan/tilt icon, the pan/tilt icon is used to represent the pan/tilt of the drone, and the cloud The position of the platform icon in the edge area is determined according to the direction of the Yaw axis of the pan/tilt.根据权利要求41所述的飞行指引方法，其特征在于，所述无人机包括多个云台时，所述飞行指引罗盘的边缘区域显示有每个云台各自对应的云台图标，且每个云台图标的颜色不同。The flight guidance method according to claim 41, wherein when the drone includes a plurality of gimbals, the edge area of the flight guidance compass displays a gimbal icon corresponding to each gimbal, and each gimbal The color of each pan/tilt icon is different.根据权利要求41所述的飞行指引方法，其特征在于，所述云台图标在所述边缘区域中的位置随着所述云台的Yaw轴的朝向的变化而发生变化。The flight guidance method according to claim 41, wherein the position of the pan/tilt icon in the edge area changes as the direction of the Yaw axis of the pan/tilt changes.根据权利要求40所述的飞行指引方法，其特征在于，所述飞行指引罗盘的边缘区域还显示有多条角度刻度线和每条所述角度刻度线各自对应的角度数值。The flight guidance method of claim 40, wherein the edge area of the flight guidance compass further displays a plurality of angle scale lines and the angle value corresponding to each of the angle scale lines.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘显示有所述无人机的返航点图标，所述返航点图标用于表示所述无人机的返航点，所述返航点图标在所述飞行指引罗盘上的位置是根据所述无人机的返航点相对于所述无人机的方向和距离确定的。The flight guidance method according to claim 32, wherein the flight guidance compass displays a home point icon of the drone, and the home point icon is used to indicate the home point of the drone, so The position of the home point icon on the flight guidance compass is determined according to the direction and distance of the home point of the drone relative to the drone.根据权利要求45所述的飞行指引方法，其特征在于，在所述无人机的返航点相对于所述无人机的距离小于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的内部，在所述无人机的返航点相对于所述无人机的距离大于或等于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的边缘区域的内侧。The flight guidance method according to claim 45, wherein when the distance between the home point of the drone and the drone is less than the preset distance, the home point icon is located in the flight Inside the guidance compass, when the distance between the home point of the drone and the drone is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘还包括标记点图标，所述标记点图标用于表示所述无人机标记的空间点，所述标记点图标在所述飞行指引罗盘上的位置是根据所述标记的空间点相对于所述无人机的方向和距离确定的。The flight guidance method according to claim 32, wherein the flight guidance compass further comprises a mark point icon, the mark point icon is used to indicate a space point marked by the drone, and the mark point icon is The position on the flight guidance compass is determined according to the direction and distance of the marked spatial point relative to the drone.根据权利要求47所述的飞行指引方法，其特征在于，所述飞行指引罗盘的附近还显示有标记的空间点相对于所述无人机的距离和所述标记点图标。The flight guidance method according to claim 47, wherein the distance of the marked space point relative to the drone and the marked point icon are also displayed near the flight guidance compass.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘还包括跟随图标，所述跟随图标用于表示所述无人机跟随的对象，所述跟随图标在所述飞行指引罗盘上的位置是根据所述无人机跟随的对象相对于所述无人机的方向和距离确定的。The flight guidance method according to claim 32, wherein the flight guidance compass further comprises a follow icon, and the follow icon is used to indicate an object followed by the drone, and the follow icon is used in the flight guidance The position on the compass is determined according to the direction and distance of the object followed by the drone relative to the drone.根据权利要求49所述的飞行指引方法，其特征在于，所述飞行指引罗盘的附近还显示有所述无人机跟随的对象相对于所述无人机的距离和所述跟随 图标。The flight guidance method according to claim 49, wherein the distance of the object followed by the drone relative to the drone and the follow icon are displayed near the flight guidance compass.根据权利要求32所述的飞行指引方法，其特征在于，在所述无人机的至少一个方向上感知到障碍物时，所述飞行指引罗盘显示障碍物图标，所述障碍物图标用于表示所述无人机感知到的障碍物。The flight guidance method according to claim 32, wherein when an obstacle is sensed in at least one direction of the drone, the flight guidance compass displays an obstacle icon, and the obstacle icon is used to indicate Obstacles perceived by the drone.