CN111338366B - Flight route determining method and flight auxiliary system - Google Patents
Flight route determining method and flight auxiliary system Download PDFInfo
- Publication number
- CN111338366B CN111338366B CN202010119886.7A CN202010119886A CN111338366B CN 111338366 B CN111338366 B CN 111338366B CN 202010119886 A CN202010119886 A CN 202010119886A CN 111338366 B CN111338366 B CN 111338366B
- Authority
- CN
- China
- Prior art keywords
- flight
- equipment
- area
- route
- flow field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000012544 monitoring process Methods 0.000 claims description 34
- 238000012545 processing Methods 0.000 claims description 13
- 238000012216 screening Methods 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 11
- 238000003032 molecular docking Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000010485 coping Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- 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)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a method for determining a flight route and a flight auxiliary system. The method and the system consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological conditions of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment is improved according to the flight route.
Description
Technical Field
The present invention relates to the field of flight control, and more particularly, to a method for determining a flight path and a flight assistance system.
Background
With the development of science and technology and the desire of human beings for stereoscopic travel, flying devices, such as flying automobiles or aircraft, have grown.
The flying device generally flies in a low-altitude space of a city, and has high requirements on flying safety in the flying process, so a method for improving the flying safety of the flying device is needed.
Disclosure of Invention
In view of the above, the present invention provides a method for determining a flight path and a flight assistance system, so as to solve the problem of a method for improving the flight safety of a flight device.
In order to solve the technical problems, the invention adopts the following technical scheme:
A method of determining a flight path, comprising:
acquiring flight data of flight equipment and flow field state information of a target flight area;
Determining a reference flight route of the flight equipment in the target flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
Outputting the reference flight path to the flight device.
Optionally, determining the reference flight path of the flight device in the target flight area according to the flight data of the flight device and the flow field state information of the target flight area includes:
Acquiring the current state of the flight equipment and parameter information of the flight equipment;
And determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area.
Optionally, determining the reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device and the flow field state information of the target flight area includes:
If the current state of the flight equipment is the current flight state, determining local flow field state information of a front flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
Judging whether the front flight area is suitable for the flight of the flight equipment or not according to the parameter information of the flight equipment and the local flow field state information of the front flight area;
And if not, adjusting the flight route in the flight data of the flight equipment according to the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
Optionally, adjusting the flight route in the flight data of the flight device according to the parameter information of the flight device, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route, including:
Determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so as to enable the flight equipment to pass through the front flight area; the preset flight adjustment mode comprises at least one of the following: adjusting the flying angle and the flying height;
if yes, adjusting the flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
If not, the flight route is redetermined according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area, and the reference flight route is obtained.
Optionally, determining the reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device and the flow field state information of the target flight area includes:
If the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
Determining a flight suitability value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
and screening out an alternative flight route corresponding to the maximum flight suitability value, and determining the alternative flight route as a reference flight route.
A route determining apparatus for performing the above-described flight route determining method.
A flight assistance system comprising the above-described route determination device, the flight assistance system further comprising:
the weather monitoring equipment is used for collecting weather data;
And the processor is used for determining flow field state information of the target flight area according to the position information of the weather monitoring equipment, the weather data acquired by the weather monitoring equipment and the three-dimensional space data of the target flight area.
Optionally, the method further comprises:
the regional weather processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor and displaying the flow field state information of the target flight region in a graphical mode.
Optionally, a memory is also included;
The memory is used for storing position information of the meteorological monitoring equipment, meteorological data collected by the meteorological monitoring equipment, three-dimensional space data of the target flight area and flow field state information of the target flight area.
Optionally, the weather monitoring node includes an air state sensor; the air condition sensor is disposed at a designated location or on a mobile device.
Optionally, the processor is further configured to:
And updating historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data collected by the meteorological monitoring equipment.
Optionally, the target flight area is a flight area of at least one flight device.
