WO2018188086A1 - Unmanned aerial vehicle and control method therefor - Google Patents

Abstract

A control method for an unmanned aerial vehicle, comprising: calculating first coordinates of the unmanned aerial vehicle in a first coordinate system, calculating second coordinates of the unmanned aerial vehicle in a second coordinate system according to the first coordinates, and controlling, according to the second coordinates, the unmanned aerial vehicle to fly.

Description

Drone and its control method Technical field

The invention relates to a drone, and in particular to a control method of a drone.

Background technique

The existing UAV operation uses the remote control joystick to control the attitude of the aircraft, which can achieve precise control, but requires two-hand control, which is very inconvenient; there are also some small aircrafts that operate through the mobile phone and use the touch screen to simulate the joystick. Or map the attitude of the aircraft (sense control) by the gesture of the mobile phone.

Existing methods of operation:

The first one is designed for more professional aerial vehicle design, which can achieve more precise control, but requires two-hand operation and high requirements for operators;

The second type lacks feedback (it is difficult to accurately control when touched), and due to transmission delay, wireless interference, mobile phone attitude measurement error, etc., the somatosensory operation cannot achieve precise operation.

The main feature of the small self-timer UAV is portable. It is aimed at the average consumer. Therefore, it is generally not equipped with a professional remote control. It is difficult to operate accurately with the body of the mobile phone. Self-timer is a composition, and the selection of the scene is relatively high. Manipulating the aircraft.

In summary, the existing methods are not suitable for small self-timer drones.

The invention proposes a way to accurately control the drone with one hand from the perspective of improving the user experience of the small aircraft self-timer. You can use the smart phone to complete the composition and scene selection. You can also use the one-handed device (OSMO MOBILE) to make it easy to use, so that the average consumer can quickly get started and focus on it. Take a photo of itself.

Summary of the invention

The technical problem to be solved by the present invention is to provide a control method for a drone, which can more easily perform operations such as composition and framing, so that the user can concentrate more on photographing.

An aspect of the present invention provides a drone control method, the method comprising: calculating a first coordinate of the drone in a first coordinate system, and calculating the drone according to the first coordinate a second coordinate in the two coordinate system, and controlling the drone flight according to the second coordinate.

An unmanned aerial vehicle comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, the drone communicating with a control device, the control device Including an imaging device, wherein the processor performs the following steps when executing the computer program, calculating a first coordinate of the drone in the first coordinate system, and calculating the unmanned according to the first coordinate The second coordinate of the machine in the second coordinate system, and controlling the drone flight according to the second coordinate.

In some embodiments, the first coordinate system is a spherical coordinate system with the control device as an origin, and the second coordinate system is a navigation coordinate system.

In some embodiments, the first coordinate comprises a distance of the drone from the control device, a zenith angle of the drone in the first coordinate system, and the drone is The azimuth in the first coordinate system.

In some embodiments, the calculating the first coordinates of the drone in the first coordinate system comprises calculating a distance of the drone from the control device, and calculating the zenith angle and the Azimuth.

In some embodiments, the calculating the zenith angle and the azimuth angle includes acquiring coordinates of the drone in an image captured by the imaging device, acquiring a field of view of the imaging device, acquiring Determining the resolution of the imaging device, and calculating the zenith angle and the azimuth based on the coordinates, the field of view, and the resolution.

In some embodiments, the field of view includes a horizontal field of view and a vertical field of view, the resolution including horizontal resolution and vertical resolution.

DRAWINGS

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a number of embodiments of the present disclosure, and other drawings may be obtained from those of ordinary skill in the art without departing from the drawings.

Figure 1 is a schematic structural view of a drone according to an embodiment of the present invention;

2 is a schematic structural view of a bottom of a drone provided by an embodiment of the present invention;

FIG. 3 is a flow chart of calculating a target position of a drone according to an embodiment of the present invention; FIG.