根据权利要求51所述的飞行指引方法，其特征在于，所述无人机的至少一个方向包括所述无人机的前方、后方、左方和后方中的至少一个。The flight guidance method according to claim 51, wherein the at least one direction of the drone includes at least one of the front, the rear, the left, and the rear of the drone.根据权利要求51所述的飞行指引方法，其特征在于，所述障碍物图标在所述飞行指引罗盘的位置是根据感知到的障碍物相对于所述无人机的方向确定的。The flight guidance method according to claim 51, wherein the position of the obstacle icon on the flight guidance compass is determined according to the direction of the perceived obstacle relative to the drone.根据权利要求51所述的飞行指引方法，其特征在于，所述障碍物图标的形状是根据感知到的障碍物的形状确定的。The flight guidance method according to claim 51, wherein the shape of the obstacle icon is determined according to the perceived shape of the obstacle.根据权利要求54所述的飞行指引方法，其特征在于，所述障碍物图标的形状是根据感知到的障碍物与所述无人机之间的距离确定的。The flight guidance method according to claim 54, wherein the shape of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.根据权利要求51所述的飞行指引方法，其特征在于，所述障碍物图标的颜色和/或大小是根据感知到的障碍物与所述无人机之间的距离确定的。The flight guidance method according to claim 51, wherein the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.根据权利要求51所述的飞行指引方法，其特征在于，在感知到的障碍物与所述无人机之间的距离小于或等于预设告警距离时，所述障碍物图标以间隔预设时长闪烁，和/或，播报告警提示音，以提醒用户避开障碍物。The flight guidance method according to claim 51, wherein when the perceived distance between the obstacle and the UAV is less than or equal to a preset warning distance, the obstacle icon is separated by a preset duration Flashes, and/or, broadcasts a warning tone to remind the user to avoid obstacles.根据权利要求32所述的飞行指引方法，其特征在于，所述飞行指引罗盘包括障碍物感知盲区和障碍物感知区域，所述障碍物感知盲区和障碍物感知区域的颜色不同。The flight guidance method according to claim 32, wherein the flight guidance compass includes an obstacle sensing blind zone and an obstacle sensing area, and the obstacle sensing blind zone and the obstacle sensing area have different colors.根据权利要求58所述的飞行指引方法，其特征在于，所述障碍物感知盲区的数量是根据所述无人机的旋翼的数量确定的。The flight guidance method according to claim 58, wherein the number of obstacle perception blind areas is determined according to the number of rotors of the drone.根据权利要求32所述的飞行指引方法，其特征在于，所述方法还包括：The flight guidance method according to claim 32, wherein the method further comprises:获取用户触发的画面切换指令，并将所述飞行指引页面的背景画面由当前图传画面切换为所述画面切换指令对应的画面；Acquiring the screen switching instruction triggered by the user, and switching the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction;其中，切换背景画面后的飞行指引页面中的所述飞行指引罗盘的左侧显示区域显示有所述无人机的当前飞行速度以及所述无人机所处环境的风速和风向，所述飞行指引罗盘的右侧显示区域显示有所述无人机相对于返航点的高度、所述无人机的当前绝对高度和垂直速度，所述垂直速度为爬升速度和下降速度中的任一项。Wherein, the left display area of the flight guide compass on the flight guide page after switching the background screen displays the current flight speed of the drone and the wind speed and direction of the environment in which the drone is located. The right display area of the guidance compass displays the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed.根据权利要求60所述的飞行指引方法，其特征在于，在所述无人机的 上方和/或下方感知到障碍物时，所述飞行指引罗盘的右侧显示区域还显示有障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。The flight guidance method according to claim 60, wherein when an obstacle is sensed above and/or below the UAV, the right display area of the flight guidance compass also displays an obstacle indicator bar , The obstacle indicator bar is used to indicate the distance between the drone and the obstacle.根据权利要求60所述的飞行指引方法，其特征在于，所述飞行指引罗盘的右侧显示区域还显示有飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的。The flight guidance method according to claim 60, wherein the right display area of the flight guidance compass also displays a flight distance indicator line, and the flight distance indicator line is used to indicate that the drone is in a vertical direction. The length of the flight distance indicator line is determined according to the vertical speed of the UAV and the preset time.