Compared with the prior art, the invention has the following beneficial effects:
The invention provides a method for determining a flight route and a flight auxiliary system. The method and the system consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological conditions of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment is improved according to the flight route.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a structure of a flying car according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flight assistance system according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for determining a flight path according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for determining a flight path according to an embodiment of the present invention;
Fig. 5 is a method flowchart of another method for determining a flight path according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
With the development of science and technology, the desire of human beings for stereoscopic travel is becoming stronger. Free flight in the sky has been a dream of human beings, and many concepts and technical schemes of flying automobiles have been developed.
In order to facilitate urban population travel, the use of flying automobiles is more in future urban low-altitude space. However, the conventional fixed wing aircraft and rotary wing aircraft fly more in the space above the city without shielding, and are difficult to fly in the low-altitude space (like building space) of the city. Therefore, flying equipment (such as an aerocar and a small aircraft) capable of flying in a low-altitude space of a city is generated, but the whole atmospheric air flow field of the low-altitude space of the city is complex and changeable due to the influence of the urban building layout, the appearance and the distribution of greening trees. Therefore, the cost of sensing and flight control needed by the aerocar and the small-sized aircraft for coping with the change of the airspace flow field is more when the aerocar and the small-sized aircraft fly in the urban low-altitude space, and the commercialization popularization difficulty of the aerocar in the urban space is higher.
In order to build smart cities, more aspects of flight control and route approval of flight equipment are considered in the industry in the aspect of commercial popularization and application of three-dimensional traffic, and technical ideas and technical schemes for assisting a flying automobile or an aircraft to fly in the cities by monitoring the flow field state of a low-altitude airspace of the cities in real time are not involved.
Therefore, the application provides a flight auxiliary system, which provides a solution for monitoring and coping with low air flow fields in order to cope with the change of an airspace flow field when flight equipment flies in a low-altitude space of a city and to safely realize the commercial popularization application of the flight equipment in the early days.
Specifically, the flying device, such as an aerocar or an aircraft, is suitable for a smart city, can fly in a low-altitude space of the city, can land on a roof of a building or a small-sized parking apron in the city, and is used for loading passengers to get on or off the vehicle. In the flight process, if severe weather such as high-rise wind, strong wind, rain and snow among buildings is met, the flight safety of the flight equipment is reduced, and further if the weather information in the flight process of the flight equipment can be monitored, the flight of the flight equipment is assisted according to the weather information, and the flight safety of the flight equipment can be improved. The flight device to which the flight assistance system of the present application is applicable is preferably an unmanned flying car or aircraft.
If the flying device is a flying car, it may be the flying car shown in fig. 1, which is of a three-section structure, and sequentially comprises three modules from top to bottom: the three modules can be sequentially connected into a whole from top to bottom. The air-borne cabin module can be combined with the cabin module in an air flight state (a first combined part for short), and the air-borne cabin module can be combined with the chassis module (a second combined part for short), and can be used as power. The ground running state can be the combination of the cabin module and the chassis module (the third combination part for short), the combination of the flying module and the chassis module (the fourth combination part for short, the chassis module is used as power), and the ground running state can be the chassis module itself.
An embodiment of the present invention provides a method for determining a flight path, where an execution subject of the method is a flight assistance system, and referring to fig. 2, the flight assistance system may include: weather monitoring equipment, a processor and a route determining equipment. The weather monitoring device, the processor and the route determining device can communicate in real time.
In practical applications, weather monitoring devices (e.g., air condition sensors) may be set at designated locations, i.e., at a plurality of fixed nodes where the air condition sensors are fixedly distributed in the air space, such as lamp posts and rails on the road surface, the roof of a residential building (the roof corresponds to an observation station, and the sensors are disposed on each side of the building), hills, lakesides, park landscapes, urban landmark buildings (particularly of a large height), public facilities, and the like. In addition, the system can be carried on mobile equipment or mobile nodes in the air, such as cruising unmanned aerial vehicles, urban streetcars, mobile vending halls and the like. The meteorological monitoring equipment can collect meteorological data in real time, for example, parameters such as wind speed, wind direction, rainfall, temperature, wind pressure, turbulence and the like in the air space can be monitored.