4 is a schematic diagram of a UAV computing target position provided by an embodiment of the present invention;

FIG. 5 is a flowchart of a user controlled drone according to an embodiment of the present invention;

6 is a schematic diagram of a drone control according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a module of a drone according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The terms "first", "second" and the like in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the terms so used are interchangeable as appropriate, and are merely illustrative of the manner in which the objects of the same. In addition, the terms "comprises" and "comprises" and "comprises", and any variations thereof, are intended to cover a non-exclusive inclusion so that a process, method, system, product, or device comprising a series of units is not necessarily limited to those elements, but may include Listed or for these processes, Other units inherent to the method, product or equipment.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

The invention will now be described in detail in conjunction with the drawings and embodiments.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a drone according to an embodiment of the present invention. The drone 100 can include a fuselage 110 that includes a central portion 111 and at least one outer portion 112. In the embodiment shown in FIG. 1, the fuselage 110 includes four outer portions 112 (such as the arm 113). The four outer portions 112 extend from the central portion 111, respectively. In other embodiments, the body 110 can include any number of external portions 112 (eg, 6, 8, etc.). In any of the above embodiments, each of the outer portions 112 can carry a propulsion system 120 that can drive the drone 100 to move (e.g., climb, land, horizontally move, etc.). For example, the arm 113 can carry a corresponding motor 121, and the motor 121 can drive the corresponding propeller to rotate. The drone 100 can control any set of motors 121 and their corresponding propellers 122 without being affected by the remaining motors 121 and their corresponding propellers.

The body 110 can carry a load 130, such as an imaging device 131. In some embodiments, the imaging device 131 can include a camera, for example, an image, video, etc. around the drone can be taken. The camera is photosensitive to light of various wavelengths including, but not limited to, visible light, ultraviolet light, infrared light, or any combination thereof. In some embodiments, the load 130 can include other kinds of sensors. In some embodiments, the load 130 is coupled to the fuselage 110 by a pan/tilt 150 such that the load 130 can move relative to the fuselage 110. For example, when the load 130 carries the imaging device 131, the imaging device 131 can move relative to the body 110 to capture images, videos, and the like around the drone 100. As shown, the landing gear 114 can support the drone 100 to protect the load 130 when the drone 100 is on the ground. It should be noted that in other embodiments, the body 110 can carry two or more loads. For example, the body 110 can carry two pan/tilt heads, each of which is connected to a camera.

In some embodiments, the drone 100 can include a control system 140, Control system 140 includes components disposed in said drone 100 and components that are separate from said drone 100. For example, the control system 140 can include a first controller 141 disposed on the drone 100, and a remote from the drone 100 and coupled via a communication link 160 (eg, a wireless link) The second controller 142 is connected to the first controller 141. The first controller 141 can include at least one processor, a memory, and an onboard computer readable medium 143a, the onboard computer readable medium 143a can store program instructions for controlling the behavior of the drone 100, The behavior includes, but is not limited to, the operation of the propulsion system 120 and the imaging device 131, controlling the drone to perform automatic landing, and the like. The computer readable medium 143a can also be used to store state information of the drone 100, such as altitude, speed, location, preset reference height, and the like. The second controller 142 can include at least one processor, memory, off-board computer readable medium 143b, and at least one input and output device 148, such as display device 144 and control device 145. An operator of the drone 100 can remotely control the drone 100 through the control device 145 and receive feedback information from the drone 100 via the display device 144 and/or other devices. In other embodiments, the drone 100 can operate autonomously, at which time the second controller 142 can be omitted, or the second controller 142 can only be used to make the drone operator heavy Write a function for drone flight. The onboard computer readable medium 143a can be moved out of the drone 100. The off-board computing readable medium 143b can be moved out of the second controller 142.

In some embodiments, the drone 100 can include two forward looking cameras 171 and 172 that are sensitive to light of various wavelengths (eg, visible light, infrared light, ultraviolet light) for shooting. An image or video around the drone. In some embodiments, the drone 100 includes at least one sensor placed at the bottom.

2 is a schematic structural view of a bottom of a drone according to an embodiment of the present invention. The drone 100 can include two lower looking cameras 173 and 174 placed at the bottom of the fuselage 110. In addition, the drone 100 further includes two ultrasonic sensors 177 and 178 placed at the bottom of the body 110. The ultrasonic sensors 177 and 178 can detect and/or monitor objects and ground at the bottom of the drone 100 and measure the distance from the object or the ground by transmitting and receiving ultrasonic waves.

In other embodiments, the drone 100 may include an inertial measurement unit (English: inertial measurement unit, IMU), a GPS (English: Global Positioning System) module, an infrared sensor, a microwave sensor, a temperature sensor, and a close range. Sensor (English: proximity sensor), 3D laser range finder, 3D TOF, etc. The three-dimensional laser range finder and the 3D TOF can detect the distance of an object or a body surface under the drone.