一种控制终端，其特征在于，所述控制终端包括显示装置、存储器和处理器，所述控制终端与一无人机通信连接；A control terminal, characterized in that the control terminal includes a display device, a memory and a processor, and the control terminal is communicatively connected with an unmanned aerial vehicle;所述存储器用于存储计算机程序；The memory is used to store a computer program;所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:通过所述显示装置显示飞行指引页面；Displaying a flight guidance page through the display device;获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.根据权利要求63所述的控制终端，其特征在于，所述处理器实现根据所述操作在所述飞行指引页面生成运动矢量图标时，用于实现：The control terminal according to claim 63, wherein the processor realizes that when a motion vector icon is generated on the flight guidance page according to the operation, it is configured to realize:获取所述无人机的当前姿态和IMU的测量数据；Acquiring the current attitude of the UAV and the measurement data of the IMU;根据所述操作、当前姿态和IMU的测量数据在所述飞行指引页面生成运动矢量图标。A motion vector icon is generated on the flight guidance page according to the operation, the current attitude and the measurement data of the IMU.根据权利要求63所述的控制终端，其特征在于，所述运动矢量图标包括若干条线段和圆形图标，每条所述线段均与所述圆形图标连接。The control terminal according to claim 63, wherein the motion vector icon includes a plurality of line segments and circular icons, and each of the line segments is connected to the circular icon.根据权利要求63所述的控制终端，其特征在于，所述飞行指引页面还包括所述无人机的机头图标，所述机头图标与所述运动矢量图标之间显示有连线，所述连线用于表示所述无人机的飞行动力。The control terminal according to claim 63, wherein the flight guidance page further includes a nose icon of the drone, and a line is displayed between the nose icon and the motion vector icon, so The line is used to indicate the flight power of the UAV.根据权利要求66所述的控制终端，其特征在于，所述运动矢量图标的位置用于表示所述无人机的飞行方向。The control terminal according to claim 66, wherein the position of the motion vector icon is used to indicate the flying direction of the drone.根据权利要求66所述的控制终端，其特征在于，所述操作为打杆操作，所述连线的长度是根据所述打杆操作的打杆量确定的。The control terminal according to claim 66, wherein the operation is a lever operation, and the length of the connection line is determined according to the amount of the lever of the lever operation.根据权利要求68所述的控制终端，其特征在于，所述连线的长度与所述打杆操作的打杆量正相关。The control terminal according to claim 68, wherein the length of the connection line is positively correlated with the amount of stroke of the stroke operation.根据权利要求63所述的控制终端，其特征在于，所述飞行指引页面还包括所述无人机的姿态指示线，所述姿态指示线用于表示所述无人机的当前姿态。The control terminal according to claim 63, wherein the flight guide page further includes an attitude indicating line of the drone, and the attitude indicating line is used to indicate the current attitude of the drone.根据权利要求70所述的控制终端，其特征在于，所述姿态指示线随着所述无人机的姿态的变化而发生变化。The control terminal according to claim 70, wherein the attitude indication line changes with the attitude of the drone.根据权利要求71所述的控制终端，其特征在于，所述姿态指示线为海平线或地平线，所述姿态指示线在所述飞行指引页面内的上下方向的移动表示所述无人机的俯仰角发生变化，所述姿态指示线的左右倾斜表示所述无人机的横滚角发生变化。The control terminal according to claim 71, wherein the attitude indication line is sea level or horizon, and the upward and downward movement of the attitude indication line in the flight guidance page indicates the pitch of the drone The angle changes, and the left and right inclination of the attitude indication line indicates that the roll angle of the UAV has changed.根据权利要求72所述的控制终端，其特征在于，所述姿态指示线向上移动表示所述无人机的俯仰角为俯角，所述无人机向下倾斜；The control terminal according to claim 72, wherein the upward movement of the attitude indication line indicates that the pitch angle of the drone is a depression angle, and the drone is tilted downward;所述姿态指示线向下移动表示所述无人机的俯仰角为仰角，所述无人机向上倾斜；The downward movement of the attitude indication line indicates that the pitch angle of the drone is the elevation angle, and the drone is tilted upward;所述姿态指示线向左倾斜表示所述无人机的横滚角为右横滚角，所述无人机向右倾斜；If the attitude indication line is inclined to the left, it means that the roll angle of the drone is a right roll angle, and the drone is inclined to the right;所述姿态指示线向右倾斜表示所述无人机的横滚角为左横滚角，所述无人机向左倾斜。The tilt of the attitude indication line to the right indicates that the roll angle of the drone is the left roll angle, and the drone is tilted to the left.根据权利要求63所述的控制终端，其特征在于，所述飞行指引页面还包括所述无人机的拍摄装置的当前画面。