CN108287557A - Method and device based on ground station control aircraft - Google Patents
Method and device based on ground station control aircraft Download PDFInfo
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- CN108287557A CN108287557A CN201711484099.7A CN201711484099A CN108287557A CN 108287557 A CN108287557 A CN 108287557A CN 201711484099 A CN201711484099 A CN 201711484099A CN 108287557 A CN108287557 A CN 108287557A
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- 238000004590 computer program Methods 0.000 claims description 15
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
An embodiment of the present invention provides a kind of method and device based on ground station control aircraft, method therein includes：Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；Current geographic position coordinate of the earth station according to aircraft described in each selects the target aircraft controlled；Earth station obtains the first control instruction, and first control instruction is to control the original control instruction that aircraft reaches dbjective state；Earth station parses first control instruction, obtains and controls relevant first physical control amount with aircraft；Earth station obtains the current state information of the aircraft；Convert the current state information to the second physical control amount；Earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on the increment, controls the aircraft.The present invention realizes the efficiency for improving aircraft control method.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of method and devices based on ground station control aircraft.
Background technology
Currently, aircraft is widely used in ground mapping, Forest servey, disaster surveillance, logistics express delivery, high-altitude shooting etc.
Field.
In the prior art, the original control instruction method for controlling aircraft being generally arranged by advance model is to boat
Pocket is controlled.However, since control instruction changes at any time, when changing control instruction, it is required for using
Same method controls aircraft, therefore causes control efficiency low.
As it can be seen that the low technical problem of control efficiency exists in the prior art.
Invention content
An embodiment of the present invention provides a kind of method and devices based on ground station control aircraft, for solving existing skill
The method for controlling aircraft in art has that control efficiency is low.
In a first aspect, the present invention provides a kind of methods based on ground station control aircraft, including：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the mesh controlled
Mark aircraft；
The earth station obtains the first control instruction, and first control instruction is to fly to control the target aircraft
Row reaches the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physics with the target aircraft
Controlled quentity controlled variable；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on
The increment controls the target aircraft.
Optionally, the current state information includes：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gas
Stream angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
Optionally, parsing first control instruction, obtains the control relevant first with the target aircraft
Physical control amount, including：
The earth station parses first control instruction, determines the command information for including in first control instruction；
The earth station converts and the control of the target aircraft relevant first physics control described instruction information to
Amount processed.
Optionally, described to convert the current state information to the second physical control amount, including：
The earth station analyzes the correspondence between the current state information and the first physical control amount；
The earth station is converted into the second physical control amount according to the correspondence, by the current state information.
Based on same inventive concept, second aspect of the present invention provides a kind of control device for controlling aircraft,
Including：
Current geographic position coordinate obtaining module obtains the aircraft of each in several aircrafts for earth station
Current geographic position coordinate；
Target aircraft selecting module is sat for the earth station according to the current geographic position of aircraft described in each
Mark selects the target aircraft controlled；
The earth station first obtains module, obtains the first control instruction for the earth station, first control refers to
Enable is to control the original control instruction that aircraft reaches dbjective state；
Parsing module parses first control instruction for the earth station, obtains and controlled with the target aircraft
Relevant first physical control amount；
Second obtains module, and the current state information of the target aircraft is obtained for the earth station；
Conversion module converts the current state information to the second physical control amount for the earth station；
Incremental modular is obtained for the earth station between the first physical control amount and the second physical control amount
Increment, and be based on the increment, the target aircraft is controlled..
Optionally, the current state information includes：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed, gas
It flows one or more in angle, motor speed, control surface deflection angle, atmospheric density, temperature.
Optionally, the parsing module is additionally operable to：
The earth station parses first control instruction, determines the command information for including in first control instruction；
The earth station converts and the control of the target aircraft relevant first physics control described instruction information to
Amount processed.
