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CN110262540A - The method and apparatus that flight control is carried out to aircraft - Google Patents

The method and apparatus that flight control is carried out to aircraft Download PDF

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Publication number
CN110262540A
CN110262540A CN201810202224.9A CN201810202224A CN110262540A CN 110262540 A CN110262540 A CN 110262540A CN 201810202224 A CN201810202224 A CN 201810202224A CN 110262540 A CN110262540 A CN 110262540A
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China
Prior art keywords
center
flight control
aircraft
control information
relative position
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CN201810202224.9A
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Chinese (zh)
Inventor
吴加春
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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Priority to CN201810202224.9A priority Critical patent/CN110262540A/en
Publication of CN110262540A publication Critical patent/CN110262540A/en
Pending legal-status Critical Current

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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
    • 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
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The disclosure is directed to the method and apparatus that a kind of pair of aircraft carries out flight control, belong to flying vehicles control technical field.The described method includes: determining corresponding second flight control information of carry equipment center according to the relative positional relationship between corresponding first flight control information of control reference center and carry equipment center and control reference center；According to the second flight control information, flight control is carried out.Using the disclosure, the controller of aircraft can carry out flight control according to corresponding second flight control information of carry equipment center, be equivalent to and be transferred to carry equipment center and carry out flight control control reference center.To either allow aircraft to hover in the sky still and fly in the sky, the position of carry equipment center can be kept motionless or be smoothly moved.

Description

Method and device for flight control of an aircraft
Technical Field
The present disclosure relates to the field of aircraft control technologies, and in particular, to a method and an apparatus for flight control of an aircraft.
Background
Unmanned aerial vehicle uses in more and more fields, can carry the image shooting device in unmanned aerial vehicle's bottom mount for example, carries out high altitude aerial photography operation.
Generally, an unmanned aerial vehicle performs flight control by using a geometric center of a body or a position of a GPS (Global Positioning System) antenna as a control reference center. That is, the flight control information of the control reference center is acquired, and based on the flight control information, the flight control is performed with the purpose that the control reference center flies according to the instruction of the user. For example, the instruction of user is hovering in the air, then through flight control, keeps the position of control reference center motionless, even take place the displacement under powerful external disturbance, also quick return, supposing that unmanned aerial vehicle side blows a gust of wind this moment, and wind-force is resisted to the mode of unmanned aerial vehicle accessible slope fuselage to make unmanned aerial vehicle keep balance when the position of control reference center is unchangeable.
In carrying out the present disclosure, the inventors found that at least the following problems exist:
based on the above-mentioned flight control mode using the geometric center of the unmanned aerial vehicle or the position of the GPS antenna as the control reference center, in the flight process of the unmanned aerial vehicle, the control reference center can move or hover stably according to the instruction of the user, but points outside the control reference center cannot move or hover stably according to the instruction of the user, so that functional devices (such as image capturing devices and the like) installed on some unmanned aerial vehicles are not generally located on the control reference center, and therefore, based on the above-mentioned flight control mechanism, the functional devices may not normally execute corresponding functions.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides the following technical solutions:
according to a first aspect of embodiments of the present disclosure, there is provided a method of flight control of an aircraft, the method comprising:
determining second flight control information corresponding to the mounting equipment center according to first flight control information corresponding to the control reference center and a relative position relation between the mounting equipment center and the control reference center;
and performing flight control according to the second flight control information.
Optionally, the determining, according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounted device center and the control reference center, the second flight control information corresponding to the mounted device center includes:
acquiring first flight control information corresponding to a control reference center according to a preset period;
determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relationship between the mounting equipment center and the control reference center;
the performing flight control according to the second flight control information includes:
and performing flight control according to the second flight control information and the current flight instruction.
Optionally, the first flight control information comprises: the method comprises the following steps of (1) controlling the angular velocity of an aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of a reference center and the relative position of the reference center and a preset point in space;
the second flight control information includes: the angular speed of the aircraft, the direction conversion relation, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and the preset point in the space.
Optionally, the determining, according to the first flight control information and the relative position relationship between the mounted device center and the control reference center, second flight control information corresponding to the mounted device center includes:
determining the linear velocity of the mounting equipment center according to the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and determining the relative position of the mounting equipment center and a preset point in the space according to the direction conversion relation, the relative position of the control reference center and the preset point in the space and the relative position relation between the mounting equipment center and the control reference center.
Optionally, the determining the linear velocity of the mounting device center according to the angular velocity of the aircraft, the direction conversion relationship, the linear velocity of the control reference center, and the relative positional relationship between the mounting device center and the control reference center includes:
according to the formulaDetermining a linear velocity of the mounting apparatus center
Wherein,linear velocity, R, of the control reference centerdIn order to be in the direction-switching relationship,as a relative positional relationship between the mounted device center and the control reference center,is the angular velocity of the aircraft.