The control terminal according to claim 63, wherein the flight guide page further includes a current picture of the camera of the drone.根据权利要求63所述的控制终端，其特征在于，所述飞行指引页面还包括所述无人机的返航点、当前飞行速度、当前相对高度和当前绝对高度，其中，所述当前相对高度为所述无人机在当前位置相对于所述返航点的高度。The control terminal according to claim 63, wherein the flight guidance page further includes the home point, current flight speed, current relative altitude, and current absolute altitude of the drone, wherein the current relative altitude is The altitude of the drone at the current position relative to the home point.根据权利要求75所述的控制终端，其特征在于，所述飞行指引页面还包括速度指示条和高度指示条，所述速度指示条用于指示所述无人机的飞行速度，所述高度指示条用于指示所述无人机的高度，所述速度指示条上显示有所述当前飞行速度，所述高度指示条上显示有所述当前相对高度。The control terminal according to claim 75, wherein the flight guide page further comprises a speed indicator bar and an altitude indicator bar, the speed indicator bar is used to indicate the flight speed of the drone, and the altitude indicator The bar is used to indicate the altitude of the drone, the current flight speed is displayed on the speed indicator bar, and the current relative altitude is displayed on the altitude indicator bar.根据权利要求76所述的控制终端，其特征在于，所述速度指示条显示有多条速度刻度线和每条所述速度刻度线各自对应的飞行速度，所述高度指示条上显示有多条高度刻度线和每条所述高度刻度线各自对应的相对高度，所述相对高度为所述无人机相对于返航点的高度。The control terminal according to claim 76, wherein the speed indicator bar displays a plurality of speed scale lines and the flight speed corresponding to each of the speed scale lines, and the altitude indicator bar displays a plurality of speed scale lines. The height scale line and the relative height corresponding to each of the height scale lines respectively, and the relative height is the height of the drone relative to the home point.根据权利要求76所述的控制终端，其特征在于，所述飞行指引页面还包括所述无人机的垂直速度、所述无人机所处环境的风速和风向，其中，所述 垂直速度包括爬升速度或者下降速度。The control terminal according to claim 76, wherein the flight guidance page further includes the vertical speed of the drone, and the wind speed and direction of the environment in which the drone is located, wherein the vertical speed includes Climbing speed or descent speed.根据权利要求78所述的控制终端，其特征在于，所述无人机所处环境的风速和风向显示在所述速度指示条的下方显示区域，所述无人机的垂直速度显示在所述高度指示条的下方显示区域。The control terminal according to claim 78, wherein the wind speed and wind direction of the environment in which the drone is located are displayed in the display area below the speed indicator bar, and the vertical speed of the drone is displayed in the The display area below the height indicator bar.根据权利要求63所述的控制终端，其特征在于，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指示页面还包括障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。The control terminal according to claim 63, wherein when an obstacle is sensed above and/or below the drone, the flight instruction page further includes an obstacle indicator bar, and the obstacle indicator bar It is used to indicate the distance between the drone and the obstacle.根据权利要求80所述的控制终端，其特征在于，所述障碍物指示条的长度随着所述无人机与障碍物之间的距离的变化而发生变化。The control terminal according to claim 80, wherein the length of the obstacle indicator bar changes as the distance between the drone and the obstacle changes.根据权利要求80所述的控制终端，其特征在于，所述无人机与障碍物之间的距离是根据所述无人机的图像传感器、雷达和/或测距传感器确定的。The control terminal according to claim 80, wherein the distance between the UAV and the obstacle is determined according to an image sensor, a radar and/or a ranging sensor of the UAV.根据权利要求80所述的控制终端，其特征在于，所述无人机与障碍物之间的距离大于或等于第一预设距离时，所述障碍物指示条包括第一线段、第二线段和第三线段，且第一线段、第二线段和第三线段的颜色不同。The control terminal according to claim 80, wherein when the distance between the drone and the obstacle is greater than or equal to a first preset distance, the obstacle indicator bar includes a first line segment and a second line segment. The line segment and the third line segment, and the colors of the first line segment, the second line segment, and the third line segment are different.根据权利要求83所述的控制终端，其特征在于，所述无人机与障碍物之间的距离小于第一预设距离，且大于或等于第二预设距离时，所述障碍物指示条包括第一线段和第二线段。