For the above-mentioned mobile device installed on the mobile device, positioning software such as GPS (Global Positioning System ), RTK ((Real-TIME KINEMATIC, carrier phase difference technique), visual positioning, etc.) may be installed on the mobile device, and the position information of the weather monitoring device is acquired by the positioning software.
After the processor acquires the position information of the weather monitoring equipment and the weather data acquired by the weather monitoring equipment, the processor sets a time stamp for the weather data acquired by the weather monitoring equipment. For a weather monitoring device, the processor can analyze the position of the weather monitoring device, whether the weather data acquired by the weather monitoring device last time is the same as the weather data of this time, and if the weather data acquired by the weather monitoring device last time is different from the weather data of this time, the weather data acquired by the weather monitoring device last time is corrected, so that the next time the flight device positioned at the position obtains more accurate weather data.
The processor can acquire the position information of the weather monitoring device and the weather data acquired by the weather monitoring device, and further can acquire three-dimensional space data of a target flight area, wherein the target flight area can be a city or a certain area of flight of the flight device, and is determined according to a flight starting place and a flight destination of the flight device. The target flight area is a flight area of at least one flight device. Specifically, if the number of flying apparatuses is small, the flying route of the flying apparatus is relatively simple, the target flying area may be small, and if the number of flying apparatuses is large, the flying route of the flying apparatus is relatively complex, the target flying area may be large. The target flight area may be a specific city.
The three-dimensional space data can be provided by regional weather processing equipment, wherein the regional weather processing equipment is internally provided with three-dimensional space data of a target flight area flown by flight equipment, and the three-dimensional space data can be three-dimensional space data of a certain city, such as the outline of a building in the city, the density of building groups, the outline of a landmark, the outline of a large-scale landscape and amusement facility, the geographic position of the building (absolute coordinates such as longitude and latitude, relative coordinates based on a city landmark or a signal datum point) and the like.
In addition, the regional weather processing equipment also has the function of displaying the flow field state information of the target flight region in an imaging way. Specifically, the flow field state information is collected to form the urban three-dimensional space meteorological data network and displayed.
The processor can determine flow field state information of the target flight area according to the position information of the weather monitoring equipment, weather data acquired by the weather monitoring equipment and three-dimensional space data of the target flight area in a flow field analysis mode in real time. In the flow field analysis process, the air state parameters in the meteorological data are processed in priority. If the visual information such as wind direction and wind speed is analyzed firstly, then the data such as air pressure, turbulence and air flow stability which need to be processed and calculated are processed, the weather monitoring equipment needs to transmit the visual information such as wind direction and wind speed preferentially, and the data such as air pressure, turbulence and air flow stability can be transmitted in a delayed manner.
After the processor analyzes the flow field state information of the target flight area, the flow field state information of the target flight area can be sent to the regional weather processing equipment, so that the regional weather processing equipment displays the flow field state information of the target flight area in an imaging mode.
In another implementation manner of the present invention, the flight assistance system may further include a memory, for example, cloud storage, for real-time backup of data, for example, the memory is used for storing position information of the weather monitoring device, weather data collected by the weather monitoring device, three-dimensional space data of the target flight area, and flow field state information of the target flight area.
The processor analyzes and obtains the flow field state information of the target flight area, the flow field state information of the target flight area can be sent to the route determining device, the route determining device can combine the flow field state information of the target flight area and the flight data of the flight device to determine a reference flight route suitable for the flight device, and the reference flight route is sent to the flight device so that the flight device can determine whether to fly by adopting the reference flight route. Specifically, referring to fig. 1, the method for determining a flight route applied to the route determining apparatus may include:
S11, acquiring flight data of the flight equipment and flow field state information of a target flight area.
The flight data in this embodiment relates to the current state of the flight device, and if the flight device is not in the flight state, i.e. the flight device is not flying yet, the flight data may include a flight start location and a flight destination, e.g. the flight start location may be address a and the flight destination may be address B.
If the flying device is currently in flight, i.e., the flying device is flying at this time, the flight data may include the current flight location, the flight route, and the flight destination.