Optionally, the determining the relative position of the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position of the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center includes:
according to the formulaDetermining the relative position of the center of the mounting equipment and the preset point in the space
Wherein,for the relative position of the control reference center and a predetermined point in space, RdIn order to be in the direction-switching relationship,and the relative position relationship between the mounting equipment center and the control reference center is obtained.
Optionally, the mounting apparatus center is an optical center of a lens of an image pickup device mounted on an aircraft.
Optionally, the determining, according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounted device center and the control reference center, the second flight control information corresponding to the mounted device center includes:
acquiring first flight control information corresponding to a control reference center;
determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
the performing flight control according to the second flight control information includes:
and controlling the aircraft to fly to the target position based on the second flight control information.
According to a second aspect of embodiments of the present disclosure, there is provided an apparatus for flight control of an aircraft, the apparatus comprising:
the determining module is used for determining second flight control information corresponding to the mounting equipment center according to first flight control information corresponding to the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for carrying out flight control according to the second flight control information.
Optionally, the determining module includes:
the first acquiring unit is used for acquiring first flight control information corresponding to the control reference center according to a preset period;
the first determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for carrying out flight control according to the second flight control information and the current flight instruction.
Optionally, the first flight control information comprises: the method comprises the following steps of (1) controlling the angular velocity of an aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of a reference center and the relative position of the reference center and a preset point in space;
the second flight control information includes: the angular speed of the aircraft, the direction conversion relation, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and the preset point in the space.
Optionally, the first determining unit includes:
the first determining subunit is used for determining the linear velocity of the mounting equipment center according to the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and the second determining subunit is configured to determine the relative position between the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position between the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center.
Optionally, the first determining subunit is configured to:
according to the formulaDetermining a linear velocity of the mounting apparatus center
Wherein,linear velocity, R, of the control reference centerdIn order to be in the direction-switching relationship,as a relative positional relationship between the mounted device center and the control reference center,is the angular velocity of the aircraft.
Optionally, the second determining subunit is configured to:
according to the formulaDetermining the relative position of the center of the mounting equipment and the preset point in the space
Wherein,for the relative position of the control reference center and a predetermined point in space, RdIn order to be in the direction-switching relationship,and the relative position relationship between the mounting equipment center and the control reference center is obtained.
Optionally, the mounting apparatus center is an optical center of a lens of an image pickup device mounted on an aircraft.
Optionally, the determining module includes:
the second acquisition unit is used for acquiring first flight control information corresponding to the control reference center;
the second determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for controlling the aircraft to fly to a target position based on the second flight control information.
According to a third aspect of embodiments of the present disclosure, there is provided an aircraft comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the above-mentioned method of flight control of an aircraft.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by a processor to implement the above-described method of flight control of an aircraft.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the method provided by the implementation of the disclosure determines second flight control information corresponding to a mounting equipment center according to first flight control information corresponding to a control reference center and a relative position relationship between the mounting equipment center and the control reference center; and performing flight control according to the second flight control information. Therefore, the controller of the aircraft can carry out flight control according to the second flight control information corresponding to the mounting equipment center, and the method is equivalent to transferring the control reference center to the mounting equipment center for carrying out flight control. Thus, the position of the center of the mounting apparatus can be kept stationary or smoothly moved regardless of whether the aircraft is caused to hover in the air or fly in the air.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of flight control of an aircraft in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of flight control of an aircraft in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating the establishment of a coordinate system around an aircraft in accordance with an exemplary embodiment;
FIG. 4 is a schematic illustration of the attitude of an aircraft shown in accordance with an exemplary embodiment;
FIG. 5 is a flow chart illustrating a method of flight control of an aircraft in accordance with an exemplary embodiment;
FIG. 6 is a schematic diagram illustrating the structure of an apparatus for flight control of an aircraft in accordance with an exemplary embodiment;
FIG. 7 is a schematic structural diagram of an aircraft, according to an exemplary embodiment.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The disclosed embodiments provide a method for flight control of an aircraft, which may be implemented by an aircraft such as an unmanned aerial vehicle.
The aircraft may include components such as a processor, memory, flight components, and the like. The processor, which may be a Central Processing Unit (CPU), may be configured to determine, according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounted device center and the control reference center, the second flight control information corresponding to the mounted device center, and perform other processing. The Memory may be a RAM (Random Access Memory), a Flash (Flash Memory), or the like, and may be configured to store received data, data required by the processing procedure, data generated in the processing procedure, or the like, such as the first flight control information. The flight components can comprise a power system, a motor, a propeller and the like.
