CN110007685A - Air route adjusting method and device - Google Patents
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Abstract
The utility model provides a course adjustment method and a device, relates to the technical field of unmanned aerial vehicles, can adjust the course in real time, solves the problem that the existing unmanned aerial vehicle cannot cover the whole operation area according to a given route, and improves the working efficiency of the unmanned aerial vehicle. The specific technical scheme is as follows: acquiring position information of a current waypoint and information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route interval; acquiring a first adjusting instruction, wherein the first adjusting instruction is used for adjusting at least one of a flight angle, a flight line length and a flight line spacing of a navigation direction; calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm; an adjusted course is generated from the current waypoint to the target waypoint. The invention is used for adjusting the flight path.
Description
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicles, in particular to a route adjusting method and device.
Background
With the continuous development of science and technology, unmanned aerial vehicles have been widely used in the fields of aerial photography, plant protection, express transportation, electric power inspection, emergency rescue and relief work, movie and television shooting, and the like. The flying path of the unmanned aerial vehicle during operation is the air route. When an existing unmanned aerial vehicle is operated, the existing unmanned aerial vehicle usually flies according to a set air route. As shown in fig. 1, the area where the unmanned aerial vehicle performs work is irregular as shown by the solid line in fig. 1, and when the unmanned aerial vehicle performs work according to the predetermined route shown by the broken line in the predetermined route map 1, the entire work area cannot be covered, which reduces the work efficiency of the unmanned aerial vehicle.
Disclosure of Invention
The embodiment of the disclosure provides a route adjusting method and device, which can adjust a route in real time, solve the problem that the existing unmanned aerial vehicle cannot cover the whole operation area according to a given route, and improve the working efficiency of the unmanned aerial vehicle. The technical scheme is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided a lane adjustment method, including:
acquiring position information of a current waypoint and information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route interval;
acquiring a first adjusting instruction, wherein the first adjusting instruction is used for adjusting at least one of a flight angle, a flight line length and a flight line spacing of a navigation direction;
calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm;
an adjusted course is generated from the current waypoint to the target waypoint.
Through at least one adjustment in the angle of flight, the flight line length and the flight line interval to navigation direction, can carry out real-time adjustment to the flight line, solve current unmanned aerial vehicle and can't cover the problem in whole operation area according to established route, provide unmanned aerial vehicle's operating efficiency.
In one embodiment, the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm includes:
when the first adjusting instruction is used for adjusting the flight angle of the navigation direction, the position information of the target navigation point is obtained by calculation according to a first formula, wherein the first formula is as follows:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Representing the position coordinates of the target waypoint, theta representing the adjustment angle, lambda representing a first course spacing adjustment factor, L representing the course spacing, R representing a constant factor, f1And f2Representing the conversion factor.
When lambda is 1, under the condition that the space between the flight lines is fixed, the flight angle in the sailing direction is adjusted; when lambda is not equal to 1, the flight angle in the navigation direction is adjusted under the condition of adjusting the space between the navigation lines, so that the adjustment of the flight angle under different conditions is realized, and the method is suitable for various complex operation areas.
In one embodiment, the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm includes:
when the first adjusting instruction is used for adjusting the length of the fairway, the position information of the target fairway point is obtained by calculation according to a second formula, wherein the second formula is as follows:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, α representing the waypoint length adjustment factor, k1Indicating the flight line length adjustment step size.
In one embodiment, the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm includes:
when the first adjusting instruction is used for adjusting the route distance, the position information of the target waypoint is obtained by calculation according to a third formula, wherein the third formula is as follows:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, β representing a second lane spacing adjustment factor, k2Representing the lane spacing adjustment step size.
In one embodiment, the method further comprises: and adjusting the next waypoint of the control target waypoint according to the first adjustment instruction until a second adjustment instruction is obtained.
And for some working areas with changed rules, the waypoints between the first adjusting instruction and the second adjusting instruction are uniformly adjusted to realize real-time adjustment of the air route.
According to a second aspect of the embodiments of the present disclosure, there is provided a course adjustment device including:
the first acquisition module is used for acquiring the position information of the current waypoint and the information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route interval;
the second acquisition module is used for acquiring a first adjustment instruction, and the first adjustment instruction is used for adjusting at least one of the flight angle, the flight line length and the flight line spacing of the navigation direction;
the calculation module is used for calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm;
and the generating module is used for generating an adjusting route from the current waypoint to the target waypoint.