In some embodiments, the input and output device 148 is a smart phone. The user can control the drone to fly through the mobile phone.

In some embodiments, the drone 100 can receive input information from the input and output device 148, such as a user transmitting a target to the drone 100 through the input and output device 148. The drone 100 can identify a corresponding position of the target on the ground according to the target, and the first controller can control the drone 100 to fly above the corresponding position and hover.

In some examples, the drone 100 can receive input information from the input and output device 148, such as a user transmitting a target to the drone 100 through the input and output device 148. The drone 100 can identify a corresponding position of the target on the ground according to the target. The first controller may control the drone 100 to fly to a preset reference altitude and fly along the preset reference altitude.

In some embodiments, the drone may calculate the first coordinate in the first coordinate system and calculate the second coordinate of the drone in the second coordinate system according to the first coordinate. Get the target location. The drone can fly to the second coordinate.

Referring to FIG. 3, FIG. 3 is a flowchart of calculating a target position of a drone according to an embodiment of the present invention. The drone can calculate a target location in accordance with method 300 and fly in accordance with the target location.

In some embodiments, program instructions to perform the method 300 can be stored in the onboard computer readable medium 143a. In other embodiments, program instructions to perform the method 300 can be stored in the off-board computer readable medium 143b.

Step 301: Calculate a first coordinate of the drone in the first coordinate system.

。因此，所述第一坐标(即所述无人机100在所述极坐标系中的坐标)可以被表示为(r,θ,

)。Referring to FIG. 4, FIG. 4 is a schematic diagram of a UAV computing target position according to an embodiment of the present invention. In FIG. 4, the first coordinate system is a polar coordinate system with the control device O as the origin. The first coordinate includes a distance r of the drone 100 from the control device O, a zenith angle θ of the drone 100 in the polar coordinate system, and the drone 100 is in the Azimuth in the polar coordinate system

. Therefore, the first coordinate (ie, the coordinates of the drone 100 in the polar coordinate system) can be expressed as (r, θ,

).

In some embodiments, the drone 100 can acquire a horizontal distance and a vertical distance of the drone 100 from the control device O, and calculate the above by the horizontal distance and the vertical distance. Distance r. For example, the drone 100 can detect the vertical distance by one or more sensors (such as ultrasonic sensors, TOF sensors, barometers, etc.) onboard. As another example, the drone 100 can detect the horizontal distance through a GPS module.

。In some embodiments, after the user controls the drone 100 to take off by the control device O, the drone 100 can receive location information from the control device O to calculate the zenith angle θ and The azimuth

.

In some embodiments, the control device O includes a display device and an imaging device (such as a camera or the like) through which the user can photograph the drone to generate a display device that can be displayed on the display device. The image on it. Referring to FIG. 4, the control device O can identify the position information of the drone, such as the position A, on the image 101 captured by the imaging device, and calculate the position A from the image center O' by calculating the position A. The pixel difference is used to determine the coordinates of the position A.

In some embodiments, the coordinates of the position A may be represented as (Δu, Δv), Δu is the horizontal pixel difference between the position A and the image center O', Δv is the position A and the image The vertical pixel difference of the center O'. For example, the coordinates of the position A may be (200px, 300px).

。In some embodiments, the drone 100 can acquire a field of view (Fov) of the imaging device, the resolution of the imaging device (frame size: w, frame height: h), and according to the position A Calculating the zenith angle θ and the azimuth angle by coordinates, the field of view Fov, and the resolution

.

In some embodiments, the field of view Fov includes horizontal field of view hFov and vertical view Wild vFov. The horizontal field of view hFov and the vertical field of view vFov can be calculated by the following formula:

Wherein, the field of view Fov is a field of view of a diagonal of the photosensitive element of the imaging device. The field of view Fov can be given by the manufacturer and can be called directly when needed. For example, the control device O can transmit the field of view Fov to the drone 100. The drone 100 may calculate the horizontal field of view hFov and the vertical field of view vFov according to the field of view Fov. Optionally, the control device O can also calculate the horizontal field of view hFov and the vertical field of view vFov locally according to the field of view Fov.

In some embodiments, the resolution includes a frame width w and a frame height h. For example, the ratio of the width w of the frame to the height h of the frame may be 16:9 or 4:3. The frame width w may be 1920px, and the frame height h may be 1080px. The control device O can obtain the frame width w and the frame height h from the local. Optionally, the control device O may also send the frame width w and the frame height h to the drone 100.