The aircraft may also include transceivers and the like. The transceiver can be used for data transmission with a command center and a remote control device at the ground end, for example, the transceiver can receive flight instructions sent by the command center and the remote control device at the ground end, and the transceiver can comprise an antenna, a matching circuit, a modem and the like.
An exemplary embodiment of the present disclosure provides a method for flight control of an aircraft, as shown in fig. 1, a process flow of the method may include the following steps:
and step S11, determining second flight control information corresponding to the mounting equipment center according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounting equipment center and the control reference center.
According to the specific information content of the flight control information, the embodiment provides two modes for carrying out flight control on the aircraft.
In step S12, flight control is performed based on the second flight control information.
In implementation, second flight control information corresponding to the mounting equipment center is determined according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounting equipment center and the control reference center. And the control reference standard is converted into a mounting equipment center from the control reference center, so that the controller of the aircraft can carry out flight control according to second flight control information corresponding to the mounting equipment center.
As shown in fig. 2, step S11 may include the following steps:
step 110, obtaining first flight control information corresponding to the control reference center according to a preset period.
In implementation, the aircraft flies or hovers in the air, and the first flight control information of the aircraft needs to be acquired according to a preset period, so that the controller of the aircraft knows the current state of the aircraft, and the aircraft is controlled to execute actions according to the current state of the aircraft. Specifically, various devices, such as a three-axis gyroscope or a three-axis angular velocity sensor, a GPS, a three-axis magnetometer, a barometer, a visual positioning system, and the like, are installed in the aircraft, and the aircraft can measure and acquire the first flight control information by these devices. It should be noted that, in the process of controlling the aircraft to complete various actions, the control is performed with reference to the control reference center, and therefore, the first flight control information corresponding to the control reference center is also provided for the control reference center. Wherein, the control reference center is a geometric center of the machine body or a GPS antenna position and the like. The first flight control information corresponding to the control reference center, such as the angular velocity of the aircraft, describes the angular velocity generated by the airframe when rotating around the control reference center.
Optionally, the first flight control information corresponding to the control reference center may include: the angular velocity of the aircraft, the direction conversion relation between the aircraft coordinate system and the ground coordinate system, the linear velocity of the control reference center and the relative position of the control reference center and a preset point in the space.
Wherein, the angular velocity of the aircraft can be expressed asIs a three-dimensional quantity.
For the direction conversion relationship between the aircraft coordinate system and the ground coordinate system, namely the first direction conversion relationship between the first space coordinate system (aircraft coordinate system) established by taking the control reference center as an origin and the second space coordinate system (ground coordinate system) established by taking the first preset point in the space as the origin, the first space coordinate system established by taking the control reference center as the origin can be based on the geometric center of the aircraft body or the position of the GPS antenna, the direction which starts from the origin and is parallel to the rotor wing is an x-axis, the direction which starts from the origin and can form a y-axis of a plane which is parallel to the horizontal ground with the x-axis when the aircraft is flatly placed on the horizontal ground, and the direction which starts from the origin and is perpendicular to the rotor wing is a z-axis. The second spatial coordinate system established with the first preset point in the space as the origin may be an x-axis starting from the origin and pointing to a preset direction, a y-axis starting from the origin and perpendicular to the x-axis on the horizontal ground, and a z-axis starting from the origin and perpendicular to the horizontal ground. Or, the second spatial coordinate system established with the first preset point in the space as the origin may also be a spatial coordinate system established with any point in the space as the origin. Preferably, the second spatial coordinate system is established by taking any point on the horizontal ground as an origin.
The first direction conversion relation between a first space coordinate system established by taking the control reference center as an origin and a second space coordinate system established by taking a first preset point in the space as the origin is described as the conversion relation in the first space coordinate system established by taking the control reference center as the origin relative to the second space coordinate system established by taking the first preset point in the space as the origin under the unit length. The first direction transformation relationship between the first space coordinate system established by taking the control reference center as the origin and the second space coordinate system established by taking the first preset point in the horizontal ground as the origin specifically describes the attitude of the aircraft relative to the ground in the air. Preferably, a direction cosine matrix can be selected to represent a first space coordinate system established by taking the control reference center as an origin and a first preset point in space as an originAnd a first direction conversion relation between the vertical second space coordinate systems. Can be represented as RdIn particular a matrix.
For controlling the linear velocity of the reference center, it can be expressed asIs a three-dimensional quantity.
For the relative position of the control reference center and the second preset point in the space, the relative position of the control reference center with respect to the second preset point in the space is described, and specifically, the relative position of the control reference center with respect to the second preset point in the horizontal ground, such asIs a three-dimensional quantity.
The first flight control information corresponding to the control reference center may be represented as
And step S120, determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relationship between the mounting equipment center and the control reference center.