The flow field state information of the target flight zone can be obtained by analysis by the processor. The route determination device obtains from the processor, or the processor directly sends the flow field state information of the target flight area to the route determination device.
S12, determining a reference flight route of the flight equipment in the target flight area according to the flight data of the flight equipment and the flow field state information of the target flight area.
In this embodiment, the determined reference flight path considers meteorological data of the target flight area of the flight device, and the reference flight path is more suitable for the flight of the flight device.
In practical applications, the determining of the reference flight path is related to the current state of the flight device and the parameter information of the flight device, and specifically, step S12 may include:
1) And acquiring the current state of the flying equipment and the parameter information of the flying equipment.
The present state has been described above, including the present in flight state and the absence in flight state, please refer to the corresponding description above.
The parameter information of the flying device may include:
The model of the flying device, the flying power, the maximum oil quantity of the flying device and the like, and the parameter information of the flying device is used for judging whether the flying device can fly in the meteorological state, such as whether the flying power can resist strong wind or disturbance, whether energy sources are enough to support the endurance mileage in the strong wind or not, and the like.
2) And determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area.
In this embodiment, when determining the reference flight path, according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area, the reference flight path is determined more due to the more data of the reference, so that the determined reference flight path is more suitable for the flight of the flight device.
S13, outputting the reference flight route to the flight equipment.
The reference flight path is sent to the flight device, and the flight device can fly according to the reference flight path or not fly according to the reference flight path, which is autonomously determined by the flight device.
In this embodiment, if the flying device wants to fly in the target flying area, a reference flying route of the flying device is determined according to the flying data of the flying device and the flow field state information of the target flying area, and the reference flying route is output to the flying device. The method and the system consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological conditions of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment is improved according to the flight route.
In addition, the embodiment of the invention can monitor the low-altitude image in real time, analyze the flow field in real time, and enable the flying car or the aircraft to acquire reliable data when approaching to the low altitude, thereby providing an effective solution for building the smart city and building the three-dimensional traffic.
In the prior art, a flying automobile or an aircraft does not have weather prediction, the air flow is needed to be perceived by the aircraft, a certain time is needed for perceiving and processing information, and a driver or an operator is needed to feed back according to the information, so that information lag and response delay are caused, which is equivalent to blind flight. According to the embodiment of the invention, weather prediction is realized, the prejudgment time of a driver or an operator is reserved, and the flight safety and controllability are improved.
The above description refers to "determining the reference flight path corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area", where the determining process of the reference flight path corresponding to the different current states is different, and the detailed description will be made on the specific implementation process thereof.
1. If the current state of the flight device is the current flight state, referring to fig. 4, "determining the reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area" may include:
S21, determining local flow field state information of a front flight area according to the flight data of the flight equipment and the flow field state information of the target flight area.
According to the above, when the current state is the current in-flight state, the flight data may include the current flight position, the flight route, and the flight destination. And the front flight area of the flight equipment to be flown can be known according to the flight route, and then the local flow field state information of the front flight area is determined from the target flight area. Such as whether there is a disturbance in the flow of the local flow field or a strong local wind.
S22, judging whether the front flight area is suitable for the flight of the flight equipment; if not, executing step S23; if so, step S24 is performed.
Specifically, whether the front flight area is suitable for the flight of the flight equipment is judged according to the parameter information of the flight equipment and the local flow field state information of the front flight area.
According to the above, the parameter information of the flying device may include: the model of the flying device, the flying power, the maximum oil quantity of the flying device and the like, and the parameter information of the flying device is used for judging whether the flying device can fly in the meteorological state, such as whether the flying power can resist strong wind or disturbance, whether energy sources are enough to support the endurance mileage in the strong wind or not, and the like.
Furthermore, whether the flying device can normally pass through the front flying area or not can be determined according to the parameter information of the flying device, namely whether the front flying area is suitable for the flying device to fly or not is judged.
If the flying device can normally pass through the front flying area, the front flying area is indicated to be suitable for the flying device to fly, and if the flying device can not normally pass through the front flying area, the front flying area is indicated to be unsuitable for the flying device to fly.