Optionally, the conversion module is additionally operable to：
The earth station analyzes the correspondence between the current state information and the first physical control amount；
The earth station is converted into the second physical control amount according to the correspondence, by the current state information.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, which realizes following steps when being executed by processor：
The earth station is used to obtain the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the mesh controlled
Mark aircraft；
The earth station obtains the first control instruction, and first control instruction is to fly to control the target aircraft
Row reaches the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physics with the target aircraft
Controlled quentity controlled variable；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on
The increment controls the target aircraft.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
Following steps：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the mesh controlled
Mark aircraft；
The earth station obtains the first control instruction, and first control instruction is to fly to control the target aircraft
Row reaches the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physics with the target aircraft
Controlled quentity controlled variable；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on
The increment controls the target aircraft.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, by parsing control the first control instruction of aircraft, can obtain with
Aircraft controls relevant first physical control amount, so that the first physical control amount is closely related with the posture of aircraft
, then the current state information of the aircraft of acquisition is converted to the second physical control amount, to the second physical control amount
It is closely related with the posture of aircraft, then obtains the increment between the first physical control amount and the second physical control amount, and base
In the increment, the aircraft is controlled, compared with the existing technology in when control instruction changes, every time
According to current control instruction for aircraft controls, calculation amount can be saved, uncertainty is avoided, according to current control
Variable quantity between system instruction and current state controls aircraft, can improve control efficiency, solve the prior art
In the method based on ground station control aircraft there is a problem of that control efficiency is low.
Description of the drawings
Fig. 1 is a kind of flow chart of the method based on ground station control aircraft in the embodiment of the present invention；
Fig. 2 is a kind of structure chart of the controlling party device of aircraft in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of computer equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides an embodiment of the present invention provides a kind of method based on ground station control aircraft and
Device, that there are control efficiencies is low for method for solving the problems, such as in the prior art based on ground station control aircraft.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；The earth station
According to the current geographic position coordinate of aircraft described in each, the target aircraft controlled is selected；Obtain first
Control instruction, first control instruction are to reach the original control of dbjective state to control the target aircraft to refer to
It enables；The earth station parses first control instruction, obtains and controls relevant first physical control amount with aircraft；Describedly
Face station obtains the current state information of the aircraft；Convert the current state information to the second physical control amount；It is described
Earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on the increment, right
The aircraft is controlled.
The above method of the present invention controls the first control instruction of aircraft by parsing, can obtain and be controlled with aircraft
Then relevant first physical control amount will so that the first physical control amount is closely related with the posture of aircraft
The current state information of the aircraft of acquisition is converted into the second physical control amount, to which the second physical control amount is also and aircraft
Posture it is closely related, then obtain the increment between the first physical control amount and the second physical control amount, and be based on the increment,
The aircraft is controlled, compared with the existing technology in when control instruction changes, every time according to current
Control instruction can save calculation amount, avoid uncertainty for aircraft controls, according to current control instruction with work as
Variable quantity between preceding state controls aircraft, can improve control efficiency, solves and is based on ground in the prior art
The method of stand control aircraft has that control efficiency is low.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation of description affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
First aspect present invention provides the method based on ground station control aircraft, referring to FIG. 1, implementing for the present invention
The flow chart of method based on ground station control aircraft in example.
It needing to illustrate first, the method can be applied to the communication command vehicle for controlling and monitoring aircraft,
Or (earth station is a portable box body to the earth station with computer operation control function, and built-in there are one integrated
Laptop) or long-range control terminal (such as control room, monitoring room).In other words, the embodiment of the present invention is upper
State step include the steps that it is following will illustrate, executive agent can be communication command vehicle, allow in this way in vehicle i.e.