In implementation, according to the first flight control information corresponding to the control reference center, the relative position relationship between the mounting equipment center and the control reference centerWill be provided withConverting the second flight control information into second flight control information S corresponding to the mounted equipment centerg。
Alternatively, the mounted equipment center may be an optical center of a lens of an image pickup device mounted on an aircraft.
In an implementation, the mounted equipment center may be an optical center of an outermost lens of an image capture device mounted on an aircraft. Alternatively, the mounted equipment center may also be the focus of an image-taking device mounted on an aircraft, the center of an aperture, or the like. In addition, the aircraft may mount an illumination device or the like in addition to the image capturing device. In this case, the mounting equipment center may be a center point of an outer cover of the lighting device mounted on the aircraft.
In order to better keep the position of the mounting device stationary or move smoothly around a center when flight control is performed with the mounting device center, the geometric center of the mounting device can be selected as the mounting device center. If the mounting apparatus is an image capture device, the optical center of the lens of the image capture device may be the geometric center of the mounting apparatus.
Optionally, the second flight control information corresponding to the mounted device center may include: the angular speed and the direction conversion relation of the aircraft, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and a preset point in the space.
The direction conversion relationship in the second flight control information corresponding to the center of the mounted device, that is, the second direction conversion relationship between the third spatial coordinate system and the second spatial coordinate system, which are established with the center of the mounted device as the origin, may be a direction starting from the origin and parallel to the rotor, which is an x-axis, a y-axis starting from the origin and when the aircraft is laid flat on the horizontal ground, which may form a plane parallel to the horizontal ground with the x-axis, and a direction starting from the origin and perpendicular to the rotor, which is a z-axis. And the directions of x, y and z coordinate axes in a first space coordinate system in the first flight control information corresponding to the control reference center and a third space coordinate system in the second flight control information corresponding to the mounting equipment center are respectively the same.
In space, the first space coordinate system established by taking the control reference center as an origin is translated to a third space coordinate system established by taking the mounting equipment center as an origin, the first space coordinate system and the third space coordinate system are two spaces which are parallel in space, and a second direction conversion relation between the third space coordinate system established by taking the mounting equipment center as the origin and a second space coordinate system established by taking a first preset point in space, such as horizontal ground, as the origin still specifically describes the attitude of the aircraft relative to the ground in the air. The second direction conversion relation between the third space coordinate system established by taking the center of the mounting equipment as an origin and the second space coordinate system established by taking the first preset point in the space as the origin is described as the conversion relation in the third space coordinate system established by taking the center of the mounting equipment as the origin relative to the second space coordinate system established by taking the first preset point in the space as the origin under the unit length. Alternatively, a direction cosine matrix may be selected to represent a second direction conversion relationship between a third spatial coordinate system established by taking the center of the mounting device as an origin and a second spatial coordinate system established by taking a first preset point in the space as an origin.
With regard to the relative position of the mounting device center to a predetermined point in space, the relative position of the mounting device center of the aircraft with respect to a second predetermined point in space, for example with respect to a second predetermined point in level ground, is described.
Alternatively, step S120 may include:
(1) and determining the linear speed of the center of the mounting equipment according to the angular speed, the direction conversion relation, the linear speed of the control reference center and the relative position relation between the center of the mounting equipment and the control reference center of the aircraft.
(2) And determining the relative position of the mounting equipment center and the preset point in the space according to the direction conversion relation, the relative position of the control reference center and the preset point in the space and the relative position relation between the mounting equipment center and the control reference center.
In implementation, the center of the mounting device and the center of the control reference are on a line of a horizontal plane, and the angular velocity is generated by rotating around the center of the control reference, and the angular velocities of two points on the line are the same, namely the angular velocity of the center of the control reference is the same as the angular velocity of the center of the mounting device.
Spatially, as shown in fig. 3, by moving the first spatial coordinate system established with the control reference center as the origin horizontally and vertically, a third spatial coordinate system established with the mounting apparatus center as the origin can be obtained, which are two spaces in parallel spatially, and therefore, the first direction conversion relationship and the second direction conversion relationship are the same.
For (1), optionally, the step of determining the linear velocity of the mounting apparatus center according to the angular velocity of the aircraft, the direction conversion relationship, the linear velocity of the control reference center, and the relative positional relationship between the mounting apparatus center and the control reference center may include: according to the formulaDetermining line speed at the center of a mounting deviceWherein,to control the linear speed of the reference center, RdIn order to perform the direction-switching relationship,for the relative positional relationship between the mounted equipment center and the control reference center,is the angular velocity of the aircraft.