In one embodiment, the calculation module is configured to calculate the position information of the target waypoint according to a first formula when the first adjustment instruction is used for adjusting the flight angle of the navigation direction, where the first formula is:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Representing the position coordinates of the target waypoint, theta representing the adjustment angle, lambda representing a first course spacing adjustment factor, L representing the course spacing, R representing a constant factor, f1And f2Representing the conversion factor.
In one embodiment, the calculation module is configured to calculate the position information of the target waypoint according to a second formula when the first adjustment instruction is used to adjust the length of the waypoint, where the second formula is:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, α representing the waypoint length adjustment factor, k1Indicating the flight line length adjustment step size.
In one embodiment, the calculation module is configured to calculate the position information of the target waypoint according to a third formula when the first adjustment instruction is used for adjusting the lane distance, where the third formula is:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, β representing a second lane spacing adjustment factor, k2Representing the lane spacing adjustment step size.
In one embodiment, the apparatus further comprises: a control module;
and the control module is used for controlling the next waypoint of the target waypoint to adjust according to the first adjusting instruction until a second adjusting instruction is obtained.
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.
FIG. 1 is a schematic illustration of an existing airline provided by embodiments of the present disclosure;
FIG. 2 is a flow chart of a lane adjustment method provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of initial route information provided by embodiments of the present disclosure;
FIG. 4 is a schematic illustration of a flight path angle adjustment provided by an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of a flight line length adjustment provided by an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of a course adjustment provided by an embodiment of the present disclosure;
FIG. 7 is a block diagram of a course adjustment apparatus provided in an embodiment of the present disclosure;
FIG. 8 is a block diagram of a course adjustment apparatus provided in an embodiment of the present disclosure.
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 embodiment of the present disclosure provides a lane line adjusting method, as shown in fig. 2, the lane line adjusting method includes the following steps:
201. and acquiring the position information of the current waypoint and the information of the initial route.
In the embodiment of the present disclosure, the obtaining of the position information of the current waypoint may be obtaining coordinates of the current waypoint, and the coordinates may be represented by longitude and latitude.
The information of the initial route includes the sailing direction, the length of the route and the route distance. The flight angle, flight route length, and route distance of the flight direction in the initial route information will be described with reference to fig. 3. The navigation direction may be set by the user according to the flight area to be performed by the unmanned aerial vehicle, as indicated by the arrow in fig. 3; the flight line length is the distance between two flight points, which are represented by circles in fig. 3; the distance between the two flight paths is the flight path distance.
It should be noted that the initial route is generated by planning in advance according to the flight area where the unmanned aerial vehicle is to operate. Generally, the route distance of the initial route generated by pre-planning is fixed, and the length of the route is smaller than the distance between any two boundary lines in the working area. The generation of the initial route is described below.
In one embodiment, a flight area where the unmanned aerial vehicle needs to operate is obtained, flight routes are planned according to the flight area, corresponding waypoints are determined according to end points of each route, and all the waypoints are connected according to a preset navigation direction to form an initial route.
In one embodiment, before the initial route is generated, coordinates of two waypoints are collected by the unmanned aerial vehicle, the distance between the coordinates of the two waypoints is the length of the route, and then the initial route with fixed route distance is generated according to the preset navigation direction.
202. A first adjustment instruction is obtained.
The first adjustment instruction is used for adjusting at least one of a flight angle, a flight line length and a flight line spacing of the navigation direction. By adjusting at least one of the flight angle, the flight line length and the flight line spacing, real-time adjustment of the flight lines can be achieved.
In one embodiment, the first adjustment instruction may be that the user sends the adjustment information to a flight controller in the drone through a remote controller to make a fine adjustment to the airline information. Illustratively, the flight controller provides a specialized interface that supports real-time adjustments by the user. In the real-time course execution process, a user utilizes keys and a rod position of a remote controller to adjust according to actual terrain conditions, selects whether an object to be adjusted is the adjustment of a flight angle or the adjustment of course distance or course length through the keys, adjusts the granularity through the rod position, and once poking, the granularity adjustment is one granularity adjustment. If the granularity of flight angle adjustment is 15 degrees, the remote controller rod position is designed to be 'rice' shaped, and different flight angles can be adjusted.