。In some embodiments, the drone 100 or the control device O can calculate the zenith angle θ and the azimuth according to the following formula

.

。可选地，所述手持云台可以将所述天顶角θ以 及所述方位角

发送给所述无人机100。In some embodiments, the control device O can be a handheld pan/tilt. The user can take the drone through the imaging device of the handheld pan/tilt (such as a built-in camera, mobile phone or camera, etc.) to generate an image that can be displayed on the imaging device. The handheld pan/tilt can acquire the zenith angle θ and the azimuth angle through a built-in attitude sensor (such as an inertial measurement unit or the like)

. Optionally, the handheld gimbal may have the zenith angle θ and the azimuth angle

Sended to the drone 100.

Step 302: Calculate a second coordinate of the UAV in the second coordinate system according to the first coordinate.

)之后，所述无人机100或者所述控制装置O可以根据所述第一坐标计算所述无人机在第二坐标系统中的第二坐标。In some embodiments, the first coordinate (r, θ, is calculated)

After that, the drone 100 or the control device O can calculate the second coordinate of the drone in the second coordinate system according to the first coordinate.

Referring to FIG. 4, the second coordinate system is a navigation coordinate system. Specifically, the x-axis points to the north, the y-axis points to the east, and the z-axis points to the center of the earth. Optionally, the second coordinate system may be a fuselage coordinate system. For example, the x-axis points to the front of the fuselage direction, the y-axis points to the right of the fuselage direction, and the z-axis points to the lower side of the fuselage direction. The direction of the fuselage is the orientation of the nose of the drone.

In some embodiments, the drone 100 or the control device O can calculate the second coordinate (x, y, z) according to the following formula.

Step 303: Control the drone to fly according to the second coordinate.

In some embodiments, after calculating the second coordinate (x, y, z), the drone 100 can fly to the second coordinate (x, y, z).

In some embodiments, by the method 300, the user can control the position of the aircraft with one hand by a control device (such as a mobile phone, etc.) to complete the composition, the selection, and the like, as simple as the selfie stick. Allows the average user to get up and running quickly, so they can focus more on the photo itself.

It should be noted that the above description of the method 300 is only for ease of understanding of the present invention. It will be apparent to those skilled in the art that the present invention may be modified and modified without departing from the scope of the invention. For example, the method 300 may be performed by the drone 100, or by the control device O, or by the drone 100 and the control device O carried out. For another example, the control device O may further include a tablet computer, a smart watch, a wristband, VR glasses, AR glasses, and the like.

Referring to FIG. 5, FIG. 5 is a flowchart of a user controlled drone according to an embodiment of the present invention.

In step 501, the distance between the drone and the control device is adjusted.

In some embodiments, the user can control the drone to take off by a control device (such as a cell phone and/or a remote control) and adjust the distance between the control device and the drone, ie the distance r (see Figure 4). For example, the user can slide a screen of the control device (such as a mobile phone screen), click a specified position of the control device screen (such as a specified position of a mobile phone screen), or multi-touch (such as 3D touch, etc.). To adjust the distance r.

In step 502, the user is locked by the drone.

In some embodiments, the user can lock the user through a screen of the control device, such as a cell phone screen. For example, the user can switch the screen on the screen to the shooting preview screen of the drone. Thereafter, the user can roughly adjust the orientation of the drone to cause the user to appear in the shooting preview screen. Optionally, the user may lock the user by boxing the user book in the shooting preview screen. Specifically, the user may enable the smart follow function of the drone to continuously follow the user by boxing the user in the shooting preview screen. After the smart follow function is enabled, the unattended user finely adjusts the orientation of the drone and the position of the gimbal according to the user's habits, so that the user appears in the designated position in the shooting preview screen, thereby completing the automatic Composition. Optionally, the specified location may be the center of the shooting preview screen, or may be a location specified by any user on the shooting preview screen.

In step 503, the drone is locked by the control device.

In some embodiments, the user may switch a screen on the screen of the control device to a shot preview screen of the imaging device of the control device. The drone is then caused to appear in the shooting preview screen by moving the control device. Optionally, the user may frame the drone in the shooting preview screen to lock the drone. In particular, the user can enable the smart follow function on the control device. The drone is continuously followed by the drone being framed in the shooting preview screen.