In particular, the aircraft is at an angular velocity around a control reference centerWhen rotating, the linear velocity difference generated at the center of the mounting equipment Is the linear velocity difference in the first space coordinate system, and the linear velocity difference in the second space coordinate system is converted into the linear velocity differenceThe final actual linear speed at the center of the mounting equipment is
For (2), optionally, the step of determining the relative position of the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position of the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center may include: according to the formulaDetermining the relative position of the center of the mounting equipment and a preset point in the spaceWherein,for controlling the relative position of the reference center and a predetermined point in space, RdIn order to perform the direction-switching relationship,the relative position relationship between the mounting equipment center and the control reference center.
Specifically, since the relative positional relationship between the mounted apparatus center and the control reference center is determined in the first spatial coordinate system, the relative positional relationship is determined in accordance withWhen determining the relative position between the center of the mounting equipment and a second preset point in the space, firstly, the relative position needs to be determinedConverted into a second spatial coordinate system, i.e. byFinally, the relative position of the center of the mounting equipment and a second preset point in the space is
The second flight control information corresponding to the mounting equipment center is as follows:
at least four parameters corresponding to the center of the mounting equipment, namely the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the center of the mounting equipment and the relative position of the center of the mounting equipment and a preset point in the space, are used for replacing at least four parameters corresponding to the control reference center, namely the angular velocity of the aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of the control reference center and the relative position of the control reference center and the preset point in the space, so that flight control is carried out, the original flight control logic is kept unchanged, and the effect of keeping the position of the center of the mounting equipment still or moving stably can be achieved.
Alternatively, step S12 may include the steps of:
and step S130, performing flight control according to the second flight control information and the current flight instruction.
In implementation, the flight control parameter may be determined according to the second flight control information corresponding to the mounted device center and the current flight instruction, and the flight control may be performed based on the flight control parameter.
As shown in fig. 4, the left diagram is a schematic diagram of the posture adjustment performed by the control reference center, and the right diagram is a schematic diagram of the posture adjustment performed by the mounting apparatus center. The upper drawing in the right drawing is a schematic view of the aircraft when maintaining a horizontal attitude, and when performing attitude adjustment around the center of the mounting apparatus, the state thereof becomes that shown in the lower drawing in the right drawing. When is going to begInput into the aircraft controller, the aircraft controller also considers SdIs SgThe control logic of the aircraft controller is unchanged, and the aircraft is controlled by the control reference center, and is now changed to be controlled by the mounting equipment center.
The flight control of the aircraft mainly comprises position control and attitude control, and the controller of the aircraft comprises a position controller and an attitude controller. SgThe control key information needed to be used for position control and attitude control is included. In addition to this, the flight control also relates to the control of the current flight command issued by the control center, such as the currently received flight command issued from the remote control for the forward flight of the aircraft. As shown in fig. 5, the flight command is summed with SgInputting into a position controller, and controlling the position controller according to the flight command and SgAnd determining which direction the aircraft is flying or hovering at, and finally outputting attitude control commands by the position controller, such as inclining the aircraft in the forward direction. Inputting the attitude control command into an attitude controller, and controlling the attitude controller according to the attitude control command and SgAnd generating a power command and inputting the power command into the power system. And the power system receives the power command and controls each motor in the power system to operate according to the power command. The operation of each motor drives the propeller of the aircraft to operate, and the final result is that the aircraft operates according to the flight instruction and SgAnd performing the action.
The controller of the aircraft actually performs flight control according to the second flight control information corresponding to the mounting equipment center, and the position of the control reference center (actually replaced by the mounting equipment center) considered by the controller can be kept motionless or stably moved.
Alternatively, step S11 may include: acquiring first flight control information corresponding to a control reference center; and determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center. Step S12 may include: and controlling the aircraft to fly to the target position based on the second flight control information.
In practice, in addition to the way provided in the front part of this embodiment, that is, the way of performing flight control according to the angular velocity of the aircraft, the direction conversion relationship, the linear velocity of the center of the mounting device, and the relative position of the center of the mounting device and the preset point in the space, this embodiment also provides a way of performing flight control according to the position of the flight target point, that is, directly providing the position of the flight target point to the aircraft without concern on how the specific aircraft reaches the position of the flight target point. At this time, if the aircraft is to fly horizontally from point a to point B, the aircraft is originally to control the control reference center from point a to point B, and after the transition, it is necessary to control the mounting device center from point a' (equal to a-X) to point B, which is equivalent to control the control reference center from point a to point B "(equal to B + X). Wherein, X is the relative position relation between the mounting equipment center and the control reference center in the vertical direction.
In the process of controlling the aircraft to fly to the target position, the control reference center is originally kept to move stably, and now the aircraft is controlled to fly to the target position based on the second flight control information corresponding to the mounting equipment center, so that the original process of keeping the control reference center to move stably is equivalently changed into the process of keeping the mounting equipment center to move stably.