The control method method of aircraft can be controlled, can also be the ground with computer operation and Portable outgoing function
Face station, allows in this way in or beyond vehicle or movement can control the method for controlling aircraft；It can also be long-range
Control terminal (such as control room, monitoring room), the control method of aircraft can remotely controlled in this way.And pass through
Communication command vehicle, earth station and long-range control terminal carry out Communication Control according to the equipment such as communications protocol and aircraft, are existing
There is the normal procedure intelligent in technology to control, as the prior art, and the innovation of the invention consists in that, based on communication command vehicle, ground
It stands and long-range control terminal is applied to the control method of the present invention, is controlled aircraft with reaching as executive agent
Technique effect, it is therefore, winged according to communications protocol and aircraft etc. for communication command vehicle, earth station and long-range control terminal
Communication Control between row equipment is controlled using prior art normal procedure intelligent and is realized, the present invention is not limited, under the present invention
In face of elaborating with innovative control method and step.
This method includes：
S110；Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Specifically, the application is specifically used for controlling the aircraft to fly in the air, and fly simultaneously in the air
Aircraft have multiple, then when needing to control a certain frame aircraft at this time, several can be obtained by first choice
The current geographic position coordinate of the aircraft of each in aircraft, the current geographic position according to aircraft described in each
Coordinate screens the aircraft controlled；
S120；Current geographic position coordinate of the earth station according to aircraft described in each, selection are controlled
The target aircraft of system；
In the step 120, following sub-step can also be specifically included：Current geographic according to aircraft described in each
Position coordinates carry out band of position classification, for example, in first position region Zhong Bao to the current location where several aircrafts
Containing 2 aircrafts, which can be using the first position in the first area as the center of circle, with the first distance for radius institute
The round band of position of formation；Include 3 aircrafts in the region of the second position, which can be with the second
The second position in area is the center of circle, and the round band of position is formed by by radius of second distance；Include 5 in the third place region
A aircraft etc., the third place region can be using third area using the third place as the center of circle, using third distance as radius
It is formed by the round band of position；And the band of position that first area and second area are mutual not overlapping region；First ground
Area, the second area and third area can be the different cities in some city, and first position can be a certain in the first area
A building with geographical location identification function, the second position can be in the second area some with geographical location mark
Know the building of function, the third place can be some building with geographical location identification function in third area.
Meanwhile first distance and second distance and third distance can be 50 meters either 100 meters or 200 meters etc..Then from position
Selection target region in region is set, i.e. the target area can be the area for needing to control aircraft in the area
Domain, such as the especially severe region blown or rained of environment；Then it is selecting to be controlled from the target area
Target aircraft.
S130：The earth station obtains the first control instruction, and first control instruction is to control the target boat
Pocket, which flies, reaches the original control instruction of dbjective state.
Specifically, the first control instruction is instructed for controlling the Comprehensive Control of the target aircraft states, comprehensive
Control instruction can be comprehensive amount of speed and posture, or overload, angular speed and the comprehensive amount of dynamic pressure etc., the first control instruction
The action of the target aircraft can be controlled.
S140：The earth station parses first control instruction, obtains and target aircraft control relevant the
One physical control amount.
Specifically, the first control instruction can be comprising pitch rate, normal g-load, the angle of attack, then can be according to control
Ratio shared by Variational Design each section is different according to actual conditions, for example, 80% pitch rate, 10% normal direction mistake
It carries, 10% angle of attack, the instruction of above-mentioned Comprehensive Control is parsed, the first physical control relevant to the control of aircraft is obtained
Amount：Angular acceleration.
S150：The earth station obtains the current state information of the target aircraft；
Specifically, above-mentioned current state information includes：Flying speed, dynamic pressure, overload, height, attitude angle, angular speed,
Flow angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
S160：The earth station converts the current state information to the second physical control amount.
In specific implementation process, since aforementioned obtained controls relevant first physics with the target aircraft
Controlled quentity controlled variable then can control relevant relationship by current state information and the target aircraft, carry out Variational Design, will work as
Preceding status information is converted into the second physical control amount, wherein the second physical control amount is to include with the first physical control amount
The amount of identical information, for example, if the first physical control amount is rate controlling amount, the second physical control amount is also speed
Controlled quentity controlled variable, if the first physical control amount is angular acceleration controlled quentity controlled variable, the second physical control amount is also angular acceleration controlled quentity controlled variable.
