JP6957110B2 - Flight control device and flight control method for unmanned aerial vehicles - Google Patents

Description

The present invention relates to a flight control device and a flight control method for an unmanned aerial vehicle, and is particularly suitable for use in a device for controlling the flight of an unmanned aerial vehicle according to a planned route based on a positioned position.

Currently, the application fields of small unmanned aerial vehicles (drones) are expanding from hobby use to industrial use. For example, efforts using drones for remote sensing, such as terrain surveys, disaster surveys, and infrastructure inspections in places where people cannot go, are becoming active. For example, in a river patrol inspection work, in order to supplement the visual inspection, it is possible to use a drone in a place where people cannot go, such as a mountainous area, and automatically photograph an abnormality such as a landslide around the river. Drones are also being used to transport goods.

When flying a drone to a place where no one can go for patrol inspection of rivers or transporting goods, the drone will fly out of sight in an area out of sight of people. In this case, the drone needs to fly by autonomous control on a preset planned route without being supervised by the operator while receiving GPS radio waves and grasping its position. In this case, the problem is how to realize autonomous flight in an environment where GPS radio waves cannot be captured.

For example, in river patrol inspection work, there is a deep valley in the place where inspection by non-visual flight by drone is required. Therefore, there is a risk that the GPS radio wave cannot be captured because the preset planned route is surrounded by mountains. If the GPS signal cannot be captured, the drone will not be able to maintain its correct position, and in the worst case, there is a risk of colliding with an obstacle and crashing. When a drone is used for the purpose of transporting goods, the same problem as described above may occur depending on the route.

An unmanned aerial vehicle that determines whether or not it is approaching a fall avoidance area such as a private house when flying on a planned route, and increases the flight speed if it is determined that it is approaching a fall avoidance area. Is known (see, for example, Patent Document 1).

Japanese Patent No. 6051327

According to the unmanned aerial vehicle described in Patent Document 1, even if the unmanned aerial vehicle in flight falls out of control due to a sudden failure and crashes, it is possible to avoid falling into the fall avoidance area as much as possible. .. However, the problem that an unmanned aerial vehicle in flight cannot capture GPS radio waves and cannot fly at the correct position on the planned route cannot be solved.

The present invention has been made to solve such a problem, and even if the positioning accuracy of an unmanned aerial vehicle in flight according to a planned route is lowered, the positioning accuracy can be ensured and the flight can be continued. The purpose is to do so.

In order to solve the above-mentioned problems, in the present invention, the positioning accuracy is lower than the predetermined value when the unmanned aerial vehicle is flying according to the preset scheduled route based on the position or orientation positioned by the positioning unit. At that time, I try to fly the unmanned aerial vehicle on a route different from the planned route.

According to the present invention configured as described above, even if the positioning accuracy deteriorates when flying on the planned route, the deterioration of the positioning accuracy can be avoided by flying the unmanned aerial vehicle on a route different from the planned route. It becomes possible to continue the flight while positioning the position or direction. As a result, even if the positioning accuracy of the unmanned aerial vehicle in flight according to the planned route is lowered, the positioning accuracy can be ensured and the flight can be continued.

It is a figure which shows the functional structure example of the flight control apparatus by 1st Embodiment. It is a figure for demonstrating the reception situation of the GPS radio wave in the mountain part. It is a figure for demonstrating another route by 1st Embodiment. It is a flowchart which shows the operation example of the flight control apparatus by 1st Embodiment. It is a figure for demonstrating another route by 2nd Embodiment. It is a figure which shows the functional structure example of the flight control apparatus by 3rd Embodiment. It is a figure for demonstrating the flight control of a drone when the positioning accuracy of a magnetic sensor deteriorates. It is a figure for demonstrating the modification of another route by 1st Embodiment. It is a figure for demonstrating the modification of another route by 1st Embodiment. It is a figure for demonstrating the modification of another route by 1st Embodiment.

(First Embodiment)
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a functional configuration example of the flight control device according to the first embodiment. The flight control device 100 according to the first embodiment is mounted on an unmanned aerial vehicle (drone) and autonomously controls the flight of the drone according to a planned route based on the position and altitude measured by the GPS receiver 200. be.

As shown in FIG. 1, the flight control device 100 according to the first embodiment includes a positioning unit 11, a positioning accuracy detection unit 12, and a flight control unit 13 as its functional configuration. Further, the flight control device 100 includes a scheduled route storage unit 14 as a storage medium.

Each of the above functional blocks 11 to 13 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the above functional blocks 11 to 13 is actually configured to include a computer CPU, RAM, ROM, etc., and is a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. Is realized by the operation of.

The scheduled route storage unit 14 stores information on the planned route in which the route on which the drone flies is preset. The planned route is a route in which the drone flies, which is set by multiple waypoints. Each waypoint has latitude / longitude / altitude information. The drone will automatically fly to follow multiple waypoints in sequence.

Waypoints are set on a computer different from the flight control device 100 (for example, a personal computer, a smartphone, or a dedicated terminal called a ground station). Then, the scheduled route information including the set plurality of waypoints is stored in the scheduled route storage unit 14 of the flight control device 100. The flight control device 100 may be provided with a function of setting a planned route (waypoint).

The positioning unit 11 positions the position (latitude / longitude) and altitude of the drone based on the GPS radio waves received by the GPS receiver 200. The positioning accuracy detection unit 12 detects the positioning accuracy of the positioning unit 11. The positioning accuracy can be detected as, for example, the reception intensity of GPS radio waves. Alternatively, the number of GPS hygiene that can receive GPS radio waves with a predetermined reception intensity or higher may be detected as the positioning accuracy.

FIG. 2 is a diagram for explaining the reception status of GPS radio waves when a drone is used for patrol inspection work in a mountainous area. FIG. 2A shows a situation where the valley is not so deep and the drone is not surrounded by mountains. In this case, the GPS positioning accuracy is good. On the other hand, FIG. 2B shows a situation in which the drone is flying at a relatively low altitude in a deep valley and the drone is surrounded by mountains. In this case, the GPS positioning accuracy may decrease.

The flight control unit 13 controls the flight of the drone according to the scheduled route preset in the scheduled route storage unit 14 based on the position and altitude positioned by the positioning unit 11. Further, the flight control unit 13 controls the drone to fly on a route different from the planned route when the positioning accuracy detected by the positioning accuracy detection unit 12 falls below a predetermined value.