The method provided by the implementation of the disclosure determines second flight control information corresponding to a mounting equipment center according to first flight control information corresponding to a control reference center and a relative position relationship between the mounting equipment center and the control reference center; and performing flight control according to the second flight control information. Therefore, the controller of the aircraft can carry out flight control according to the second flight control information corresponding to the mounting equipment center, and the method is equivalent to transferring the control reference center to the mounting equipment center for carrying out flight control. Thus, the position of the center of the mounting apparatus can be kept stationary or smoothly moved regardless of whether the aircraft is caused to hover in the air or fly in the air.
Yet another exemplary embodiment of the present disclosure provides an apparatus for flight control of an aircraft, as shown in fig. 6, the apparatus including:
the determining module 610 is configured to determine, according to first flight control information corresponding to a control reference center and a relative position relationship between a mounted device center and the control reference center, second flight control information corresponding to the mounted device center;
and a control module 620, configured to perform flight control according to the second flight control information.
Optionally, the determining module 610 includes:
the first acquiring unit is used for acquiring first flight control information corresponding to the control reference center according to a preset period;
the first determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module 620 is configured to perform flight control according to the second flight control information and the current flight instruction.
Optionally, the first flight control information comprises: the method comprises the following steps of (1) controlling the angular velocity of an aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of a reference center and the relative position of the reference center and a preset point in space;
the second flight control information includes: the angular speed of the aircraft, the direction conversion relation, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and the preset point in the space.
Optionally, the first determining unit includes:
the first determining subunit is used for determining the linear velocity of the mounting equipment center according to the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and the second determining subunit is configured to determine the relative position between the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position between the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center.
Optionally, the first determining subunit is configured to:
according to the formulaDetermining a linear velocity of the mounting apparatus center
Wherein,linear velocity, R, of the control reference centerdIn order to be in the direction-switching relationship,between the mounting equipment center and the control reference centerThe relative positional relationship of (a) to (b),is the angular velocity of the aircraft.
Optionally, the second determining subunit is configured to:
according to the formulaDetermining the relative position of the center of the mounting equipment and the preset point in the space
Wherein,for the relative position of the control reference center and a predetermined point in space, RdIn order to be in the direction-switching relationship,and the relative position relationship between the mounting equipment center and the control reference center is obtained.
Optionally, the mounting apparatus center is an optical center of a lens of an image pickup device mounted on an aircraft.
Optionally, the determining module 610 includes:
the second acquisition unit is used for acquiring first flight control information corresponding to the control reference center;
the second determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module 620 is configured to control the aircraft to fly to the target position based on the second flight control information.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The controller of the aircraft can perform flight control according to the second flight control information corresponding to the mounting equipment center, and is equivalent to transferring the control reference center to the mounting equipment center for performing flight control. Thus, the position of the center of the mounting apparatus can be kept stationary or smoothly moved regardless of whether the aircraft is caused to hover in the air or fly in the air.
It should be noted that: in the flight control of the device for flight control of an aircraft provided in the above embodiment, only the division of the functional modules is illustrated, and in practical application, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the aircraft may be divided into different functional modules to complete all or part of the functions described above. In addition, the device for controlling the flight of the aircraft provided by the above embodiment and the method for controlling the flight of the aircraft belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiment and are not described again.
Fig. 7 shows a block diagram of an aircraft 800 provided by an exemplary embodiment of the present invention. The aircraft 800 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio layer iii, motion video Experts compression standard Audio layer 3), an MP4 player (Moving Picture Experts Group Audio layer IV, motion video Experts compression standard Audio layer 4), a notebook computer, or a desktop computer. The aircraft 800 may also be referred to by other names such as user equipment, portable aircraft, laptop aircraft, desktop aircraft, and the like.
In general, the aircraft 800 includes: a processor 801 and a memory 802.
The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 801 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 801 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
Memory 802 may include one or more computer-readable storage media, which may be non-transitory. Memory 802 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 802 is used to store at least one instruction for execution by processor 801 to implement a method of flight control of an aircraft as provided by method embodiments herein.
In some embodiments, the aircraft 800 may also optionally include: a peripheral interface 803 and at least one peripheral. The processor 801, memory 802 and peripheral interface 803 may be connected by bus or signal lines. Various peripheral devices may be connected to peripheral interface 803 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 804, touch screen display 805, camera 806, flying component 807, positioning component 808, and power supply 809.
The peripheral interface 803 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 801 and the memory 802. In some embodiments, the processor 801, memory 802, and peripheral interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 801, the memory 802, and the peripheral interface 803 may be implemented on separate chips or circuit boards, which are not limited by this embodiment.
