Title:
UNMANNED AERIAL VEHICLE GUIDANCE METHOD, UNMANNED AERIAL VEHICLE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/244545
Kind Code:
A1
Abstract:
An unmanned aerial vehicle (100) guidance method, an unmanned aerial vehicle (100), and a storage medium, relating to the field of unmanned aerial vehicles (100), the method comprising: acquiring a target trajectory (S20); if the curvature of the target trajectory and the current trajectory are not equal, then determining a turning point (PT) on the basis of the current trajectory and the target trajectory (S21); acquiring a turning preparation distance (SR) and a real-time distance of the unmanned aerial vehicle (100) (S22); and, when the real-time distance is less than or equal to the turning preparation distance (SR), acquiring the flight direction and guidance law model of the unmanned aerial vehicle on the basis of the target trajectory, and controlling the flight of the unmanned aerial vehicle (100) (S23). The turning preparation distance (SR) of the unmanned aerial vehicle (100) is calculated on the basis of the current flight state thereof, such that when the unmanned aerial vehicle (100) enters the turning preparation distance (SR), the flight direction and guidance law model are switched in time to control the flight of the unmanned aerial vehicle (100), thereby ensuring that the unmanned aerial vehicle (100) accurately enters the target trajectory at the turning point (PT), so that the unmanned aerial vehicle (100) flies on the target trajectory, thereby increasing the tracking precision of the unmanned aerial vehicle (100) to the target trajectory.
Inventors:
ZHANG TIANBAO (CN)
Application Number:
PCT/CN2021/097755
Publication Date:
December 09, 2021
Filing Date:
June 01, 2021
Export Citation:
Assignee:
AUTEL ROBOTICS CO LTD (CN)
International Classes:
G05D1/08; B64C39/02; G05D1/10
Foreign References:
| CN111522353A | 2020-08-11 | |||
| CN108469832A | 2018-08-31 | |||
| CN111158392A | 2020-05-15 | |||
| CN109582035A | 2019-04-05 | |||
| CN107980108A | 2018-05-01 | |||
| CN107515617A | 2017-12-26 | |||
| US20190354116A1 | 2019-11-21 |
Attorney, Agent or Firm:
LIUJIA CHINA IP LAW OFFICE (CN)
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