S23, adjusting the flight route in the flight data of the flight device according to the parameter information of the flight device, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
When the front flight area is not suitable for the flight equipment to fly, in order to avoid damage to the flight equipment caused by the flight of the flight equipment in the front flight area, the flight route of the flight equipment can be adjusted at the moment to obtain a reference flight route, and parameters required to be relied on in the adjustment process of the flight route are the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area.
In practical applications, the specific implementation process of step S23 may include:
1) Determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so as to enable the flight equipment to pass through the front flight area; the preset flight adjustment mode comprises at least one of the following: adjusting the flight angle and adjusting the flight height.
The flight route in the flight data is generally an optimal route determined by the flight device according to the flight starting place and the flight destination, and the flight device is generally not required to adjust the route as much as possible when the flight device can fly according to the route, so in this embodiment, whether the flight device flies through the front flight area by adjusting the flight angle and/or adjusting the flight height is preferentially determined, specifically, whether the front flight area with the local flow field state information can be determined by adjusting the flight angle and/or adjusting the flight height according to the parameter information of the flight device.
2) If yes, adjusting the flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
If the forward flight area with the local flow field state information can be passed by adjusting the flight angle and/or adjusting the flight altitude, the flight angle and/or adjusting the flight altitude can be adjusted, for example, if the forward wind speed is high when the aircraft or the flying car passes in stairs, the airspace can be avoided first. If the wind speed is not large, the aircraft or the aerocar can advance along the wind as much as possible, and the cross wind is avoided. If turbulence occurs at a certain height position in front, the flying height of the aircraft or the flying car can be raised or lowered, and the impact of the turbulence is avoided.
3) If not, the flight route is redetermined according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area, and the reference flight route is obtained.
If neither the adjustment of the flight angle nor the adjustment of the flight altitude is able to safely pass the flying device through the front flight area, a new flight path needs to be planned for the flying device again.
The flight device is in a flight state currently, the flight data comprise a current flight position, a flight route and a flight destination, and at least one flight route can be determined according to the current flight position and the flight destination.
And then determining the flight suitability value of each flight route according to the flow field state information of the target flight area. The more unstable the weather of the area where the flight route passes, the lower the flight suitability value if there is rain or snow, and the higher the flight suitability value if the weather is stable, such as on a sunny day, the more suitable the flight.
For example, if a flight path is required to pass through rainy or snowy weather, the flight fitness value is low, and if a flight path is required to pass through breeze weather, the flight fitness value is high.
After the flight suitability value of each flight route is determined, a flight route corresponding to the maximum flight suitability value is selected, and the flight route is determined as a reference flight route, namely, the determined reference flight route is most suitable for flight of the flight equipment from the current flight position to the flight destination.
2. If the current state of the flight device is not in the flight state, referring to fig. 5, determining, according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area, a reference flight route corresponding to the current state may include:
1) If the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
2) Determining a flight suitability value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
3) And screening out an alternative flight route corresponding to the maximum flight suitability value, and determining the alternative flight route as a reference flight route.
It should be noted that, for the specific implementation process of each step in this embodiment, please refer to the corresponding description in the previous embodiment, and no further description is given here.
The flying equipment selects a first body combining part according to the requirement of a carrier under the condition that weather in an airspace is suitable for flying; and under the condition that the weather in the airspace is not suitable for flight, selecting a third combined part. The second and fourth integrated parts can be respectively scheduled to fly in the air or travel on the ground according to the energy reserves and maintenance requests of the chassis module and the flight module without carrying people.
In addition, if the flying device is to approach a certain target place, such as a building, according to a preset flying route and according to weather data acquired by each weather monitoring device at each time point acquired in advance, checking whether adverse weather exists in the flying, if crosswind or turbulence exists, the predetermined flying track can be changed, or the flying speed can be changed, the adverse time point can be avoided, or the flying gesture can be changed to facilitate flying.