The Radio Frequency circuit 804 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 804 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 804 converts an electrical signal into an electromagnetic signal to be transmitted, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 804 may communicate with other aircraft via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 804 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 805 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 805 is a touch display, the display 805 also has the ability to capture touch signals on or above the surface of the display 805. The touch signal may be input to the processor 801 as a control signal for processing. At this point, the display 805 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 805 may be one, providing the front panel of the aircraft 800; in other embodiments, the display 805 may be at least two, each disposed on a different surface of the aircraft 800 or in a folded design; in still other embodiments, the display 805 may be a flexible display disposed on a curved surface or on a folding surface of the aircraft 800. Even further, the display 805 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 805 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 806 is used to capture images or video. Optionally, camera assembly 806 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the aircraft and the rear camera is disposed on the back of the aircraft. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 806 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
Flight components 807 may include position controllers, attitude controllers, power systems, and the like.
The location component 808 is used to locate the current geographic location of the aircraft 800 to implement navigation or LBS (location based Service). The positioning component 808 may be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, or the galileo System in russia.
Power supply 809 is used to power the various components in aircraft 800. The power supply 809 can be ac, dc, disposable or rechargeable. When the power supply 809 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the aircraft 800 also includes one or more sensors 810. The one or more sensors 810 include, but are not limited to: acceleration sensor 811, gyro sensor 812, pressure sensor 813, fingerprint sensor 814, optical sensor 815 and proximity sensor 816.
The acceleration sensor 811 may detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the aircraft 800. For example, the acceleration sensor 811 may be used to detect the components of the gravitational acceleration in three coordinate axes. The processor 801 may control the touch screen 805 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 811. The acceleration sensor 811 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 812 may detect a body direction and a rotation angle of the aircraft 800, and the gyro sensor 812 may cooperate with the acceleration sensor 811 to acquire a 3D motion of the user on the aircraft 800. From the data collected by the gyro sensor 812, the processor 801 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
Pressure sensors 813 may be disposed on the side frames of aircraft 800 and/or underneath touch display screen 805. When the pressure sensors 813 are arranged on the side frames of the aircraft 800, the holding signals of the aircraft 800 from the user can be detected, and the processor 801 performs left-right hand identification or shortcut operation according to the holding signals collected by the pressure sensors 813. When the pressure sensor 813 is disposed at a lower layer of the touch display screen 805, the processor 801 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 805. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 814 is used for collecting a fingerprint of the user, and the processor 801 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 814, or the fingerprint sensor 814 identifies the identity of the user according to the collected fingerprint. Upon identifying that the user's identity is a trusted identity, the processor 801 authorizes the user to perform relevant sensitive operations including unlocking a screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 814 may be disposed on the front, back, or side of the aircraft 800. When a physical key or vendor Logo is provided on the aircraft 800, the fingerprint sensor 814 may be integrated with the physical key or vendor Logo.
The optical sensor 815 is used to collect the ambient light intensity. In one embodiment, the processor 801 may control the display brightness of the touch screen 805 based on the ambient light intensity collected by the optical sensor 815. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 805 is increased; when the ambient light intensity is low, the display brightness of the touch display 805 is turned down. In another embodiment, the processor 801 may also dynamically adjust the shooting parameters of the camera assembly 806 based on the ambient light intensity collected by the optical sensor 815.
Proximity sensors 816, also known as distance sensors, are typically provided at the front panel of the aircraft 800. The proximity sensor 816 is used to gather the distance between the user and the front of the aircraft 800. In one embodiment, the processor 801 controls the touch display 805 to switch from the bright screen state to the dark screen state when the proximity sensor 816 detects that the distance between the user and the front of the aircraft 800 is gradually reduced; when the proximity sensor 816 detects that the distance between the user and the front of the aircraft 800 is gradually increased, the touch display screen 805 is controlled by the processor 801 to switch from the breath-screen state to the bright-screen state.
Those skilled in the art will appreciate that the configuration shown in FIG. 7 does not constitute a limitation of aircraft 800, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (18)

1. A method of flight control of an aircraft, the method comprising:
determining second flight control information corresponding to the mounting equipment center according to first flight control information corresponding to the control reference center and a relative position relation between the mounting equipment center and the control reference center;
and performing flight control according to the second flight control information.
2. The method according to claim 1, wherein the determining the second flight control information corresponding to the mounted equipment center according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounted equipment center and the control reference center comprises:
acquiring first flight control information corresponding to a control reference center according to a preset period;
determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relationship between the mounting equipment center and the control reference center;
the performing flight control according to the second flight control information includes:
and performing flight control according to the second flight control information and the current flight instruction.
3. The method of claim 2, wherein the first flight control information comprises: the method comprises the following steps of (1) controlling the angular velocity of an aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of a reference center and the relative position of the reference center and a preset point in space;
the second flight control information includes: the angular speed of the aircraft, the direction conversion relation, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and the preset point in the space.