In another embodiment, the boundary line information of the working area and the information of the initial route may be pre-stored in the flight controller, and the first adjustment instruction may be acquired when it is determined that the current waypoint needs to be adjusted when the boundary line information of the working area does not include the position information of the current waypoint by comparing whether the boundary line information of the working area includes the position information of the current waypoint or whether the distance between the position of the current waypoint and the boundary line of the working area is greater than a preset threshold or not, or when the distance between the position of the current waypoint and the boundary line of the working area is greater than the preset threshold.
203. And calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm.
Since any one or combination of the flight angle, the flight line length, and the flight line spacing in the flight direction can be adjusted in the first adjustment instruction, the calculation manner of the position information of the target flight point is different for different adjustment objects. The following describes different calculation modes of the adjustment object.
In one embodiment, when the first adjustment instruction is used for adjusting the flight angle of the navigation direction, the position information of the target waypoint is calculated by using a first formula. Wherein the first formula is:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Representing the position coordinates of the target waypoint, theta representing the adjustment angle, lambda representing a first course spacing adjustment factor, L representing the course spacing, R representing a constant factor, f1And f2Representing the conversion factor.
When λ is 1, the first formula is used to adjust the flight angle in the flight direction when the flight path distance is fixed, and calculate the position information of the target waypoint. When the lambda is not equal to 1, the first formula is used for adjusting the flight angle while adjusting the course distance, and the position information of the target waypoint is obtained through calculation. The adjustment of the flight angle can be adjusted by any angle of 360 degrees, however, in practical application, the unmanned aerial vehicle flies according to the navigation direction, and therefore, if the direction of the inter-route distance is taken as the reference direction, the adjustment range of the flight angle is (-90 degrees and 90 degrees). The adjustment of the flight angle in the flight direction is generally performed at the position of the waypoint. Fig. 4 is a schematic diagram of flight path adjustment for adjusting the flight angle when the flight path distance is fixed.
In another embodiment, when the first adjusting instruction is used for adjusting the length of the waypoint, the position information of the target waypoint is calculated according to the second formula. Wherein the second formula is:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates of the target waypoint are shown, α shows the number of times of flight line length adjustment, k1Indicating the flight line length adjustment step size.
According to the method described in the step 202, if the flight line length adjustment step length corresponds to the granularity of the pole position shifted once by the remote controller, the flight line length is increased when the remote controller is shifted according to the navigation direction, and the flight line length is decreased when the remote controller is shifted in the direction opposite to the navigation direction; the number of times of adjusting the length of the flight line corresponds to the number of times of toggling the remote controller, so that when the remote controller toggles twice according to the flight direction, y2＝y1+1. FIG. 5 is a schematic view of course adjustment when the length of the course is increased according to the preset sailing direction.
In another embodiment, when the first adjusting instruction is used for adjusting the route distance, the position information of the target waypoint is calculated according to a third formula. Wherein the third formula is:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, β representing a second lane spacing adjustment factor, k2Representing the lane spacing adjustment step size.
According to the step 202, if the flight path distance adjusting step length corresponds to the granularity of the pole position poked once by the remote controller, the flight path distance is increased when the remote controller is poked according to the navigation direction, and the flight path distance is decreased when the remote controller is poked in the opposite direction to the navigation direction; the time of course distance adjustment corresponds to the toggle time of the remote controller, so that when the remote controller toggles twice according to the navigation direction, x2＝x1+1. Fig. 6 is a schematic diagram showing the adjustment of the flight angle, the flight line length and the flight line spacing.
204. An adjusted course is generated from the current waypoint to the target waypoint.
According to the above description of the steps, since at least one of the flight angle, the flight line length, and the course distance in the flight direction is adjusted, the position of the destination flight point changes from the position of the original flight line, and thus an adjusted course from the current flight point to the destination flight point needs to be generated. And controlling the unmanned aerial vehicle to fly from the current waypoint to the target waypoint according to the generated adjusting route.
For the method described in steps 201 to 204, the first adjustment instruction may be that the target waypoint is obtained only by adjusting the position information of the current waypoint, or that only the waypoint obtained by the adjustment information is adjusted, and other waypoints are not adjusted, so that the unmanned aerial vehicle flies according to the initial route after the target waypoint.
After step 204, the method further comprises: and adjusting the next waypoint of the control target waypoint according to the first adjustment instruction until a second adjustment instruction is obtained.
That is, the waypoints between the first adjustment command and the second adjustment command are adjusted in accordance with the first adjustment command, i.e., the first adjustment command applies to all waypoints between the first adjustment command and the second adjustment command.