S170：The earth station obtains the increment between the first physical control amount and the second physical control amount,
And it is based on the increment, the target aircraft is controlled.
Specifically, it is poor to make the value of the value of the first physical control amount and the second physical control amount, then can obtain
Increment is then based on increment and controls aircraft.By taking the first physical control amount is angular acceleration as an example, the first physical control
The value of amount is 20, and the value of the second physical control amount is 8, then increment is 8, and angular acceleration increment is then switched to aircraft torque
Variable quantity, and then obtain the rotating speed of motor.If using method in the prior art, when angular acceleration instruction is 20, then will
It is converted into corresponding moment variations amount, when angular acceleration instruction is 25, is equally translated into corresponding moment variations amount,
It is and unrelated with the historical variations situation of the aircraft, and it is possible to which that the same angular acceleration instruction can correspond to the value of multiple torques
(when the correspondence between angular acceleration and torque is parabola), will cause control ground uncertain, and calculate at this time
Measure it is larger, to control efficiency it is low.And the method in the application, it can be directly according to the change of current control instruction and current state
Change value, that is, increment, is controlled, and control efficiency can be greatly improved.
As a kind of optional embodiment, the first control instruction is parsed, obtains relevant first object of control with aircraft
Reason controlled quentity controlled variable can be realized by following methods：
The first control instruction is parsed, determines the command information for including in first control instruction；
Convert described instruction information to the relevant first physical control amount of the control with aircraft.
For example, the first control instruction can include pitch rate, normal g-load, the angle of attack, such as 80% pitching
Then rate, 10% normal g-load and 10% angle of attack are translated into the first physical control angulation rate by calculating
60deg/s。
As a kind of optional embodiment, it converts current state information to the second physical control amount, including：
Analyze the correspondence between current state information and the first physical control amount；
According to correspondence, it converts current state information to the second physical control amount.
For example, current state information has corresponding correspondence, such as speed and angle with the first physical control amount
Then relationship, deflection angle between acceleration and the relationship between angular speed are converted correspondence to by designing controller
The value of angular acceleration, i.e. the second physical control amount.
Embodiment two
Based on inventive concept same as the method based on ground station control aircraft in aforementioned first aspect, the present invention is real
It applies example two and additionally provides the control device of aircraft, as shown in Fig. 2, including：
Current geographic position coordinate obtaining module 210 obtains the boat of each in several aircrafts for earth station
The current geographic position coordinate of pocket；
Target aircraft selecting module 220 is used for current geographic position of the earth station according to aircraft described in each
Coordinate is set, the target aircraft controlled is selected；
First obtain module 230, for the earth station obtain the first control instruction, first control instruction be to
Control the original control instruction that the target aircraft reaches dbjective state；
Parsing module 240 parses first control instruction for the earth station, obtains and the target aircraft control
Make relevant first physical control amount；
Second obtains module 250, and the current state information of the target aircraft is obtained for the earth station；
Conversion module 260 converts the current state information to the second physical control amount for the earth station；
Incremental modular 270 obtains the first physical control amount and the second physical control amount for the earth station
Between increment, and be based on the increment, the target aircraft is controlled..
Device provided in this embodiment, current state information include：Flying speed, dynamic pressure, overload, height, attitude angle, angle
It is one or more in rate, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.
In device provided in this embodiment, parsing module 203 is additionally operable to：
The earth station parses first control instruction, determines the command information for including in first control instruction；
The earth station converts described instruction information to the relevant first physical control amount of the control with aircraft.
In device provided in this embodiment, conversion module 204 is additionally operable to：
The earth station analyzes the correspondence between the current state information and the first physical control amount；
The earth station is converted into the second physical control amount according to the correspondence, by the current state information.