If the flying equipment is a flying car, when the flying car arrives at a flying destination, the flying equipment needs to land, and when the split-type flying car needs to land and dock, the split-type flying car comprises a flying module and a cabin module for docking, a flying module and a chassis module for docking, and a first combined body part and the chassis module for docking, and conditions of landing and docking and gesture adjustment of docking are judged by sensing the flow field state in an air space where the flying equipment is located in real time. For example, when the first joint part is in butt joint with the chassis module, if the front airspace is not suitable for landing, the chassis module can be controlled to travel to other adjacent airspaces suitable for landing, and the butt joint is implemented.
In this embodiment, for a flying car or an aircraft that is already in a flight state, flow field state information in a front adjacent space domain may be provided in real time according to a current flight route and a flight destination. The aerocar or the aerocraft can know the flow field state of the local space where the aerocar or the aerocraft is located in real time, and can predict the airspace flow field state in front of the path, so that a better control strategy is selected to cope with path change and possible danger caused by flow field mutation, and the whole flying process is smoother and safer.
Alternatively, on the basis of the embodiment of the above-described flight path determination method, another embodiment of the present invention provides a path determination apparatus for performing the above-described flight path determination method.
Optionally, on the basis of the embodiment of the method for determining a flight path, another embodiment of the present invention provides a flight assistance system, referring to fig. 2, which may include:
the weather monitoring equipment is used for collecting weather data;
The processor is used for determining flow field state information of the target flight area according to the position information of the meteorological monitoring equipment, meteorological data acquired by the meteorological monitoring equipment and three-dimensional space data of the target flight area;
and a route determining device for executing the above-described flight route determining method.
Further, the method further comprises the following steps:
the regional weather processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor and displaying the flow field state information of the target flight region in a graphical mode.
Further, the device also comprises a memory;
The memory is used for storing position information of the meteorological monitoring equipment, meteorological data collected by the meteorological monitoring equipment, three-dimensional space data of the target flight area and flow field state information of the target flight area.
Further, the weather monitoring node includes an air state sensor; the air condition sensor is disposed at a designated location or on a mobile device.
Further, the processor is further configured to:
And updating historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data collected by the meteorological monitoring equipment.
Further, the target flight zone is a flight zone of at least one flight device.
It should be noted that, in this embodiment, the weather monitoring device and the processor may communicate bidirectionally, and the processor and the route determining device may communicate bidirectionally, and in addition, the processor and the route determining device may also implement indirect communication through the regional weather processing device, that is, the processor sends the flow field state information of the target flight region to the route determining device through the regional weather processing device. At this time, the processor and the regional weather processing equipment, the regional weather processing equipment and the route determining equipment, and the route determining equipment and the flying equipment can be directly communicated in two directions. When the route determining device communicates with the flying device, communication data are required to be encrypted, so that the safety of data transmission is improved.
In this embodiment, if the flying device wants to fly in the target flying area, a reference flying route of the flying device is determined according to the flying data of the flying device and the flow field state information of the target flying area, and the reference flying route is output to the flying device. The method and the system consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological conditions of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment is improved according to the flight route.
It should be noted that, in the working process of each device in this embodiment, please refer to the corresponding description in the above embodiment, and no further description is given here.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of determining a flight path, comprising:
acquiring flight data of flight equipment and flow field state information of a target flight area;
Determining a reference flight route of the flight equipment in the target flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
Outputting the reference flight route to the flight device;
Wherein determining a reference flight path of the flight device in the target flight area according to flight data of the flight device and flow field state information of the target flight area comprises:
Acquiring the current state of the flight equipment and parameter information of the flight equipment;
determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area;
wherein determining a reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device and the flow field state information of the target flight area comprises:
If the current state of the flight equipment is the current flight state, determining local flow field state information of a front flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
Judging whether the front flight area is suitable for the flight of the flight equipment or not according to the parameter information of the flight equipment and the local flow field state information of the front flight area;
And if not, adjusting the flight route in the flight data of the flight equipment according to the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
2. The method according to claim 1, wherein adjusting the flight route in the flight data of the flight device to obtain the reference flight route according to the parameter information of the flight device, the flight data, the local flow field state information of the front flight area, and the flow field state information of the target flight area, comprises:
Determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so as to enable the flight equipment to pass through the front flight area; the preset flight adjustment mode comprises at least one of the following: adjusting the flying angle and the flying height;
if yes, adjusting the flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
If not, the flight route is redetermined according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area, and the reference flight route is obtained.