The control terminal according to claim 83, wherein when the distance between the drone and the obstacle is less than a first preset distance and greater than or equal to a second preset distance, the obstacle indicator bar Including the first line segment and the second line segment.根据权利要求84所述的控制终端，其特征在于，所述无人机与障碍物之间的距离小于第一预设距离，且大于第二预设距离时，播报第一预设告警声音，所述第一预设告警声音用于提醒用户所述无人机处于避障告警范围内。The control terminal according to claim 84, wherein when the distance between the drone and the obstacle is less than a first preset distance and greater than a second preset distance, a first preset warning sound is broadcast, The first preset warning sound is used to remind the user that the drone is within the obstacle avoidance warning range.根据权利要求85所述的控制终端，其特征在于，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，所述障碍物指示条包括第一线段。The control terminal according to claim 85, wherein when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, the obstacle indicator bar Including the first line segment.根据权利要求86所述的控制终端，其特征在于，所述无人机与障碍物之间的距离小于第二预设距离，且大于或等于第三预设距离时，播报第二预设告警声音，所述第二预设告警声音用于提醒用户所述无人机处于避障刹停范围内。The control terminal according to claim 86, wherein when the distance between the drone and the obstacle is less than a second preset distance and greater than or equal to a third preset distance, a second preset alarm is broadcast Sound, the second preset warning sound is used to remind the user that the drone is within the obstacle avoidance braking range.根据权利要求87所述的控制终端，其特征在于，所述无人机与障碍物之间的距离达到第四预设距离时，控制所述无人机刹停，其中，所述第三预设距离大于所述第四预设距离。The control terminal according to claim 87, wherein when the distance between the drone and the obstacle reaches a fourth preset distance, the drone is controlled to stop, wherein the third preset distance Set the distance to be greater than the fourth preset distance.根据权利要求80所述的控制终端，其特征在于，所述飞行指示页面还包括所述无人机的飞行距离指示线，所述飞行距离指示线用于指示所述无人机 在垂直方向上的飞行距离。The control terminal according to claim 80, wherein the flight instruction page further includes a flight distance indicator line of the drone, and the flight distance indicator line is used to indicate that the drone is in a vertical direction. Flight distance.根据权利要求89所述的控制终端，其特征在于，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的，其中，所述垂直速度包括爬升速度或者下降速度。The control terminal according to claim 89, wherein the length of the flight distance indication line is determined according to the vertical speed of the UAV and a preset time, wherein the vertical speed includes a climb speed or a descent speed. speed.根据权利要求89所述的控制终端，其特征在于，所述障碍物指示条与所述飞行距离指示线相邻显示，使得用户能够根据相邻显示的障碍物指示条与所述飞行距离指示线确定所述无人机是否安全。The control terminal according to claim 89, wherein the obstacle indicator bar is displayed adjacent to the flight distance indicator line, so that the user can follow the obstacle indicator bar displayed adjacently to the flight distance indicator line. Determine whether the drone is safe.根据权利要求91所述的控制终端，其特征在于，所述障碍物指示条和所述飞行距离指示线的颜色不同。The control terminal according to claim 91, wherein the obstacle indicator bar and the flying distance indicator line have different colors.根据权利要求89所述的控制终端，其特征在于，所述飞行指示页面还包括高度指示条，所述障碍物指示条和所述飞行距离指示线显示在所述高度指示条上。The control terminal according to claim 89, wherein the flight instruction page further comprises an altitude indicator bar, and the obstacle indicator bar and the flight distance indicator line are displayed on the altitude indicator bar.根据权利要求63至93中任一项所述的控制终端，其特征在于，所述飞行指引页面还包括飞行指引罗盘，所述飞行指引罗盘用于表示所述无人机周围预设距离的空间区域。The control terminal according to any one of claims 63 to 93, wherein the flight guidance page further comprises a flight guidance compass, and the flight guidance compass is used to indicate a space with a preset distance around the drone area.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘的附近显示有所述无人机的机头朝向对应的角度数值，显示的所述角度数值用于指示所述无人机的机头朝向，其中，所述角度数值是所述无人机的机头朝向相对于正北方向、正南方向、正西方向或者正东方向的角度。The control terminal according to claim 94, wherein an angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the unmanned aircraft The nose orientation of the drone, wherein the angle value is the angle of the drone's nose orientation relative to the true north, true south, true west, or true east direction.