The various change mode and specific example of the method based on ground station control aircraft in 1 embodiment of earlier figures are same
Sample is suitable for the control device of the aircraft of the present embodiment, by aforementioned to the detailed of the method based on ground station control aircraft
Description, those skilled in the art are clear that the implementation of the control device of aircraft in the present embodiment, so being
Specification it is succinct, this will not be detailed here.
Embodiment three
Based on inventive concept same as the method based on ground station control aircraft in previous embodiment one, the present invention is real
It applies example three and additionally provides a kind of computer readable storage medium, as shown in figure 3, it is stored thereon with computer program, the program quilt
Processor realizes following steps when executing：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the mesh controlled
Mark aircraft；
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control aircraft
The original control instruction of mark state；
The earth station parses first control instruction, obtains and controls relevant first physical control amount with aircraft；
The earth station obtains the current state information of the aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on
The increment controls the aircraft.
The various change mode and specific example of the method based on ground station control aircraft in 1 embodiment of earlier figures are same
Sample is suitable for the computer readable storage medium of the aircraft of the present embodiment, by aforementioned to based on ground station control aircraft
The detailed description of method, those skilled in the art are clear that the implementation of the present embodiment Computer readable storage medium storing program for executing
Method, so in order to illustrate the succinct of book, this will not be detailed here.
Example IV
Based on inventive concept same as the method based on ground station control aircraft in previous embodiment one, the present invention is real
It applies example four and additionally provides a kind of computer equipment, including memory 401, processor 402 and storage on a memory and can located
The computer program 403 run on reason device, the processor realize following steps when executing described program：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the mesh controlled
Mark aircraft；
The earth station obtains the first control instruction, and first control instruction is to reach mesh to control aircraft
The original control instruction of mark state；
The earth station parses first control instruction, obtains and controls relevant first physical control amount with aircraft；
The earth station obtains the current state information of the aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and is based on
The increment controls the aircraft.
For convenience of description, it illustrates only and does not disclose, ask with the relevant part of the embodiment of the present invention, particular technique details
With reference to present invention method part.Memory 401 can be used for storing computer program 403, and above computer program includes
Software program, module and data, processor 402 execute the computer program 403 for being stored in memory 401 by running, to
Execute various function application and the data processing of electronic equipment.
In specific implementation process, memory 401 can be used for storing software program and module, processor 402 pass through
Operation is stored in the software program and module of memory 401, to execute the various function application and data of electronic equipment
Processing.Memory 401 can include mainly storing program area and storage data field, wherein storing program area can storage program area,
Application program etc. needed at least one function；Storage data field can be stored uses created data according to electronic equipment
Deng.In addition, memory 401 may include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipment
Center is stored in memory using the various pieces of various interfaces and the entire electronic equipment of connection by running or executing
Software program in 401 and/or module, and the data being stored in memory 401 are called, execute the various work(of electronic equipment
Data can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processing
Unit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong Hujie
Face and application program etc..
The various change mode and specific example of the method based on ground station control aircraft in 1 embodiment of earlier figures are same
Sample is suitable for the computer equipment of the aircraft of the present embodiment, by aforementioned to the detailed of the method based on ground station control aircraft
Thin description, those skilled in the art are clear that the implementation of the present embodiment Computer equipment, so in order to say
Bright book it is succinct, this will not be detailed here.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, by parsing control the first control instruction of aircraft, can obtain with
Aircraft controls relevant first physical control amount, so that the first physical control amount is closely related with the posture of aircraft
, then the current state information of the aircraft of acquisition is converted to the second physical control amount, to the second physical control amount
It is closely related with the posture of aircraft, then obtains the increment between the first physical control amount and the second physical control amount, and base
In the increment, the aircraft is controlled, compared with the existing technology in when control instruction changes, every time
According to current control instruction for aircraft controls, calculation amount can be saved, uncertainty is avoided, according to current control
Variable quantity between system instruction and current state controls aircraft, can improve control efficiency, solve the prior art
In the method based on ground station control aircraft there is a problem of that control efficiency is low.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method based on ground station control aircraft, which is characterized in that including：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the target controlled boat
Pocket；
The earth station obtains the first control instruction, and first control instruction is to be reached to control the target aircraft
To the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physical control with the target aircraft
Amount；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and based on described
Increment controls the target aircraft.