3. The method according to claim 1, wherein determining the reference flight route corresponding to the current state based on the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area, comprises:
If the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
Determining a flight suitability value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
and screening out an alternative flight route corresponding to the maximum flight suitability value, and determining the alternative flight route as a reference flight route.
4. A route determination device for performing the method of determining a flight route as claimed in any one of claims 1 to 3.
5. A flight assistance system comprising the route determination device of claim 4, the flight assistance system further comprising:
the weather monitoring equipment is used for collecting weather data;
And the processor is used for determining flow field state information of the target flight area according to the position information of the weather monitoring equipment, the weather data acquired by the weather monitoring equipment and the three-dimensional space data of the target flight area.
6. The flight assistance system of claim 5, further comprising:
the regional weather processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor and displaying the flow field state information of the target flight region in a graphical mode.
7. The flight assistance system of claim 5, further comprising a memory;
The memory is used for storing position information of the meteorological monitoring equipment, meteorological data collected by the meteorological monitoring equipment, three-dimensional space data of the target flight area and flow field state information of the target flight area.
8. The flight assistance system of claim 5, wherein the weather monitoring node includes an air condition sensor; the air condition sensor is disposed at a designated location or on a mobile device.
9. The flight assistance system of claim 5, wherein the processor is further configured to:
And updating historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data collected by the meteorological monitoring equipment.
10. The flight assistance system of claim 5, wherein the target flight area is a flight area of at least one flight device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010119886.7A CN111338366B (en) | 2020-02-26 | 2020-02-26 | Flight route determining method and flight auxiliary system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010119886.7A CN111338366B (en) | 2020-02-26 | 2020-02-26 | Flight route determining method and flight auxiliary system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111338366A CN111338366A (en) | 2020-06-26 |
| CN111338366B true CN111338366B (en) | 2024-06-11 |
Family
ID=71183649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010119886.7A Active CN111338366B (en) | 2020-02-26 | 2020-02-26 | Flight route determining method and flight auxiliary system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111338366B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7044910B1 (en) * | 2021-01-21 | 2022-03-30 | Kddi株式会社 | Flight management system and flight management method |
| CN114661067B (en) * | 2022-05-06 | 2025-04-01 | 广东汇天航空航天科技有限公司 | Flight control method, device and electronic equipment |
| CN115619049B (en) * | 2022-12-19 | 2023-05-02 | 中国民用航空华东地区空中交通管理局 | Prediction and evaluation method based on aviation operation risk index under extreme weather conditions |
| CN118643308A (en) * | 2024-08-16 | 2024-09-13 | 粤港澳大湾区数字经济研究院(福田) | Low-altitude flight risk assessment methods, devices, equipment, media and products |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1279878A (en) * | 1997-10-21 | 2001-01-10 | 飞行安全技术公司 | Method for detecting atmospheric meteorological conditions |
| CN104981748A (en) * | 2014-09-30 | 2015-10-14 | 深圳市大疆创新科技有限公司 | A flight instruction method, device and aircraft |
| CN105182989A (en) * | 2015-09-25 | 2015-12-23 | 北京航空航天大学 | A method of aircraft attitude control under the influence of wind field |
| CN106323295A (en) * | 2016-08-29 | 2017-01-11 | 中国船舶重工集团公司第七0九研究所 | An aircraft diversion method under dangerous weather conditions based on weather radar data |
| CN107560614A (en) * | 2017-08-04 | 2018-01-09 | 北京小米移动软件有限公司 | Route planning method and device |