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘随着所述无人机的旋转而发生旋转。The control terminal according to claim 94, wherein the flight guidance compass rotates with the rotation of the drone.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘的中心区域显示有无人机图标，所述无人机图标用于表示所述无人机，所述无人机图标不随着所述无人机的旋转而发生旋转。The control terminal according to claim 94, wherein a drone icon is displayed in a central area of the flight guidance compass, the drone icon is used to represent the drone, and the drone icon Does not rotate with the rotation of the drone.根据权利要求97所述的控制终端，其特征在于，所述无人机图标为箭头图标，所述箭头图标指向所述飞行指引页面的上方，所述箭头图标的朝向与所述无人机的机头朝向一致。The control terminal according to claim 97, wherein the drone icon is an arrow icon, the arrow icon points to the top of the flight guidance page, and the direction of the arrow icon is the same as that of the drone. The nose is facing the same.根据权利要求97所述的控制终端，其特征在于，所述飞行指引罗盘的中心区域还显示有所述无人机的速度指示线，所述速度指示线与所述无人机图标相交，所述速度指示线用于指示所述无人机的飞行速度和飞行方向。The control terminal according to claim 97, wherein the center area of the flight guidance compass also displays a speed indicator line of the drone, and the speed indicator line intersects the drone icon, so The speed indication line is used to indicate the flight speed and flight direction of the UAV.根据权利要求99所述的控制终端，其特征在于，所述速度指示线的朝向随着所述无人机的飞行方向的变化而发生变化。The control terminal according to claim 99, wherein the direction of the speed indication line changes as the flying direction of the drone changes.根据权利要求99所述的控制终端，其特征在于，所述速度指示线的长度随着所述无人机的飞行速度的变化而发生变化。The control terminal according to claim 99, wherein the length of the speed indication line changes with the flight speed of the drone.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘的边缘区域显示有正东方向、正西方向、正南方向和正北方向各自对应的指示字符。The control terminal according to claim 94, wherein the edge area of the flight guidance compass displays indication characters corresponding to each of the true east direction, the true west direction, the true south direction, and the true north direction.根据权利要求102所述的控制终端，其特征在于，所述飞行指引罗盘的边缘区域还显示有云台图标，所述云台图标用于表示所述无人机的云台，所述云台图标在所述边缘区域中的位置是根据所述云台的Yaw轴的朝向确定的。The control terminal according to claim 102, wherein the edge area of the flight guidance compass also displays a pan/tilt icon, the pan/tilt icon is used to indicate the pan/tilt of the drone, the pan/tilt The position of the icon in the edge area is determined according to the direction of the Yaw axis of the pan/tilt.根据权利要求103所述的控制终端，其特征在于，所述无人机包括多个云台时，所述飞行指引罗盘的边缘区域显示有每个云台各自对应的云台图标，且每个云台图标的颜色不同。The control terminal according to claim 103, wherein when the drone includes multiple pan-tilts, the edge area of the flight guidance compass displays a pan-tilt icon corresponding to each pan-tilt. The color of the pan-tilt icon is different.根据权利要求103所述的控制终端，其特征在于，所述云台图标在所述边缘区域中的位置随着所述云台的Yaw轴的朝向的变化而发生变化。The control terminal according to claim 103, wherein the position of the pan/tilt icon in the edge area changes with the change of the direction of the Yaw axis of the pan/tilt.根据权利要求102所述的控制终端，其特征在于，所述飞行指引罗盘的边缘区域还显示有多条角度刻度线和每条所述角度刻度线各自对应的角度数值。The control terminal according to claim 102, wherein the edge area of the flight guidance compass further displays a plurality of angle scale lines and an angle value corresponding to each of the angle scale lines.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘显示有所述无人机的返航点图标，所述返航点图标用于表示所述无人机的返航点，所述返航点图标在所述飞行指引罗盘上的位置是根据所述无人机的返航点相对于所述无人机的方向和距离确定的。The control terminal according to claim 94, wherein the flight guidance compass displays a home point icon of the drone, and the home point icon is used to indicate the home point of the drone, and The position of the home point icon on the flight guidance compass is determined according to the direction and distance of the home point of the drone relative to the drone.根据权利要求107所述的控制终端，其特征在于，在所述无人机的返航点相对于所述无人机的距离小于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的内部，在所述无人机的返航点相对于所述无人机的距离大于或等于所述预设距离时，所述返航点图标位于所述飞行指引罗盘的边缘区域的内侧。