That is, the flight control unit 13 is the number of GPS sanitary units that can receive GPS radio waves when the reception intensity of GPS radio waves detected by the positioning accuracy detection unit 12 is lower than a predetermined value or at a predetermined reception intensity or higher. When is less than the predetermined value, the drone is controlled to fly on a route different from the planned route. Here, a route different from the planned route (hereinafter referred to as a separate route) means that the drone is raised above the planned route (only the altitude of the planned route is increased) from the point where the deterioration of the positioning accuracy is detected, and then the drone is raised. It is a route to return to another point on the planned route.

FIG. 3 is a diagram for explaining another route according to the first embodiment. In FIG. 3, (1) to (10) show the positions and altitudes of 10 consecutive waypoints. Here, for convenience, the positions of waypoints (1) to (10) are represented only in one dimension on the horizontal axis, and the representation of the two-dimensional position on the horizontal plane is omitted.

In FIG. 3, while the drone is flying along the scheduled route 300, the positioning accuracy detected by the positioning accuracy detection unit 12 at the point A between the waypoints (1) and the waypoints (2) is lower than the predetermined value. And. In this case, the flight control unit 13 controls to fly the drone from the point A according to the alternative route 301 and return it to another point D on the planned route 300. The flight of the separate route 301 consists of three stages of flight: an ascending flight stage, a maintenance flight stage, and a descending flight stage.

That is, the flight control unit 13 first raises the drone above the planned route 300 by changing only the altitude without changing the latitude and longitude from the point A in the ascending flight stage. At this time, the flight control unit 13 raises the drone to the point B where the positioning accuracy detected by the positioning accuracy detection unit 12 is equal to or higher than a predetermined value.

Next, the flight control unit 13 moves to the maintenance flight stage, maintains the altitude of the point B that has risen in the ascending flight stage (hereinafter referred to as GPS acquisition altitude), and does not change the horizontal trajectory of the planned route 300. Advance the drone along the planned route 300. That is, the flight control unit 13 flies the drone at a GPS acquisition altitude different from the altitude indicated after the waypoint (2) according to the latitude and longitude indicated after the waypoint (2) of the planned route 300.

Then, the flight control unit 13 flies the drone to the point C at the GPS acquisition altitude for a predetermined distance or a predetermined time, and then proceeds to the descending flight stage. The point C at which the maintenance flight stage ends may be a predetermined number of waypoints from the point B. In the descending flight stage, the flight control unit 13 gradually lowers the altitude while advancing along the planned route 300 without changing the horizontal trajectory of the planned route 300, and returns to another point D on the planned route 300. Control the flight of the drone so that. That is, the flight control unit 13 gradually lowers the altitude from the GPS acquisition altitude while advancing the drone according to the latitude and longitude indicated after the waypoint (6) of the planned route 300.

Another point D on the planned route 300 for returning the drone is, for example, a predetermined ratio per unit time or per unit flight distance (the unit flight distance may be a horizontal flight distance or a long flight distance) from the point C. It is possible to lower the altitude of the drone with the method so that the altitude measured by the positioning unit 11 coincides with the altitude of the planned route 300. The altitude of the planned route 300 in this case is the altitude on the straight line when one waypoint and the next waypoint are connected by a straight line. In this case, the flight control unit 13 connects the trajectory when the altitude of the drone is lowered at a predetermined rate per unit time or unit flight distance from the point C, and one waypoint and the next waypoint. An additional waypoint may be set at the intersection with the straight line to control the drone's flight toward the additional waypoint. FIG. 3 shows a state in which the intersection is set at the return point D.

Alternatively, when flying another route 301 from the point A, the return point D is set in advance, and the drone is controlled to gradually lower the altitude from the point C to the point D so as to return to the set return point D. You may do so. In this case, the method of setting the return point D is arbitrary. As an example, it is possible to set a point separated from the point A by a predetermined distance as the return point D. Alternatively, a waypoint located at a position separated from the point A by a predetermined distance or more can be set as the return point D.

FIG. 4 is a flowchart showing an operation example of the flight control device 100 according to the first embodiment configured as described above. The flowchart shown in FIG. 4 starts when the information of the scheduled route 300 is set in the scheduled route storage unit 14 and the flight of the drone is instructed.

First, the positioning unit 11 positions the position and altitude of the drone based on the GPS radio wave received by the GPS receiver 200 (step S1). Then, the flight control unit 13 controls the flight of the drone according to the scheduled route 300 preset in the scheduled route storage unit 14 based on the position and altitude positioned by the positioning unit 11 (step S2).

During the flight of the drone controlled by the flight control unit 13, the positioning accuracy detection unit 12 detects the positioning accuracy by the positioning unit 11 (step S3). Then, the flight control unit 13 determines whether or not the positioning accuracy detected by the positioning accuracy detection unit 12 is lower than the predetermined value (step S4). Here, if the positioning accuracy is not lower than the predetermined value, the process proceeds to step S12.

On the other hand, when the positioning accuracy is lower than the predetermined value, the flight control unit 13 changes only the altitude without changing the latitude and longitude from the point where the deterioration of the positioning accuracy is detected, and moves the drone above the planned route 300. (Step S5). Even during this ascent, the positioning unit 11 positions the position and altitude of the drone (step S6). Further, the positioning accuracy detection unit 12 detects the positioning accuracy by the positioning unit 11 (step S7).

Then, the flight control unit 13 determines whether or not the positioning accuracy detected by the positioning accuracy detection unit 12 is equal to or higher than a predetermined value (step S8). If the positioning accuracy is not equal to or higher than the predetermined value, the process returns to step S5 and continues to raise the altitude of the drone. On the other hand, when the positioning accuracy exceeds a predetermined value, the flight control unit 13 drones along the planned route 300 without changing the horizontal trajectory of the planned route 300 while maintaining the GPS acquisition altitude of the ascended point. Is advanced by a predetermined distance or a predetermined time (step S9).

After that, the flight control unit 13 gradually lowers the altitude while advancing the drone along the planned route 300 without changing the horizontal trajectory of the planned route 300 (step S10). Then, the flight control unit 13 determines whether or not the altitude measured by the positioning unit 11 matches the altitude of the planned route 300 (step S11). If the flight altitude does not yet match the altitude of planned route 300, the process returns to step S10 and continues the drone's descent.

On the other hand, when the flight altitude of the drone determined by the positioning unit 11 matches the altitude of the planned route 300, the flight control unit 13 determines whether or not the drone has arrived at the end point of the planned route 300 (step S12). .. If the drone has not yet arrived at the end point of planned route 300, the process returns to step S1 and continues flight control of the drone according to planned route 300. On the other hand, when it is determined that the drone has arrived at the end point of the scheduled route 300, the processing of the flowchart shown in FIG. 4 ends.

As described in detail above, in the first embodiment, the positioning accuracy is higher than the predetermined value when the drone is flying according to the predetermined planned route based on the position and altitude positioned by the positioning unit 11. If it drops, the drone will fly on a different route than the planned route. In particular, in the first embodiment, after raising the drone to a point where the positioning accuracy is equal to or higher than a predetermined value, the drone is flown along the planned route and returned to another point on the planned route. ..

According to the first embodiment configured in this way, even if the positioning accuracy deteriorates when flying on the planned route, the reduction in positioning accuracy is avoided by flying the drone on a route different from the planned route. It becomes possible to continue the flight while positioning the position and altitude. As a result, even if the positioning accuracy of the drone during flight deteriorates according to the planned route, the positioning accuracy can be ensured and the flight can be continued.

In the first embodiment, when the drone is raised without changing the latitude and longitude in the ascending flight stage, the flight control unit 13 has the positioning accuracy detected by the positioning accuracy detection unit 12 or more than a predetermined value. Although the example of raising the drone until the above is described, the present invention is not limited to this. For example, after starting the flight in the ascending flight stage, the drone may be raised until the positioning accuracy detected by the positioning accuracy detection unit 12 increases by a second predetermined value. Alternatively, the drone may be raised until the flight altitude reaches a predetermined height. As yet another example, the drone may be raised until the amount of increase in flight altitude after the start of flight in the ascending flight stage reaches a predetermined amount.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. The functional configuration of the flight control device 100 according to the second embodiment is the same as that in FIG. The second embodiment is also the first embodiment in that when the GPS positioning accuracy drops below a predetermined value, the drone is flown on a different route from the planned route and returned to another point on the planned route. It is the same as the form. However, the content of the separate route is different from that of the first embodiment. The separate route in the second embodiment consists of four stages of a regressive flight stage, an ascending flight stage, a maintenance flight stage, and a descending flight stage.

FIG. 5 is a diagram for explaining another route according to the second embodiment. In FIG. 5, as in FIG. 3, (1) to (10) indicate the positions and altitudes of 10 consecutive waypoints (the representation of the two-dimensional positions on the horizontal plane is omitted). In FIG. 5, while the drone is flying along the scheduled route 300, the positioning accuracy detected by the positioning accuracy detection unit 12 at the point A between the waypoints (1) and the waypoints (2) is lower than the predetermined value. And. In this case, after the flight control unit 13 regresses the drone on the planned route 300 from the point A (regression flight stage), the flight control unit 13 schedules the drone by changing only the altitude without changing the latitude and longitude from the regressed point B. Raise above the route 300 (ascending flight stage).

In the regressive flight stage, the flight control unit 13 regresses the drone by a predetermined distance on the planned route 300 from the point A where the GPS positioning accuracy is lower than the predetermined value, for example. The point B regressed by a predetermined distance on the planned route 300 is the point where the drone flew immediately before, and the GPS positioning accuracy was not lower than the predetermined value at that point. Therefore, if the drone is regressed to the point B, the GPS positioning accuracy will be restored to a predetermined value or more.

Although an example of regressing the drone by a predetermined distance from the point A has been described here, the present invention is not limited to this. For example, the drone may be regressed from the point A for a predetermined time. Alternatively, the drone may be regressed from the point A to the previous waypoint (waypoint (1) in the example of FIG. 5).

After that, the flight control unit 13 moves to the ascending flight stage, changes only the altitude from the regressed point B in the regressing flight stage without changing the latitude and longitude, and raises the drone to the point C at a predetermined height. As described above, since the GPS positioning accuracy has already recovered to a predetermined value or higher at the point B, when the altitude is raised from there, the GPS positioning accuracy is higher than the predetermined value at any altitude. Probability is high. Therefore, unlike the first embodiment, it is not necessary to control the drone to be raised to a point where the positioning accuracy detected by the positioning accuracy detection unit 12 is equal to or higher than a predetermined value.

The flight control unit 13 may raise the drone to a height at which the positioning accuracy is higher than the positioning accuracy detected by the positioning accuracy detection unit 12 at the regressed point B by a second predetermined value. Alternatively, the drone may be raised until the amount of increase in flight altitude after the start of flight in the ascending flight stage reaches a predetermined amount.

Next, the flight control unit 13 moves to the maintenance flight stage, maintains the altitude of the point C ascended in the ascending flight stage, and moves the drone along the planned route 300 without changing the horizontal trajectory of the planned route 300. To proceed. Then, the flight control unit 13 flies the drone to the point D for a predetermined distance or a predetermined time, and then proceeds to the descending flight stage. In the descending flight stage, the flight control unit 13 gradually lowers the altitude while advancing along the planned route 300 without changing the horizontal trajectory of the planned route 300, and returns to another point E on the planned route 300. Control the flight of the drone so that.

According to the second embodiment in which the separate route is set as described above, the GPS positioning accuracy returns to the point B where the GPS positioning accuracy is surely equal to or higher than the predetermined value, and then rises to a predetermined height to fly in the different route. Because it is controlled in this way, the minimum required rise can be achieved. That is, in the case of the first embodiment, since the drone is raised from the point where the GPS positioning accuracy is lower than the predetermined value, it may be necessary to raise the drone to a considerable altitude depending on the depth of the valley. In this case, the distance from the river to be inspected becomes long, and there is a possibility that sufficient photography and measurement cannot be performed in small areas. According to the second embodiment, it is possible to avoid such inconvenience.

(Third Embodiment)
Next, a third embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a diagram showing a functional configuration example of the flight control device 100'according to the third embodiment. Note that, in FIG. 6, those having the same reference numerals as those shown in FIG. 1 have the same functions, and therefore, duplicate description will be omitted here.

As shown in FIG. 6, in the third embodiment, the magnetic sensor 201 and the barometric pressure sensor 202 are provided in addition to the GPS receiver 200. Further, the flight control device 100'instead of the positioning unit 11, the positioning accuracy detection unit 12, and the flight control unit 13 shown in FIG. 1, the positioning unit 11', the positioning accuracy detection unit 12', and the flight control unit 13' I have.

In the third embodiment, the positioning unit 11'positions the position, orientation, and altitude of the drone using the GPS receiver 200, the magnetic sensor 201, and the barometric pressure sensor 202, respectively. The flight control unit 13'controls the flight of the drone according to the position, direction and altitude positioned by the positioning unit 11'. The barometric pressure sensor 202 may not be provided, and the position and altitude of the drone may be determined by the GPS receiver 200 as in the first embodiment.

With respect to the magnetic sensor 201, the positioning accuracy may be lower than a predetermined value due to the influence of veins or the like depending on some topography. Therefore, the positioning accuracy detection unit 12' further detects the positioning accuracy of the magnetic sensor 201 in addition to the positioning accuracy of the GPS receiver 200. Then, the flight control unit 13'raises the drone as shown in FIG. 7 even when the positioning accuracy of the magnetic sensor 201 detected by the positioning accuracy detection unit 12' falls below a predetermined value, which is different from the planned route. Control the drone to fly on a separate route.

In the first to third embodiments, after raising the drone to a predetermined height in the ascending flight stage, the drone is flown for a predetermined distance or a predetermined time while maintaining the altitude in the maintenance flight stage. However, the present invention is not limited to this. For example, the maintenance flight stage between the ascending flight stage and the descending flight stage may be omitted, and the altitude may be gradually lowered immediately after the drone is raised to a predetermined height.

Further, in the first to third embodiments, when it is detected again that the positioning accuracy is lower than the predetermined value when the drone rises out of the planned route and then gradually lowers the altitude. , The drone may be raised again from that point to perform similar flight control again.

Further, in the first and second embodiments, the flight control of the drone for each of the ascending flight stage, the maintenance flight stage and the descending flight stage has been described, but the present invention is not limited to this, and other flight controls. It is also possible to apply. A modified example of flight control at each stage will be described in detail below.

First, a modified example of flight control in the ascending flight stage will be described. In the first and second embodiments, when it is detected that the positioning accuracy is lower than the predetermined value, an example in which the drone is raised by changing only the altitude without changing the latitude and longitude of the point has been described. However, the drone may be raised while advancing along the latitude and longitude of the planned route.

For example, as a modification to the first embodiment, when the positioning accuracy detected by the positioning accuracy detection unit 12 drops below a predetermined value, the flight control unit 13 changes the horizontal trajectory of the planned route from that point. Instead, the drone's flight may be controlled so as to gradually increase the altitude while advancing along the planned route. Further, as a modification to the second embodiment, when the positioning accuracy detected by the positioning accuracy detection unit 12 drops below a predetermined value, the flight control unit 13 regresses the drone on the planned route from that point. , The flight of the drone may be controlled so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route from the regressed point.

More specifically, the flight control unit 13 gradually raises the altitude at a constant rate per unit time or unit flight distance while advancing along the planned route without changing the horizontal trajectory of the planned route. Control the flight of the drone. FIG. 8 is a diagram for explaining another route 301 in the case of performing such flight control. The waypoints (1) to (10) shown in FIG. 8 are the same as those shown in FIG.

In FIG. 8, while the drone is flying along the scheduled route 300, the positioning accuracy detected by the positioning accuracy detection unit 12 at the point A between the waypoints (1) and the waypoints (2) is lower than the predetermined value. It shall be. In this case, the flight control unit 13 is constant per unit time or per unit flight distance while advancing along the planned route 300 without changing the horizontal trajectory of the planned route 300 in the ascending flight stage from the point A. Gradually increase the altitude at a rate to raise the drone above the planned route 300.

At this time, the flight control unit 13 raises the drone to the point B where the positioning accuracy detected by the positioning accuracy detection unit 12 is equal to or higher than a predetermined value, for example. It should be noted that the flight in the ascending flight stage is started until the positioning accuracy detected by the positioning accuracy detection unit 12 increases by a second predetermined value, the flight altitude reaches a predetermined height, or the flight in the ascending flight stage. The drone may be raised in any mode from the start of the operation until the amount of increase in flight altitude reaches a predetermined amount.

In the example of FIG. 8, the flight control of the maintenance flight stage and the descent flight stage is the same as that of FIG. 3, so a duplicate description is omitted here. When the positioning accuracy detected by the positioning accuracy detection unit 12 falls below a predetermined value, the position rises vertically from that point without changing the latitude and longitude as shown in FIG. 3, or retreats once as shown in FIG. If you then climb vertically, the reachable distance of the drone will be shortened due to the increase in flight time.

On the other hand, as shown in FIG. 8, the increase in flight time can be minimized by gradually increasing the altitude while advancing in the ascending flight stage. In addition, battery consumption can be kept low by flying linearly by increasing or decreasing the altitude or maintaining the altitude at a constant rate in each of the ascending flight stage, the maintenance flight stage, and the descending flight stage. .. The alternative route 301 as shown in FIG. 8 is effective when the main purpose is movement, for example, when transporting an article.

As another example of flight control in the ascending flight stage, the flight control unit 13 advances along the planned route without changing the horizontal trajectory of the planned route, and with respect to the rate of change in altitude for each waypoint of the planned route. The flight of the drone may be controlled so as to gradually increase the altitude by a certain premium rate. FIG. 9 is a diagram for explaining another route 301 in the case of performing such flight control. The waypoints (1) to (10) shown in FIG. 9 are the same as those shown in FIG.

In FIG. 9, while the drone is flying along the scheduled route 300, the positioning accuracy detected by the positioning accuracy detection unit 12 at the point A between the waypoints (1) and the waypoints (2) is lower than the predetermined value. It shall be. In this case, the flight control unit 13 first determines the rate of altitude change from the point A to the next waypoint (2) (corresponding to the inclination angle of the straight line connecting the point A and the waypoint (2) in FIG. 9). On the other hand, the drone is gradually raised at a rate with a certain premium.

Point (2)'indicates the point after gradually increasing the altitude of the drone from point A to the same latitude and longitude as waypoint (2) along the planned route 300 at a constant premium rate. The inclination angle of the straight line connecting the point A and the point (2)'corresponds to the above-mentioned premium ratio. When the positioning accuracy detected by the positioning accuracy detection unit 12 drops below a predetermined value, the flight control unit 13 sets this point (2)'as an additional waypoint (2)' and sets the additional waypoint (2). You may want to control the drone's flight towards')'.

Next, the flight control unit 13 gradually raises the drone at a rate of giving a certain premium to the rate of altitude change from the waypoint (2) to the next waypoint (3) on the planned route 300. .. In FIG. 9, the altitude gradually decreases from the waypoint (2) to the next waypoint (3). That is, the rate of altitude change is a negative value. In this case, the flight control unit 13 takes, for example, the absolute value of the rate of altitude change, and gradually raises the drone at a rate of giving a certain premium to the absolute value.

Point (3)'is the point after gradually increasing the altitude of the drone from the additional waypoint (2)' to the same latitude and longitude as waypoint (3) along the planned route 300 at a constant premium rate. Shown. The flight control unit 13 adds a point (3)'when the positioning accuracy detected by the positioning accuracy detection unit 12 drops below a predetermined value, or when the drone reaches the additional waypoint (2)'. It may be set as a point (3)'and the drone's flight may be controlled towards the additional waypoint (3)'.

Similarly, the flight control unit 13 additionally sets the way with a certain premium for the rate of altitude change from the waypoint (3) to the next waypoint (4) on the planned route 300. Gradually raise the drone from point (3)'to the same additionally set waypoint (4)'. In the example of FIG. 9, the points from the point A to the point B'of the additional waypoint (4)'correspond to the flight control in the ascending flight stage.

The additional waypoint (4)'that ends the ascending flight stage can be, for example, a point where the positioning accuracy detected by the positioning accuracy detection unit 12 is equal to or higher than a predetermined value. This point is one of the altitude rise points corresponding to multiple waypoints after point A (points that have the same latitude and longitude as the waypoints on the planned route 300 and whose altitude is higher than that waypoint). This is a point where the positioning accuracy detected by the positioning accuracy detection unit 12 first exceeds a predetermined value. Alternatively, the ascending flight stage may be ended at a point where the positioning accuracy detected by the positioning accuracy detection unit 12 has increased by a second predetermined value or more after the flight in the ascending flight stage is started. In these cases, one waypoint is additionally set, and each time the drone reaches the additionally set waypoint, it is determined whether or not the positioning accuracy satisfies the above condition, and if it is not satisfied, the next waypoint is determined. The operation of additionally setting is repeated.

In addition, the additional waypoint (4)'that ends the ascending flight stage is the point where the flight altitude of the drone is equal to or higher than the predetermined height among the altitude ascending points corresponding to multiple waypoints after the point A. Alternatively, the point A may be set to a point where the amount of increase in flight altitude after the start of flight in the ascending flight stage is equal to or greater than a predetermined amount. In these cases, at point A, it is possible to additionally set one or more waypoints up to the point where the flight altitude of the drone satisfies the above conditions.

Next, a modified example of flight control in the maintenance flight stage will be described. In the first and second embodiments described above, in the maintenance flight stage, the flight control unit 13 advances along the planned route while maintaining the flight altitude after the ascent in the ascending flight stage. On the other hand, the flight of the drone is controlled so as to proceed along the planned route without changing the horizontal trajectory of the planned route while maintaining the altitude difference from the planned route at the point where the flight in the ascending flight stage is completed. You may try to do so.

In the example of FIG. 9, the flight section of the maintenance flight stage is shown from the point B'of the additional waypoint (4)'to the point C'of the additional waypoint (6)'. That is, in the example of FIG. 9, the flight control unit 13 has an additional waypoint (4)'which is a point B'where the flight in the ascending flight stage has ended, and a waypoint (4) of the corresponding planned route 300. The flight of the drone is controlled so as to advance to the additional waypoint (6)'along the planned route 300 while maintaining the altitude difference. The flight section in the maintenance flight stage can be, for example, a predetermined number of waypoints.

Finally, a modified example of flight control in the descending flight stage will be described. In the first and second embodiments, the flight control unit 13 gradually lowers the altitude at a constant rate per unit time or unit flight distance while advancing along the planned route in the descending flight stage. However, the altitude may be gradually lowered by a certain premium rate with respect to the altitude change rate for each waypoint of the planned route.

In the example of FIG. 9, the section from the point C'of the additional waypoint (6)'to the point D of the waypoint (10) indicates the flight section of the descending flight stage. That is, in the example of FIG. 9, the flight control unit 13 advances along the planned route 300 from the additional waypoint (6)'which is the point C'where the flight in the maintenance flight stage ends, and the additional waypoint (9). )', The altitude is gradually lowered by a certain premium rate with respect to the altitude change rate (absolute value) for each waypoint of the planned route 300. The section from the last additional waypoint (9)'to the waypoint (10) on the planned route 300 is a connecting section between the separate route 301 and the planned route 300.

The separate route 301 shown in FIG. 9 is effective when the drone is flown for the purpose of aerial photography along the relatively complicated planned route 300. This is because it is possible to fly at an altitude higher than the original planned route 300 while maintaining a shape close to the route shape of the original planned route 300. Here, the relatively complicated planned route 300 is a route in which the distance between adjacent waypoints is relatively short and many waypoints exist. For example, when taking a picture of a road in a mountainous area from the sky with a camera mounted on a drone, the number of waypoints increases because the drone is flown directly above the road while keeping a constant distance from the road. In such a case, if the drone is flown on the separate route 301 shown in FIG. 9, it is difficult to understand that the altitude of the drone suddenly rises when the positioning accuracy drops, and it is possible to shoot a natural image. can.

The flight control of each pattern in the above-mentioned ascending flight stage (vertical ascending pattern shown in FIG. 3, linear ascending pattern shown in FIG. 8, original path-dependent ascending pattern shown in FIG. 9) and each pattern in the maintenance flight stage Flight control (altitude maintenance pattern shown in FIGS. 3 and 8, altitude difference maintenance pattern shown in FIG. 9) and flight control of each pattern in the descent flight stage (linear descent pattern shown in FIGS. 3 and 8, in FIG. 9). It is possible to apply any combination with the shown original route-dependent descending pattern). In addition, any combination of these can be applied to the ascending flight stage, the maintenance flight stage, and the descending flight stage after the regression flight stage shown in FIG.

FIG. 10 is a diagram showing another route 301 to which a linear ascending pattern in the ascending flight stage, an altitude difference maintaining pattern in the maintenance flight stage, and a linear descent pattern in the descending flight stage are applied in combination. The separate route 301 shown in FIG. 10 is a case where the drone is flown for the purpose of aerial photography, for example, when the state of a river in a mountainous area is photographed from the sky with a camera mounted on the drone. This is effective when the intervals are relatively large.

Further, in the separate route 301 shown in FIGS. 3, 5 and 8, when the drone is advanced along the planned route 300 without changing the horizontal trajectory of the planned route 300, each waypoint (2) to (2) to ( The altitude ascending point corresponding to 9) may be set as an additional waypoint, and the flight of the drone may be controlled so as to go to the additional waypoint.

Further, in the first to third embodiments, if it is detected that the positioning accuracy of the GPS receiver 200 or the magnetic sensor 201 is lower than a predetermined value at the end point of the planned route, the drone will rise. You will not be able to land at the end point. Therefore, when it is detected that the positioning accuracy is lower than the predetermined value, it is further determined whether or not the point is the end point of the planned route, and in the case of the end point, the drone is flown according to the planned route (landing). You may make it).

Alternatively, it is determined whether or not the point where the decrease in positioning accuracy is detected is within a predetermined distance range from the end point of the planned route, and if it is within the predetermined distance range, the drone is controlled to stop and fly at that point. , You may switch the mode from autonomous flight to manual flight.

Further, in the first to third embodiments, when the drone is equipped with a camera and flies while taking a picture, the zooming of the camera is controlled according to the altitude at which the drone deviates from the planned route and rises. You may. That is, when the drone rises, it gradually zooms in, and when the drone descends, it gradually zooms out.

In addition, the first to third embodiments are merely examples of embodiment of the present invention, and the technical scope of the present invention should not be interpreted in a limited manner by these. It is something that does not become. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

11,11'Positioning unit 12,12' Positioning accuracy detection unit 13,13' Flight control unit 14 Scheduled route storage unit 100, 100'Flight control device 200 GPS receiver 201 Magnetic sensor 202 Barometric pressure sensor

Claims (33)

A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of way points, while the positioning accuracy detected by the positioning accuracy detection unit is When the value drops below the predetermined value, the unmanned aerial vehicle is raised above the planned route from that point, and then the flight of the unmanned aerial vehicle is controlled so as to return to another point on the planned route. It is equipped with a flight control unit that controls the unmanned aerial vehicle to fly on a route different from the planned route.
When the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit advances the flight along the planned route without changing the horizontal trajectory of the planned route from that point. gradually flight control system of the unmanned aircraft you and controlling the flight of the climb phase of the unmanned aircraft to increase the altitude. In the ascending flight stage, the flight control unit gradually increases the altitude at a constant rate per unit time or unit flight distance while advancing along the planned route without changing the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 1 , wherein the flight of the unmanned aerial vehicle is controlled so as to be raised. In the ascending flight stage, the flight control unit advances along the planned route without changing the horizontal trajectory of the planned route, and is constant with respect to the rate of change in altitude for each waypoint of the planned route. The flight control device for an unmanned aerial vehicle according to claim 1 , wherein the flight of the unmanned aerial vehicle is controlled so as to gradually increase the altitude in increments of a premium rate. After raising the unmanned aerial vehicle above the planned route in the ascending flight stage, the flight control unit maintains the flight altitude after the ascent and does not change the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 1 , wherein the flight of the maintenance flight stage of the unmanned aerial vehicle is controlled so as to travel along a planned route. The flight control unit raises the unmanned aerial vehicle above the planned route in the ascending flight stage, and then maintains the altitude difference from the planned route at that point in the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 1 , wherein the flight of the unmanned aerial vehicle in the maintenance flight stage is controlled so as to proceed along the planned route without change. After raising the unmanned aerial vehicle above the planned route in the ascending flight stage, the flight control unit gradually advances along the planned route without changing the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 1 , wherein the flight of the unmanned aerial vehicle in the descending flight stage is controlled so as to lower the altitude and return to another point on the planned route. After flying the unmanned aerial vehicle in the maintenance flight stage, the flight control unit gradually lowers the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route, and then gradually lowers the altitude of the planned route. The flight control device for an unmanned aerial vehicle according to claim 4 or 5 , wherein the flight of the unmanned aerial vehicle in the descending flight stage is controlled so as to return to another point above. In the descending flight stage, the flight control unit gradually increases the altitude at a constant rate per unit time or unit flight distance while advancing along the planned route without changing the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 6 or 7 , wherein the flight of the unmanned aerial vehicle is controlled so as to be lowered. In the descending flight stage, the flight control unit advances along the planned route without changing the horizontal trajectory of the planned route, and is constant with respect to the rate of change in altitude for each waypoint of the planned route. The flight control device for an unmanned aerial vehicle according to claim 6 or 7 , wherein the flight of the unmanned aerial vehicle is controlled so as to gradually lower the altitude in increments of a premium rate. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of way points, while the positioning accuracy detected by the positioning accuracy detection unit is When the value drops below the specified value, the altitude and longitude of the point are not changed, only the altitude is changed, and the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to raise the unmanned aerial vehicle, and the unmanned aerial vehicle is raised. After that, by controlling the flight of the unmanned aerial vehicle so as to return to another point on the planned route, a flight control unit that controls the flight of the unmanned aerial vehicle on a route different from the planned route is provided. Prepare,
After raising the unmanned aerial vehicle above the planned route in the ascending flight stage, the flight control unit maintains the flight altitude after the ascent and does not change the horizontal trajectory of the planned route. A flight control device for an unmanned aerial vehicle, which controls the flight of the maintenance flight stage of the unmanned aerial vehicle so as to travel along a planned route. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of way points, while the positioning accuracy detected by the positioning accuracy detection unit is When the value drops below the specified value, the altitude and longitude of the point are not changed, only the altitude is changed, and the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to raise the unmanned aerial vehicle, and the unmanned aerial vehicle is raised. After that, by controlling the flight of the unmanned aerial vehicle so as to return to another point on the planned route, a flight control unit that controls the flight of the unmanned aerial vehicle on a route different from the planned route is provided. Prepare,
The flight control unit raises the unmanned aerial vehicle above the planned route in the ascending flight stage, and then maintains the altitude difference from the planned route at that point in the horizontal trajectory of the planned route. A flight control device for an unmanned aerial vehicle, which controls the flight of the maintenance flight stage of the unmanned aerial vehicle so as to proceed along the planned route without change. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of way points, while the positioning accuracy detected by the positioning accuracy detection unit is When the value drops below the specified value, the altitude and longitude of the point are not changed, only the altitude is changed, and the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to raise the unmanned aerial vehicle, and the unmanned aerial vehicle is raised. After that, by controlling the flight of the unmanned aerial vehicle so as to return to another point on the planned route, a flight control unit that controls the flight of the unmanned aerial vehicle on a route different from the planned route is provided. Prepare,
After raising the unmanned aerial vehicle above the planned route in the ascending flight stage, the flight control unit gradually advances along the planned route without changing the horizontal trajectory of the planned route. A flight control device for an unmanned aerial vehicle, which controls the flight of the unmanned aerial vehicle in the descending flight stage so as to lower the altitude and return to another point on the planned route. After flying the unmanned aerial vehicle in the maintenance flight stage, the flight control unit gradually lowers the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route, and then gradually lowers the altitude of the planned route. The flight control device for an unmanned aerial vehicle according to claim 10 or 11, wherein the flight of the unmanned aerial vehicle in the descending flight stage is controlled so as to return to another point above. In the descending flight stage, the flight control unit gradually increases the altitude at a constant rate per unit time or unit flight distance while advancing along the planned route without changing the horizontal trajectory of the planned route. The flight control device for an unmanned aerial vehicle according to claim 12 or 13, wherein the flight of the unmanned aerial vehicle is controlled so as to be lowered. In the descending flight stage, the flight control unit advances along the planned route without changing the horizontal trajectory of the planned route, and is constant with respect to the rate of change in altitude for each waypoint of the planned route. The flight control device for an unmanned aerial vehicle according to claim 12 or 13, wherein the flight of the unmanned aerial vehicle is controlled so as to gradually lower the altitude in increments of a premium rate. The flight control unit starts the flight in the ascending flight stage until the positioning accuracy detected by the positioning accuracy detection unit becomes equal to or higher than the predetermined value, and then the positioning accuracy detected by the positioning accuracy detection unit is the same. The amount of increase in flight altitude after the start of the flight in the above-mentioned ascending flight stage is equal to or more than the predetermined amount until the flight altitude becomes equal to or higher than the predetermined height until the second predetermined value or more independent of the predetermined value is increased. The flight control device for an unmanned aircraft according to any one of claims 1 to 15, characterized in that the unmanned aircraft is raised until the above. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of waypoints, while the positioning accuracy detected by the positioning accuracy detection unit is It is equipped with a flight control unit that controls the unmanned aerial vehicle to fly on a route different from the planned route when the value drops below a predetermined value.
The flight control unit
When the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the unmanned aerial vehicle is retreated from that point on the planned route, and then the unmanned aerial vehicle is moved from the retreated point to the planned route. While controlling the flight of the unmanned aerial vehicle to ascend upwards and then return to another point on the planned route.
It is characterized by controlling the flight of the unmanned aerial vehicle in the ascending flight stage so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route from the retreating point. flight control device for a continuously person aircraft you. The claim is characterized in that the flight control unit regresses the unmanned aerial vehicle for a predetermined distance or a predetermined time on the planned route from a point where the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value. 17. The flight control device for an unmanned aerial vehicle according to 17. The flight control unit retreats the unmanned aerial vehicle from a point where the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value to the previous waypoint on the planned route. Item 17. The flight control device for an unmanned aerial vehicle according to item 17. The flight control unit shall perform until the flight altitude exceeds a predetermined height, until the amount of increase in flight altitude after starting the flight in the ascending flight stage exceeds a predetermined amount, or at the retreated point. Any of claims 17 to 19 , wherein the unmanned aircraft is raised to a height at which the positioning accuracy is higher than the second predetermined value independent of the predetermined value than the positioning accuracy detected by the positioning accuracy detection unit. The flight control device for an unmanned aircraft according to item 1. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of waypoints, while the positioning accuracy detected by the positioning accuracy detection unit is It is equipped with a flight control unit that controls the unmanned aerial vehicle to fly on a route different from the planned route when the value drops below a predetermined value.
The flight control unit
When the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the unmanned aerial vehicle is retreated on the planned route from that point, and then the unmanned aerial vehicle is moved from the retreated point to the planned route. While controlling the flight of the unmanned aerial vehicle to ascend upwards and then return to another point on the planned route.
From the retreated point, the flight of the ascending flight stage of the unmanned aerial vehicle is controlled so as to raise the unmanned aerial vehicle by changing only the altitude without changing the latitude and longitude of the point, or the retreated point. Therefore, the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route.
After the unmanned aircraft in the above SL climb phase is raised above the said planned route, while maintaining the altitude after rising, horizontal trajectory of the planned route is along the planned route without changing flight control system for unmanned aircraft you and controlling the flight of the maintenance flight phases of the unmanned aircraft to be advanced. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of waypoints, while the positioning accuracy detected by the positioning accuracy detection unit is It is equipped with a flight control unit that controls the unmanned aerial vehicle to fly on a route different from the planned route when the value drops below a predetermined value.
The flight control unit
When the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the unmanned aerial vehicle is retreated on the planned route from that point, and then the unmanned aerial vehicle is moved from the retreated point to the planned route. While controlling the flight of the unmanned aerial vehicle to ascend upwards and then return to another point on the planned route.
From the retreated point, the flight of the ascending flight stage of the unmanned aerial vehicle is controlled so as to raise the unmanned aerial vehicle by changing only the altitude without changing the latitude and longitude of the point, or the retreated point. Therefore, the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route.
After the unmanned aircraft in the above SL climb phase is raised above the said planned route, while maintaining the height difference between the planned route at that point, the without changing the horizontal trajectory of the planned route flight control system for unmanned aircraft you and controlling the flight of the maintenance flight phases of the unmanned aircraft so as to travel along the planned route. A positioning unit that measures the position and altitude of unmanned aerial vehicles,
A positioning accuracy detection unit that detects the positioning accuracy of the positioning unit,
Based on the position and altitude positioned by the positioning unit, the flight of the unmanned aerial vehicle is controlled according to a preset scheduled route using a plurality of waypoints, while the positioning accuracy detected by the positioning accuracy detection unit is It is equipped with a flight control unit that controls the unmanned aerial vehicle to fly on a route different from the planned route when the value drops below a predetermined value.
The flight control unit
When the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the unmanned aerial vehicle is retreated on the planned route from that point, and then the unmanned aerial vehicle is moved from the retreated point to the planned route. While controlling the flight of the unmanned aerial vehicle to ascend upwards and then return to another point on the planned route.
From the retreated point, the flight of the ascending flight stage of the unmanned aerial vehicle is controlled so as to raise the unmanned aerial vehicle by changing only the altitude without changing the latitude and longitude of the point, or the retreated point. Therefore, the flight of the unmanned aerial vehicle in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route.
After the unmanned aircraft in the above SL climb phase is raised above the said planned route, gradually lowering the altitude while traveling along the planned route without changing the horizontal trajectory of the planned route, the flight control system for unmanned aircraft you and controlling the flight of the descending flight phase of the unmanned aircraft so as to return to a different point on the planned route. After flying the unmanned aerial vehicle in the maintenance flight stage, the flight control unit gradually lowers the altitude while advancing along the planned route without changing the horizontal trajectory of the planned route, and then gradually lowers the altitude of the planned route. The flight control device for an unmanned aerial vehicle according to claim 21 or 22 , wherein the flight of the unmanned aerial vehicle in the descending flight stage is controlled so as to return to another point above. The positioning unit further positions the direction of the unmanned aerial vehicle,
The positioning accuracy detection unit detects the positioning accuracy of the position and the positioning accuracy of the direction by the positioning unit.
The flight control unit controls the flight of the unmanned aerial vehicle according to the planned route based on the position, orientation, and altitude positioned by the positioning unit, and the positioning accuracy of the position detected by the positioning accuracy detection unit or The unmanned vehicle according to any one of claims 1 to 24, wherein when the positioning accuracy of the orientation is lower than a predetermined value, the unmanned aerial vehicle is controlled to fly on a route different from the planned route. Aircraft flight control device. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aerial vehicle according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. When the positioning accuracy detected by the accuracy detection unit drops below a predetermined value, the unmanned aerial vehicle is raised above the planned route from that point, and then returned to another point on the planned route. It has a second step of controlling the unmanned aerial vehicle to fly on a route different from the planned route by controlling the flight of the unmanned aerial vehicle.
In the second step, when the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit performs the above schedule without changing the horizontal trajectory of the planned route from that point. Control the flight of the above unmanned aerial vehicle in the ascending flight stage so as to gradually increase the altitude while advancing along the route.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aircraft according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. When the positioning accuracy detected by the accuracy detection unit drops below a predetermined value, the flight of the unmanned aircraft in the ascending flight stage is performed so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of the point. By controlling the flight of the unmanned aircraft so as to return to another point on the planned route after ascending the unmanned aircraft, the unmanned aircraft is flown on a route different from the planned route. It has a second step of controlling to make it
In the second step, the flight control unit raises the unmanned aerial vehicle above the planned route in the ascending flight stage, and then maintains the flight altitude after the ascent in the horizontal direction of the planned route. Control the flight of the unmanned aerial vehicle in the maintenance flight stage so that it travels along the planned route without changing the trajectory.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aircraft according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. When the positioning accuracy detected by the accuracy detection unit drops below a predetermined value, the flight of the unmanned aircraft in the ascending flight stage is performed so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of the point. By controlling the flight of the unmanned aircraft so as to return to another point on the planned route after ascending the unmanned aircraft, the unmanned aircraft is flown on a route different from the planned route. It has a second step of controlling to make it
In the second step, the flight control unit raises the unmanned aircraft above the planned route in the ascending flight stage, and then maintains the altitude difference from the planned route at that point. Control the flight of the maintenance flight stage of the unmanned aircraft so that it travels along the planned route without changing the horizontal trajectory of the route.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aircraft according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. When the positioning accuracy detected by the accuracy detection unit drops below a predetermined value, the flight of the unmanned aircraft in the ascending flight stage is performed so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of the point. By controlling the flight of the unmanned aircraft so as to return to another point on the planned route after ascending the unmanned aircraft, the unmanned aircraft is flown on a route different from the planned route. It has a second step of controlling to make it
In the second step, the flight control unit raises the unmanned aircraft above the planned route in the ascending flight stage, and then follows the planned route without changing the horizontal trajectory of the planned route. Control the flight of the unmanned aircraft in the descending flight stage so as to gradually lower the altitude while advancing and return to another point on the planned route.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aerial vehicle according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. It has a second step of controlling the unmanned aerial vehicle to fly on a route different from the planned route when the positioning accuracy detected by the accuracy detection unit falls below a predetermined value.
In the second step, when the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit retreats after retreating the unmanned aerial vehicle on the planned route from that point. The flight of the unmanned aerial vehicle is controlled so that the unmanned aerial vehicle is raised above the planned route from the point where the aircraft was moved, and then returned to another point on the planned route. Control the flight of the unmanned aerial vehicle in the ascending flight stage so as to gradually increase the altitude while advancing along the planned route without changing the horizontal trajectory of the route.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aerial vehicle according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. It has a second step of controlling the unmanned aerial vehicle to fly on a route different from the planned route when the positioning accuracy detected by the accuracy detection unit falls below a predetermined value.
In the second step, when the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit retreats after retreating the unmanned aircraft on the planned route from that point. While controlling the flight of the unmanned aircraft so as to raise the unmanned aircraft above the planned route and then return to another point on the planned route from the point where the aircraft was retreated, the point from the retreated point. Control the flight of the unmanned aircraft in the ascending flight stage so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of, or the horizontal direction of the planned route from the retreating point. The flight of the unmanned aircraft in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the trajectory of the aircraft, and the unmanned aircraft is moved above the planned route in the ascending flight stage. After ascending to, the flight of the maintenance flight stage of the unmanned aircraft is controlled so as to proceed along the planned route without changing the horizontal trajectory of the planned route while maintaining the flight altitude after the ascent.
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aerial vehicle according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. It has a second step of controlling the unmanned aerial vehicle to fly on a route different from the planned route when the positioning accuracy detected by the accuracy detection unit falls below a predetermined value.
In the second step, when the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit retreats after retreating the unmanned aircraft on the planned route from that point. While controlling the flight of the unmanned aircraft so as to raise the unmanned aircraft above the planned route and then return to another point on the planned route from the point where the aircraft was retreated, the point from the retreated point. Control the flight of the unmanned aircraft in the ascending flight stage so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of, or the horizontal direction of the planned route from the retreating point. The flight of the unmanned aircraft in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the trajectory of the aircraft, and the unmanned aircraft is moved above the planned route in the ascending flight stage. After ascending to, the maintenance flight stage of the unmanned aircraft so as to proceed along the planned route without changing the horizontal trajectory of the planned route while maintaining the altitude difference from the planned route at that point. Control the flight of
A flight control method for unmanned aerial vehicles. It is a flight control method for unmanned aerial vehicles by the flight control device provided in unmanned aerial vehicles.
The first step in which the positioning unit of the flight control device positions the position and altitude of the unmanned aerial vehicle, and the positioning accuracy detection unit of the flight control device detects the positioning accuracy of the positioning unit.
The flight control unit of the flight control device controls the flight of the unmanned aerial vehicle according to a preset scheduled route using a plurality of way points based on the position and altitude positioned by the positioning unit, while the positioning unit. It has a second step of controlling the unmanned aerial vehicle to fly on a route different from the planned route when the positioning accuracy detected by the accuracy detection unit falls below a predetermined value.
In the second step, when the positioning accuracy detected by the positioning accuracy detection unit is lower than the predetermined value, the flight control unit retreats after retreating the unmanned aircraft on the planned route from that point. While controlling the flight of the unmanned aircraft so as to raise the unmanned aircraft above the planned route and then return to another point on the planned route from the point where the aircraft was retreated, the point from the retreated point. Control the flight of the unmanned aircraft in the ascending flight stage so as to raise the unmanned aircraft by changing only the altitude without changing the latitude and longitude of, or the horizontal direction of the planned route from the retreating point. The flight of the unmanned aircraft in the ascending flight stage is controlled so as to gradually increase the altitude while advancing along the planned route without changing the trajectory of the aircraft, and the unmanned aircraft is moved above the planned route in the ascending flight stage. After ascending to, the altitude of the unmanned aircraft is gradually lowered while advancing along the planned route without changing the horizontal trajectory of the planned route, and returning to another point on the planned route. Control the flight in the descent flight stage
A flight control method for unmanned aerial vehicles.

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