Through steps 502 and 503, the drone is locked to the user, and the control device locks the drone. It is to be understood that the above description is only for the purpose of understanding the invention and is not considered to be the only embodiment of the invention. In other embodiments, step 503 can be performed prior to step 502, or step 502 and step 503 can be performed simultaneously.

Step 504, moving the control device to control the position of the drone.

In some embodiments, the user can move the control device to control the position of the drone. Optionally, when the user moves the control device to change the position of the drone in the screen of the control device, the drone may calculate in real time according to the method 300. a target position (such as the second coordinate) and flying according to the target position (eg, flying to the target position). Optionally, the user can rotate the control device in place, or move the control device up and down, so that the operations of composition, framing, and the like can be conveniently performed, so that the user can focus more on the photographing.

及所述方位角θ。In some embodiments, the control device is a handheld pan/tilt. The user can move the handheld pan/tilt to control the location of the drone. For example, the user can directly rotate the handheld pan/tilt, or rotate the handheld pan/tilt by operating the joystick of the handheld pan/tilt, so that the drone appears in the shooting preview screen of the handheld pan/tilt. According to the method 300, the handheld pan/tilt can acquire the zenith angle through a built-in attitude sensor.

And the azimuth angle θ.

It is to be noted that the above description of the method 500 is merely for ease of understanding of the present invention and should not be considered as the only embodiment of the present invention. It will be apparent to those skilled in the art that the present invention may be modified and modified without departing from the scope of the invention. For example, the control device may further include a tablet computer, a smart watch, a wristband, VR glasses, AR glasses, and the like.

Referring to FIG. 6, FIG. 6 is a schematic diagram of a drone control according to an embodiment of the present invention. The user can control the flight of the drone 100 by the control device 200 (such as a mobile phone or the like) with one hand.

,z)。其中，ρ表示所述无人机100与所述控制装置200的水平距离，

表示所述无人机100在所述圆柱坐标系中的方位角，z表示所述无人机100的高度。具体计算所述第一坐标(ρ,

,z)可以参考图3中的描述，在此不赘述。In some embodiments, the user may use the control device 200 to control the flight of the drone 100 by the method 300 to complete operations such as composition, framing, etc., to facilitate the user to take a picture. Referring to Figures 3 and 6, the first coordinate system may be a cylindrical coordinate system with the control device 200 as the origin. The first coordinate can be expressed as (ρ,

,z). Where ρ represents the horizontal distance between the drone 100 and the control device 200,

Indicates the azimuth of the drone 100 in the cylindrical coordinate system, and z represents the height of the drone 100. Specifically calculating the first coordinate (ρ,

, z) can refer to the description in FIG. 3, and details are not described herein.

FIG. 7 is a schematic diagram of a UAV module according to an embodiment of the present invention. Referring to FIG. 7, the drone 100 can include at least one processor 701, a sensor 702, a memory 703, and an input input module 704.

The processor 701 may include at least one processor, including but not limited to a microprocessor (English: microcontroller), a reduced instruction set computer (English: reduced RISC), an application specific integrated circuit ( English: application specific integrated circuits (ASIC), application-specific instruction-set processor (ASIP), central processing unit (English: central processing unit, CPU for short), physical processing English (English: physics processing unit, referred to as: PPU), digital signal processor (English: digital signal processor, referred to as DSP), field programmable gate array (English: field programmable gate array, referred to as: FPGA).

In some embodiments, the processor 701 can be configured to perform the method 300. That is, the processor 701 may be configured to calculate a first coordinate of the UAV 100 in the first coordinate system, and calculate a second coordinate of the UAV 100 in the second coordinate system according to the first coordinate. And controlling the drone to fly according to the second coordinate.

In some embodiments, the first coordinate system is a spherical coordinate system with the control device as an origin, and the second coordinate system is a navigation coordinate system.

In some embodiments, the first coordinate comprises a distance of the drone from the control device, a zenith angle of the drone in the first coordinate system, and the drone is The azimuth in the first coordinate system.

In some embodiments, the processor 701 can be configured to calculate a distance of the drone 100 from the control device O, and calculate the zenith angle and the azimuth.

In some embodiments, the processor 701 can be configured to acquire the drone Obtaining a field of view of the imaging device at a coordinate in an image captured by the imaging device, acquiring a resolution of the imaging device, and calculating the day based on the coordinate, the field of view, and the resolution The apex angle and the azimuth angle.