2. the method as described in claim 1, which is characterized in that the current state information includes：Flying speed, dynamic pressure, mistake
Load, height, attitude angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature are one or more.
3. the method as described in claim 1, which is characterized in that parsing first control instruction obtains and the mesh
The relevant first physical control amount of control of aircraft is marked, including：
The earth station parses first control instruction, determines the command information for including in first control instruction；
The earth station converts and the control of the target aircraft relevant first physical control amount described instruction information to.
4. the method as described in claim 1, which is characterized in that described to convert the current state information to the second physics control
Amount processed, including：
The earth station analyzes the correspondence between the current state information and the first physical control amount；
The earth station is converted into the second physical control amount according to the correspondence, by the current state information.
5. a kind of device for being controlled aircraft, which is characterized in that including：
Current geographic position coordinate obtaining module obtains working as the aircraft of each in several aircrafts for earth station
Preceding geographical position coordinates；
Target aircraft selecting module is used for current geographic position coordinate of the earth station according to aircraft described in each,
Select the target aircraft controlled；
First obtains module, obtains the first control instruction for the earth station, first control instruction is to control
State the original control instruction that target aircraft reaches dbjective state；
Parsing module parses first control instruction for the earth station, obtains related to the target aircraft control
The first physical control amount；
Second obtains module, and the current state information of the target aircraft is obtained for the earth station；
Conversion module converts the current state information to the second physical control amount for the earth station；
Incremental modular obtains the increasing between the first physical control amount and the second physical control amount for the earth station
Amount, and it is based on the increment, the target aircraft is controlled.
6. device as claimed in claim 5, which is characterized in that the current state information includes：Flying speed, dynamic pressure, mistake
It is one or more in load, height, attitude angle, angular speed, flow angle, motor speed, control surface deflection angle, atmospheric density, temperature.
7. device as claimed in claim 5, which is characterized in that the parsing module is additionally operable to：
The earth station parses first control instruction, determines the command information for including in first control instruction；
The earth station converts and the control of the target aircraft relevant first physical control amount described instruction information to.
8. device as claimed in claim 5, which is characterized in that the conversion module is additionally operable to：
The earth station analyzes the correspondence between the current state information and the first physical control amount；
The earth station is converted into the second physical control amount according to the correspondence, by the current state information.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Following steps are realized when row：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the target controlled boat
Pocket；
The earth station obtains the first control instruction, and first control instruction is to be reached to control the target aircraft
To the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physical control with the target aircraft
Amount；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and based on described
Increment controls the target aircraft.
10. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, which is characterized in that the processor realizes following steps when executing described program：
Earth station obtains the current geographic position coordinate of the aircraft of each in several aircrafts；
Current geographic position coordinate of the earth station according to aircraft described in each selects the target controlled boat
Pocket；
The earth station obtains the first control instruction, and first control instruction is to be reached to control the target aircraft
To the original control instruction of dbjective state；
The earth station parses first control instruction, obtains and controls relevant first physical control with the target aircraft
Amount；
The earth station obtains the current state information of the target aircraft；
The earth station converts the current state information to the second physical control amount；
The earth station obtains the increment between the first physical control amount and the second physical control amount, and based on described
Increment controls the target aircraft.
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| CN201711484099.7A CN108287557A (en) | 2017-12-29 | 2017-12-29 | Method and device based on ground station control aircraft |
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Application publication date: 20180717 |