For example, when the current waypoint acquires the first adjustment information, only the length of the route of the current waypoint may be adjusted, and then the unmanned aerial vehicle still flies according to the initial route, that is, only the waypoint acquiring the adjustment information is adjusted; or the length of the flight line of the current flight point is adjusted, a new flight line is generated according to the adjusted flight line distance, and the unmanned aerial vehicle flies according to the new flight line.
For example, when the current waypoint acquires the first adjustment information, only the course distance of the current waypoint may be adjusted, and the subsequent unmanned aerial vehicle still flies according to the initial course, that is, only the waypoint acquiring the adjustment information is adjusted; or the air route distance of the current waypoint can be adjusted, a new air route is generated according to the adjusted air route distance, and the unmanned aerial vehicle flies according to the new air route.
The method for adjusting the route provided by the embodiment of the disclosure obtains position information of a current waypoint and information of an initial route, obtains a first adjustment instruction, wherein the first adjustment instruction is used for adjusting at least one of a flight angle, a route length and a route interval of a navigation direction, calculates position information of a target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm, and generates an adjusted route from the current waypoint to the target waypoint. Through at least one adjustment in the angle of flight, the flight line length and the flight line interval to navigation direction, can carry out real-time adjustment to the flight line, solve current unmanned aerial vehicle and can't cover the problem in whole operation area according to established route, provide unmanned aerial vehicle's operating efficiency.
Based on the lane adjustment method described in the embodiment corresponding to fig. 1, the following is an embodiment of the apparatus of the present disclosure, which may be used to implement an embodiment of the method of the present disclosure.
The disclosed embodiments provide a course adjustment device, which may be a flight controller in an unmanned aerial vehicle. As shown in fig. 7, the course adjustment device 70 includes: a first obtaining module 701, a second obtaining module 702, a calculating module 703 and a generating module 704. Wherein,
the first obtaining module 701 is configured to obtain position information of a current waypoint and information of an initial route, where the information of the initial route includes a navigation direction, a route length, and a route distance;
a second obtaining module 702, configured to obtain a first adjustment instruction, where the first adjustment instruction is used to adjust at least one of a flight angle, a flight line length, and a flight line spacing of a flight direction;
the calculating module 703 is configured to calculate to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm;
a generating module 704 for generating an adjusted route from the current waypoint to the target waypoint.
In one embodiment, the calculating module 703 is configured to calculate, when the first adjusting instruction is used to adjust the flight angle of the navigation direction, the position information of the target waypoint according to a first formula, where the first formula is:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates of a target waypoint are represented, theta represents an adjustment angle, and lambda represents a first waypointLine spacing adjustment factor, L represents lane spacing, R represents constant factor, f1And f2Representing the conversion factor.
In one embodiment, the calculating module 703 is configured to calculate the position information of the target waypoint according to a second formula when the first adjusting instruction is used to adjust the length of the waypoint, where the second formula is:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, α representing the waypoint length adjustment factor, k1Indicating the flight line length adjustment step size.
In one embodiment, the calculating module 703 is configured to calculate, when the first adjusting instruction is used to adjust the lane distance, the position information of the target waypoint according to a third formula, where the third formula is:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Position coordinates representing the target waypoint, β representing a second lane spacing adjustment factor, k2Representing the lane spacing adjustment step size.
As shown in fig. 8, the course adjustment device further includes: a control module 704;
and the control module 704 is configured to control a next waypoint of the target waypoint to adjust according to the first adjustment instruction until a second adjustment instruction is obtained.
The route adjusting device provided by the embodiment of the disclosure acquires position information of a current waypoint and information of an initial route, acquires a first adjusting instruction, wherein the first adjusting instruction is used for adjusting at least one of a flight angle, a route length and a route interval of a navigation direction, calculates position information of a target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm, and generates an adjusting route from the current waypoint to the target waypoint. Through at least one adjustment in the angle of flight, the flight line length and the flight line interval to navigation direction, can carry out real-time adjustment to the flight line, solve current unmanned aerial vehicle and can't cover the problem in whole operation area according to established route, provide unmanned aerial vehicle's operating efficiency.
Based on the lane adjustment method described in the embodiment corresponding to fig. 2, an embodiment of the present disclosure further provides a computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a Read Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. The storage medium stores computer instructions for executing the lane adjustment method described in the embodiment corresponding to fig. 2, which is not described herein again.