| WO2018043820A1 (en) * | 2016-09-05 | 2018-03-08 | 에스케이테크엑스 주식회사 | Route guiding system, using weather information, of unmanned aerial vehicle, method thereof, and recording medium recorded with computer program |
| CN107830864A (en) * | 2017-11-01 | 2018-03-23 | 飞友科技有限公司 | A kind of aircarrier aircraft bad weather is diversion route planning system and method |
| CN108871371A (en) * | 2018-04-08 | 2018-11-23 | 广东容祺智能科技有限公司 | A kind of UAV Navigation System |
| CN109923492A (en) * | 2016-11-14 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Flight path determination |
-
2020
- 2020-02-26 CN CN202010119886.7A patent/CN111338366B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1279878A (en) * | 1997-10-21 | 2001-01-10 | 飞行安全技术公司 | Method for detecting atmospheric meteorological conditions |
| CN104981748A (en) * | 2014-09-30 | 2015-10-14 | 深圳市大疆创新科技有限公司 | A flight instruction method, device and aircraft |
| CN105182989A (en) * | 2015-09-25 | 2015-12-23 | 北京航空航天大学 | A method of aircraft attitude control under the influence of wind field |
| CN106323295A (en) * | 2016-08-29 | 2017-01-11 | 中国船舶重工集团公司第七0九研究所 | An aircraft diversion method under dangerous weather conditions based on weather radar data |
| WO2018043820A1 (en) * | 2016-09-05 | 2018-03-08 | 에스케이테크엑스 주식회사 | Route guiding system, using weather information, of unmanned aerial vehicle, method thereof, and recording medium recorded with computer program |
| CN109923492A (en) * | 2016-11-14 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Flight path determination |
| CN107560614A (en) * | 2017-08-04 | 2018-01-09 | 北京小米移动软件有限公司 | Route planning method and device |
| CN107830864A (en) * | 2017-11-01 | 2018-03-23 | 飞友科技有限公司 | A kind of aircarrier aircraft bad weather is diversion route planning system and method |
| CN108871371A (en) * | 2018-04-08 | 2018-11-23 | 广东容祺智能科技有限公司 | A kind of UAV Navigation System |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111338366A (en) | 2020-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111338366B (en) | Flight route determining method and flight auxiliary system | |
| US12487099B2 (en) | Map server and map distribution method | |
| JP7488287B2 (en) | Dynamic Aircraft Routing | |
| CN214151498U (en) | Vehicle control system and vehicle | |
| CN109923492B (en) | Flight path determination | |
| CN111367292A (en) | Intelligent road system for automatically driving automobile | |
| CN112937607B (en) | Internet automatic driving system and method for scenic spot sightseeing vehicle | |
| CN110109480A (en) | A kind of unmanned plane inspection search and rescue system and rescue method based on Multi-sensor Fusion | |
| CN110519703A (en) | A kind of mine car Unmanned Systems | |
| JP7359319B2 (en) | Vehicle control method, vehicle device | |
| CN111301390A (en) | Updating map data for autonomous vehicles based on sensor data | |
| CN113758478A (en) | Routing inspection flight planning method and system for long-distance power transmission and transformation line unmanned aerial vehicle | |
| CN105551284A (en) | Open-type automatic driving system | |
| EP3900997A1 (en) | Method of and system for controlling operation of self-driving car | |
| CN111465556A (en) | Information processing system, information processing method, and program | |
| WO2022110116A1 (en) | Flight charging method and system and charging unmanned aerial vehicle | |
| US20210072041A1 (en) | Sensor localization from external source data | |
| WO2022166248A1 (en) | Low-altitude air route and road integrated management platform and method | |
| JP2018097528A (en) | Unmanned mobile body and control method of unmanned mobile body | |
| CN114489030A (en) | Mobile service system and mobile service providing method | |
| CN118609432B (en) | A method for controlling aircraft at a low-altitude traffic all-digital intersection | |
| US12479462B2 (en) | Retrofit vehicle computing system to operate with multiple types of maps | |
| CN113748448B (en) | Vehicle-based virtual stop line and yield line detection | |
| CN113002774B (en) | Robotic Inspection System Based on Ground-Air Integration Collaborative Operation | |
| CN109933088A (en) | A kind of unmanned plane course line automatic generation method suitable for bimodulus recycling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |