The invention provides an unmanned aerial vehicle control method based on electronic fences of a large fixed-wing unmanned aerial vehicle. The unmanned aerial vehicle control method comprises the following steps: step S1, manufacturing electronic fences with different fence attributes according to different areas; S2, calculating the distance between the unmanned aerial vehicle and each fence boundary of the electronic fence in real time, obtaining the shortest distance between the unmanned aerial vehicle and the electronic fence through comparison, and judging whether electronic fence disposal logic needs to be carried out or not by comparing the shortest distance with a corresponding threshold value; and S3, when the electronic fence disposal logic needs to be carried out, selecting the corresponding electronic fence disposal logic according to the fence attribute of the electronic fence. According to the invention, the electronic fence protection function of the large fixed-wing unmanned aerial vehicle can be realized, and the shortest distance with the electronic fence is calculated and compared with the threshold value to pre-judge in advance and automatically enter the electronic fence for disposal, so that the unmanned aerial vehicle can maneuver and turn in advance; therefore, the problem that the large unmanned aerial vehicle may fly out of the electronic fence limit due to the turning gradient and the flight speed is solved.
本发明提供一种基于大型固定翼无人机电子围栏的无人机控制方法,包括如下步骤:步骤S1,根据不同区域制作具有不同围栏属性的电子围栏;步骤S2,实时计算无人机与电子围栏各个围栏边界的距离,通过比较得到无人机与电子围栏的最短距离,并通过比较最短距离与相应阈值判断是否需要进行电子围栏处置逻辑;步骤S3,当需要进行电子围栏处置逻辑时,根据电子围栏的围栏属性选择相应的电子围栏处置逻辑。本发明可以实现大型固定翼无人机电子围栏保护功能,通过计算与电子围栏的最短距离并与阈值比较来提前预判并自动进入电子围栏处置,使得无人机能够提前机动转弯,从而解决大型无人机由于自身转弯坡度和飞行速度可能导致飞出电子围栏限制的问题。
Unmanned aerial vehicle control method based on large fixed-wing unmanned aerial vehicle electronic fence
一种基于大型固定翼无人机电子围栏的无人机控制方法
2021-08-13
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Europäisches Patentamt | 2022
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