The control terminal according to claim 107, wherein when the distance between the home point of the drone and the drone is less than the preset distance, the home point icon is located in the flight guide Inside the compass, when the distance between the home point of the drone and the drone is greater than or equal to the preset distance, the home point icon is located inside the edge area of the flight guidance compass.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘还包括标记点图标，所述标记点图标用于表示所述无人机标记的空间点，所述标记点图标在所述飞行指引罗盘上的位置是根据所述标记的空间点相对于所述无人机的方向和距离确定的。The control terminal according to claim 94, wherein the flight guidance compass further comprises a mark point icon, the mark point icon is used to indicate a space point marked by the drone, and the mark point icon is located The position on the flight guidance compass is determined according to the direction and distance of the marked spatial point relative to the drone.根据权利要求109所述的控制终端，其特征在于，所述飞行指引罗盘的附近还显示有标记的空间点相对于所述无人机的距离和所述标记点图标。The control terminal according to claim 109, wherein the distance of the marked space point relative to the drone and the marked point icon are also displayed near the flight guidance compass.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘 还包括跟随图标，所述跟随图标用于表示所述无人机跟随的对象，所述跟随图标在所述飞行指引罗盘上的位置是根据所述无人机跟随的对象相对于所述无人机的方向和距离确定的。The control terminal according to claim 94, wherein the flight guidance compass further comprises a follow icon, the follow icon is used to indicate an object followed by the drone, and the follow icon is displayed on the flight guidance compass. The upper position is determined according to the direction and distance of the object followed by the drone relative to the drone.根据权利要求111所述的控制终端，其特征在于，所述飞行指引罗盘的附近还显示有所述无人机跟随的对象相对于所述无人机的距离和所述跟随图标。The control terminal according to claim 111, wherein the distance of the object followed by the drone relative to the drone and the follow icon are also displayed near the flight guidance compass.根据权利要求94所述的控制终端，其特征在于，在所述无人机的至少一个方向上感知到障碍物时，所述飞行指引罗盘显示障碍物图标，所述障碍物图标用于表示所述无人机感知到的障碍物。The control terminal according to claim 94, wherein when an obstacle is sensed in at least one direction of the drone, the flight guidance compass displays an obstacle icon, and the obstacle icon is used to indicate all obstacles. State the obstacles perceived by the drone.根据权利要求113所述的控制终端，其特征在于，所述无人机的至少一个方向包括所述无人机的前方、后方、左方和后方中的至少一个。The control terminal according to claim 113, wherein at least one direction of the drone includes at least one of front, rear, left, and rear of the drone.根据权利要求113所述的控制终端，其特征在于，所述障碍物图标在所述飞行指引罗盘的位置是根据感知到的障碍物相对于所述无人机的方向确定的。The control terminal according to claim 113, wherein the position of the obstacle icon on the flight guidance compass is determined according to the direction of the perceived obstacle relative to the drone.根据权利要求113所述的控制终端，其特征在于，所述障碍物图标的形状是根据感知到的障碍物的形状确定的。The control terminal according to claim 113, wherein the shape of the obstacle icon is determined according to the perceived shape of the obstacle.根据权利要求113所述的控制终端，其特征在于，所述障碍物图标的形状是根据感知到的障碍物与所述无人机之间的距离确定的。The control terminal according to claim 113, wherein the shape of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.根据权利要求113所述的控制终端，其特征在于，所述障碍物图标的颜色和/或大小是根据感知到的障碍物与所述无人机之间的距离确定的。The control terminal according to claim 113, wherein the color and/or size of the obstacle icon is determined according to the perceived distance between the obstacle and the drone.根据权利要求113所述的控制终端，其特征在于，在感知到的障碍物与所述无人机之间的距离小于或等于预设告警距离时，所述障碍物图标以间隔预设时长闪烁，和/或，播报告警提示音，以提醒用户避开障碍物。The control terminal according to claim 113, wherein when the distance between the perceived obstacle and the UAV is less than or equal to a preset warning distance, the obstacle icon flashes at intervals for a preset duration , And/or, broadcast the report warning tone to remind the user to avoid obstacles.根据权利要求94所述的控制终端，其特征在于，所述飞行指引罗盘包括障碍物感知盲区和障碍物感知区域，所述障碍物感知盲区和障碍物感知区域的颜色不同。