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 (10)
1. A method of lane adjustment, the method comprising:
acquiring position information of a current waypoint and information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route distance;
acquiring a first adjusting instruction, wherein the first adjusting instruction is used for adjusting at least one of a flight angle, a flight line length and a flight line spacing of the navigation direction;
calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm;
generating an adjusted course from the current waypoint to the target waypoint.
2. The method of claim 1, wherein the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm comprises:
when the first adjusting instruction is used for adjusting the flight angle of the navigation direction, calculating to obtain the position information of the target navigation point according to a first formula, wherein the first formula is as follows:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Representing the position coordinates of the target waypoint, theta representing the adjustment angle, lambda representing a first course spacing adjustment factor, L representing the course spacing, R representing a constant factor, f1And f2Representing the conversion factor.
3. The method of claim 1, wherein the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm comprises:
when the first adjusting instruction is used for adjusting the length of the fairway, calculating the position information of the target fairway point according to a second formula, wherein the second formula is as follows:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) Represents the currentPosition coordinates of waypoints, (x)2,y2) Position coordinates representing the target waypoint, α representing a waypoint length adjustment factor, k1Indicating the flight line length adjustment step size.
4. The method of claim 1, wherein the calculating the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm comprises:
when the first adjusting instruction is used for adjusting the route distance, calculating the position information of the target waypoint according to a third formula, wherein the third formula is as follows:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) (x) position coordinates representing the current waypoint2,y2) Position coordinates representing the target waypoint, β a second course spacing adjustment factor, k2Representing the lane spacing adjustment step size.
5. The method of claim 1, further comprising:
and controlling the next waypoint of the target waypoint to adjust according to the first adjusting instruction until a second adjusting instruction is obtained.
6. An air route adjusting apparatus, comprising:
the first acquisition module is used for acquiring the position information of the current waypoint and the information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route interval;
the second obtaining module is used for obtaining a first adjusting instruction, and the first adjusting instruction is used for adjusting at least one of the flight angle, the flight line length and the flight line spacing of the navigation direction;
the calculation module is used for calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjustment instruction and a preset algorithm;
and the generating module is used for generating an adjusting route from the current waypoint to the target waypoint.
7. The apparatus of claim 6, wherein the calculating module is configured to calculate the position information of the target waypoint according to a first formula when the first adjustment instruction is used to adjust the flight angle of the sailing direction, and the first formula is:
wherein (x)1,y1) Position coordinates representing the current waypoint, (x)2,y2) Representing the position coordinates of the target waypoint, theta representing the adjustment angle, lambda representing a first course spacing adjustment factor, L representing the course spacing, R representing a constant factor, f1And f2Representing the conversion factor.
8. The apparatus of claim 6, wherein the calculating module is configured to calculate the position information of the target waypoint according to a second formula when the first adjusting instruction is used to adjust the length of the waypoint, and the second formula is:
x2＝x1；
y2＝y1+α*k1；
wherein (x)1,y1) (x) position coordinates representing the current waypoint2,y2) Position coordinates representing the target waypoint, α representing a waypoint length adjustment factor, k1Indicating the flight line length adjustment step size.
9. The apparatus of claim 6, wherein the calculation module is configured to calculate the position information of the target waypoint according to a third formula when the first adjustment instruction is used to adjust the route distance, and the third formula is:
x2＝x1+β*k2；
y2＝y1；
wherein (x)1,y1) (x) position coordinates representing the current waypoint2,y2) Position coordinates representing the target waypoint, β a second course spacing adjustment factor, k2Representing the lane spacing adjustment step size.
10. The apparatus of claim 6, further comprising: a control module;
and the control module is used for controlling the next waypoint of the target waypoint to adjust according to the first adjusting instruction until a second adjusting instruction is obtained.
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| CN201810006727.9A CN110007685A (en) | 2018-01-04 | 2018-01-04 | Air route adjusting method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810006727.9A CN110007685A (en) | 2018-01-04 | 2018-01-04 | Air route adjusting method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111474951A (en) * | 2020-03-04 | 2020-07-31 | 南京航空航天大学 | Method for rapidly changing flight area of unmanned aerial vehicle |
| CN115657555A (en) * | 2022-10-25 | 2023-01-31 | 广州极飞科技股份有限公司 | Remote control equipment auxiliary operation method and device, remote control equipment and storage medium |
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