4. The method according to claim 3, wherein the determining, according to the first flight control information and the relative positional relationship between the mounted device center and a control reference center, second flight control information corresponding to the mounted device center comprises:
determining the linear velocity of the mounting equipment center according to the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and determining the relative position of the mounting equipment center and a preset point in the space according to the direction conversion relation, the relative position of the control reference center and the preset point in the space and the relative position relation between the mounting equipment center and the control reference center.
5. The method of claim 4, wherein determining the linear velocity of the mounting device center from the angular velocity of the aircraft, the directional translation relationship, the linear velocity of the control reference center, and the relative positional relationship between the mounting device center and the control reference center comprises:
according to the formulaDetermining a linear velocity of the mounting apparatus center
Wherein,linear velocity, R, of the control reference centerdIn order to be in the direction-switching relationship,as a relative positional relationship between the mounted device center and the control reference center,is the angular velocity of the aircraft.
6. The method according to claim 4, wherein determining the relative position of the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position of the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center comprises:
according to the formulaDetermining the relative position of the center of the mounting equipment and the preset point in the space
Wherein,for the relative position of the control reference center and a predetermined point in space, RdIn order to be in the direction-switching relationship,and the relative position relationship between the mounting equipment center and the control reference center is obtained.
7. The method according to any one of claims 1 to 6, wherein the mounting apparatus center is an optical center of a lens of an image pickup device mounted on an aircraft.
8. The method according to claim 1, wherein the determining the second flight control information corresponding to the mounted equipment center according to the first flight control information corresponding to the control reference center and the relative position relationship between the mounted equipment center and the control reference center comprises:
acquiring first flight control information corresponding to a control reference center;
determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
the performing flight control according to the second flight control information includes:
and controlling the aircraft to fly to the target position based on the second flight control information.
9. An apparatus for flight control of an aircraft, the apparatus comprising:
the determining module is used for determining second flight control information corresponding to the mounting equipment center according to first flight control information corresponding to the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for carrying out flight control according to the second flight control information.
10. The apparatus of claim 9, wherein the determining module comprises:
the first acquiring unit is used for acquiring first flight control information corresponding to the control reference center according to a preset period;
the first determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for carrying out flight control according to the second flight control information and the current flight instruction.
11. The apparatus of claim 10, wherein the first flight control information comprises: the method comprises the following steps of (1) controlling the angular velocity of an aircraft, the direction conversion relation between an aircraft coordinate system and a ground coordinate system, the linear velocity of a reference center and the relative position of the reference center and a preset point in space;
the second flight control information includes: the angular speed of the aircraft, the direction conversion relation, the linear speed of the center of the mounting equipment and the relative position of the center of the mounting equipment and the preset point in the space.
12. The apparatus according to claim 11, wherein the first determining unit comprises:
the first determining subunit is used for determining the linear velocity of the mounting equipment center according to the angular velocity of the aircraft, the direction conversion relation, the linear velocity of the control reference center and the relative position relation between the mounting equipment center and the control reference center;
and the second determining subunit is configured to determine the relative position between the mounting apparatus center and the preset point in the space according to the direction conversion relationship, the relative position between the control reference center and the preset point in the space, and the relative position relationship between the mounting apparatus center and the control reference center.
13. The apparatus of claim 12, wherein the first determining subunit is configured to:
according to the formulaDetermining a linear velocity of the mounting apparatus center
Wherein,linear velocity, R, of the control reference centerdIn order to be in the direction-switching relationship,between said mounting device centre and said control reference centreThe relative position relationship of the two parts is shown,is the angular velocity of the aircraft.
14. The apparatus of claim 12, wherein the second determining subunit is configured to:
according to the formulaDetermining the relative position of the center of the mounting equipment and the preset point in the space
Wherein,for the relative position of the control reference center and a predetermined point in space, RdIn order to be in the direction-switching relationship,and the relative position relationship between the mounting equipment center and the control reference center is obtained.
15. The apparatus according to any one of claims 9 to 14, wherein the mounting device center is an optical center of a lens of an image pickup device mounted on an aircraft.
16. The apparatus of claim 9, wherein the determining module comprises:
the second acquisition unit is used for acquiring first flight control information corresponding to the control reference center;
the second determining unit is used for determining second flight control information corresponding to the mounting equipment center according to the first flight control information and the relative position relation between the mounting equipment center and the control reference center;
and the control module is used for controlling the aircraft to fly to a target position based on the second flight control information.
17. An aircraft comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement a method of flight control of an aircraft as claimed in any one of claims 1 to 8.
18. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a method of flight control of an aircraft according to any one of claims 1 to 8.
CN201810202224.9A 2018-03-12 2018-03-12 The method and apparatus that flight control is carried out to aircraft Pending CN110262540A (en)

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Application publication date: 20190920