The control terminal according to claim 94, wherein the flight guidance compass comprises an obstacle sensing blind zone and an obstacle sensing area, and the obstacle sensing blind zone and the obstacle sensing area have different colors.根据权利要求120所述的控制终端，其特征在于，所述障碍物感知盲区的数量是根据所述无人机的旋翼的数量确定的。The control terminal according to claim 120, wherein the number of obstacle perception blind areas is determined according to the number of rotors of the drone.根据权利要求94所述的控制终端，其特征在于，所述处理器还用于实现以下步骤：The control terminal according to claim 94, wherein the processor is further configured to implement the following steps:获取用户触发的画面切换指令，并将所述飞行指引页面的背景画面由当前图传画面切换为所述画面切换指令对应的画面；Acquiring the screen switching instruction triggered by the user, and switching the background screen of the flight guidance page from the current image transmission screen to the screen corresponding to the screen switching instruction;其中，切换背景画面后的飞行指引页面中的所述飞行指引罗盘的左侧显示区域显示有所述无人机的当前飞行速度以及所述无人机所处环境的风速和风向，所述飞行指引罗盘的右侧显示区域显示有所述无人机相对于返航点的高度、所述无人机的当前绝对高度和垂直速度，所述垂直速度为爬升速度和下降速度中的任一项。Wherein, the left display area of the flight guide compass on the flight guide page after switching the background screen displays the current flight speed of the drone and the wind speed and direction of the environment in which the drone is located. The right display area of the guidance compass displays the altitude of the drone relative to the home point, the current absolute altitude and the vertical speed of the drone, and the vertical speed is any one of the climb speed and the descent speed.根据权利要求122所述的控制终端，其特征在于，在所述无人机的上方和/或下方感知到障碍物时，所述飞行指引罗盘的右侧显示区域还显示有障碍物指示条，所述障碍物指示条用于指示所述无人机与障碍物之间的距离。The control terminal according to claim 122, wherein when an obstacle is sensed above and/or below the drone, the right display area of the flight guidance compass also displays an obstacle indicator bar, The obstacle indicator bar is used to indicate the distance between the drone and the obstacle.根据权利要求122所述的控制终端，其特征在于，所述飞行指引罗盘的右侧显示区域还显示有飞行距离指示线，所述飞行距离指示线用于指示所述无人机在垂直方向上的飞行距离，所述飞行距离指示线的长度是根据所述无人机的垂直速度和预设时间确定的。The control terminal according to claim 122, wherein the right display area of the flight guidance compass also displays a flight distance indicator line, and the flight distance indicator line is used to indicate that the drone is in a vertical direction. The length of the flight distance indicator line is determined according to the vertical speed of the UAV and the preset time.一种飞行指引装置，其特征在于，应用于控制终端，所述控制终端与一无人机进行通信，所述飞行指引装置包括处理器和存储器；A flight guidance device, characterized in that it is applied to a control terminal, the control terminal communicates with an unmanned aerial vehicle, and the flight guidance device includes a processor and a memory;所述存储器用于存储计算机程序；The memory is used to store a computer program;所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:控制所述控制终端显示飞行指引页面；Controlling the control terminal to display a flight guidance page;获取用户对所述控制终端的操作，所述操作用于生成控制命令以控制所述无人机；Acquiring a user's operation on the control terminal, the operation being used to generate a control command to control the drone;根据所述操作在所述飞行指引页面生成运动矢量图标，其中，所述运动矢量图标用于表示所述无人机的飞行方向和飞行动力。A motion vector icon is generated on the flight guide page according to the operation, where the motion vector icon is used to indicate the flight direction and flight power of the drone.一种飞行指引系统，其特征在于，所述飞行指引系统包括无人机和如权利要求63至124中任一项所述的控制终端，所述控制终端与所述无人机通信连接。A flight guidance system, characterized in that the flight guidance system comprises an unmanned aerial vehicle and the control terminal according to any one of claims 63 to 124, and the control terminal is communicatively connected with the unmanned aerial vehicle.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存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1至62中任一项所述的飞行指引方法。A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1 to 62. The flight guidance method described.

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