In some embodiments, the field of view includes a horizontal field of view and a vertical field of view, the resolution including horizontal resolution and vertical resolution.

The sensor 302 may include at least one sensor including, but not limited to, a temperature sensor, an inertial measurement unit, an accelerometer, an image sensor (such as a camera), an ultrasonic sensor, a TOF sensor, a microwave sensor, a proximity sensor, and a three-dimensional laser measurement. Distance meter, infrared sensor, etc.

In some embodiments, the inertial measurement unit can be used to measure attitude information (eg, pitch angle, roll angle, yaw angle, etc.) of the drone. The inertial measurement unit may include, but is not limited to, at least one accelerometer, gyroscope, magnetometer, or any combination thereof. The accelerometer can be used to measure the acceleration of the drone to calculate the speed of the drone.

The memory 303 can include, but is not limited to, a read only memory (ROM), a random access memory (RAM), a programmable institutional memory (PROM), an electronically erasable programmable read only memory (EEPROM), and the like. The storage module 303 can include a transitory computer readable medium that can store code, logic or instructions for performing at least one of the steps described elsewhere herein. The control module 301 can perform at least one step, individually or collectively, in accordance with code, logic or instructions of the non-transitory computer readable medium described herein. The storage module can be used to store state information of the drone 100, such as height, speed, position, preset reference height, and the like.

In some embodiments, the memory 303 can store program instructions for performing the method 300.

The input/output module 304 is configured to output information or instructions to an external device, such as receiving an instruction sent by the input/output device 148 (see FIG. 1), or transmitting an image captured by the imaging device 131 (see FIG. 1) to The input and output device 148.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent flow transformation made by the description of the invention and the drawings, It is also directly or indirectly used in other related technical fields, and is included in the scope of patent protection of the present invention.

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present disclosure, and are not intended to be limiting; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the disclosure. range.

Claims (12)

A drone control method, the drone communicating with a control device, the control device comprising an imaging device, wherein the method comprises: Calculating a first coordinate of the drone in the first coordinate system; Calculating, according to the first coordinate, a second coordinate of the drone in the second coordinate system; The drone is controlled to fly according to the second coordinate. The method of claim 1 wherein said first coordinate system is a spherical coordinate system having an origin of said control device and said second coordinate system is a navigation coordinate system. The method of claim 2 wherein said first coordinate comprises a distance of said drone from said control device, said zenith angle of said drone in said first coordinate system, And an azimuth of the drone in the first coordinate system. The method of claim 3 wherein said calculating said first coordinates of said drone in said first coordinate system comprises: Calculating a distance between the drone and the control device; The zenith angle and the azimuth angle are calculated. The method of claim 4 wherein said calculating said zenith angle and said azimuth angle comprises: Obtaining coordinates of the drone in an image captured by the imaging device; Obtaining a field of view of the imaging device; Obtaining a resolution of the imaging device; The zenith angle and the azimuth angle are calculated based on the coordinates, the field of view, and the resolution. The method of claim 5 wherein said field of view comprises a horizontal field of view and a vertical field of view, said resolution comprising horizontal resolution and vertical resolution. An unmanned aerial vehicle comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, the drone being in communication with a control device, the control device comprising an imaging device The feature is that the processor implements the following steps when executing the computer program: Calculating a first coordinate of the drone in the first coordinate system; Calculating, according to the first coordinate, a second coordinate of the drone in the second coordinate system; The drone is controlled to fly according to the second coordinate. The drone according to claim 7, wherein said first coordinate system is a spherical coordinate system having an origin of said control device, and said second coordinate system is a navigation coordinate system. The drone according to claim 8, wherein said first coordinate comprises a distance between said drone and said control device, said UAV in said first coordinate system An angle, and an azimuth of the drone in the first coordinate system. The drone according to claim 9, wherein said processor further implements the following steps when said computer program is executed: Calculating a distance between the drone and the control device; The zenith angle and the azimuth angle are calculated. The drone according to claim 10, wherein said processor further implements the following steps when said computer program is executed: Obtaining coordinates of the drone in an image captured by the imaging device; Obtaining a field of view of the imaging device; Obtaining a resolution of the imaging device; The zenith angle and the azimuth angle are calculated based on the coordinates, the field of view, and the resolution. The drone of claim 11 wherein said field of view comprises a horizontal field of view and a vertical field of view, said resolution comprising horizontal resolution and vertical resolution.

Images