WO2023184099A1 - Control method and apparatus, unmanned aerial vehicle, control system, and storage medium - Google Patents

Abstract

A control method and apparatus, an unmanned aerial vehicle, a control system, and a storage medium. The method is applied to an unmanned aerial vehicle. The method comprises: acquiring a reference yaw orientation of a nose of an unmanned aerial vehicle (S101); if a first yaw control instruction from a first control terminal is acquired, controlling, according to the first yaw control instruction, a body of the unmanned aerial vehicle to perform yaw rotation, and updating the reference yaw orientation, so as to acquire an updated reference yaw orientation (S102); and if a second yaw control instruction from a second control terminal is acquired, controlling, according to the second yaw control instruction, the body of the unmanned aerial vehicle to perform yaw rotation, and keeping the reference yaw orientation unchanged, wherein the reference yaw orientation serves as a flight direction reference for the first control terminal to control the horizontal flight of the unmanned aerial vehicle (S103). By means of the method, a first control terminal can continuously control the horizontal movement of an unmanned aerial vehicle.

Description

Control method, device, unmanned aerial vehicle, control system and storage medium Technical field

The present application relates to the field of control, and in particular, to a control method, device, unmanned aerial vehicle, control system and storage medium.

Background technique

Unmanned aerial vehicles can be used in aerial photography, inspections, forest protection, disaster surveys, pesticide spraying and other scenarios, making unmanned aerial vehicles widely used. The unmanned aerial vehicle can respond to yaw control instructions sent by at least two control terminals (such as a remote controller and a head-mounted display device) to control the deflection of the fuselage of the unmanned aerial vehicle, thereby adjusting the yaw direction of the nose.

Currently, the horizontal flight control of an unmanned aerial vehicle is based on the yaw direction of the nose of the unmanned aerial vehicle as the flight direction reference. However, since at least two control terminals can both change the yaw direction of the nose of the unmanned aerial vehicle, the horizontal flight control of the unmanned aerial vehicle by the first control terminal of the at least two control terminals will be controlled by at least two control terminals. interfered by the second control terminal, because the second control terminal's adjustment of the yaw direction of the UAV's nose will change the horizontal flight reference of the first control terminal's horizontal flight control of the UAV, which will affect the first control terminal The user experience is not good for continuous horizontal flight control of UAV aircraft.

Contents of the invention

Based on this, embodiments of the present application provide a control method, device, unmanned aerial vehicle, control system and storage medium, aiming to solve the problem that one control terminal's horizontal flight control of the unmanned aerial vehicle will be interfered by another second control terminal technical issues.

In a first aspect, embodiments of the present application provide a method for controlling an unmanned aerial vehicle. The unmanned aerial vehicle includes a fuselage, and the fuselage includes a nose. The method includes:

Obtain the reference yaw direction of the aircraft nose;

If the first yaw control instruction from the first control terminal is obtained, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw direction. ;

If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged;

Wherein, the reference yaw direction serves as the flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal.

In a second aspect, embodiments of the present application further provide a control device, which is applied to an unmanned aerial vehicle. The unmanned aerial vehicle includes a fuselage, the fuselage includes a nose, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is used to execute the computer program and implement the following steps when executing the computer program:

Obtain the reference yaw direction of the aircraft nose;

If the first yaw control instruction from the first control terminal is obtained, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw direction. ;

If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged;

Wherein, the reference yaw direction serves as the flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal.

In a third aspect, embodiments of the present application also provide an unmanned aerial vehicle. The unmanned aerial vehicle includes a fuselage, the fuselage includes a nose, and the unmanned aerial vehicle includes an unmanned aerial vehicle as described in any embodiment of the present application. control device.

In a fourth aspect, embodiments of the present application further provide a control system. The control system includes a first control terminal, a second control terminal and the unmanned aerial vehicle described in any embodiment of the present application, wherein the third control terminal A control terminal and the second control terminal are communicatively connected with the unmanned aerial vehicle.

In a fifth aspect, embodiments of the present application further provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor causes the processor to implement any of the instructions in the present application. The steps of the control method according to an embodiment.

Embodiments of the present application provide a control method, device, unmanned aerial vehicle, control system and storage medium, wherein the unmanned aerial vehicle obtains the base yaw direction of the nose, and the base yaw direction serves as the first control terminal The flight direction reference for the horizontal flight control of the unmanned aircraft, and when obtaining the first yaw control instruction from the first control terminal, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated. Obtain the updated reference yaw direction, and when obtaining the second yaw control instruction from the second control terminal, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged. Since the yaw control instruction of the second control terminal will not cause a change in the reference yaw direction of the aircraft nose, which is the flight direction reference of the first control terminal for horizontal flight control of the unmanned aerial vehicle, the first control terminal controls the unmanned aerial vehicle. The horizontal flight control will not be affected by the yaw direction control of the aircraft nose by the second control terminal, which greatly improves the convenience and user experience of the first control terminal's horizontal flight control of the unmanned aerial vehicle.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, which are of great significance to this field. Ordinary technicians can also obtain other drawings based on these drawings without exerting creative work.

Figure 1 is a schematic diagram of the application scenario of the control system provided by the embodiment of the present application;

Figure 2A is a schematic structural diagram of the unmanned aerial vehicle in the control system;

Figure 2B is a schematic structural diagram of the gimbal of the unmanned aerial vehicle in the control system;

Figure 3 is a schematic diagram of the frame structure of the first control terminal in the control system;

Figure 4 is a step flow chart of the control method provided by the embodiment of the present application;

Figure 5 is a schematic diagram of a scene in which the control terminal controls the deflection of the unmanned aerial vehicle in the embodiment of the present application;

Figure 6 is a schematic diagram of another scenario in which the control terminal controls the deflection of the unmanned aerial vehicle in the embodiment of the present application;

Figure 7 is a schematic diagram of another scene in which the control terminal controls the deflection of the unmanned aerial vehicle in the embodiment of the present application;

Figure 8 is a schematic diagram of a scene in which the first control terminal displays the orientation mark of the reference yaw orientation in the embodiment of the present application;

Figure 9 is a schematic diagram of a scene in which the second control terminal displays the orientation mark of the reference yaw orientation in the embodiment of the present application;

Figures 10A and 10B are schematic diagrams of scenes for reference yaw direction calibration in the embodiment of the present application;

Figure 11 is a structural block diagram of a control device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this application.

The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all contents and operations/steps, nor are they necessarily performed in the order described. For example, some operations/steps can also be decomposed, combined or partially merged, so the actual order of execution may change according to actual conditions.

Unmanned aerial vehicles can be used in aerial photography, inspections, forest protection, disaster surveys, pesticide spraying and other scenarios, making unmanned aerial vehicles widely used. The unmanned aerial vehicle can respond to yaw control instructions sent by at least two control terminals (such as a remote controller and a head-mounted display device) to control the deflection of the fuselage of the unmanned aerial vehicle, thereby adjusting the yaw direction of the nose.

Currently, the horizontal flight control of an unmanned aerial vehicle is based on the yaw direction of the nose of the unmanned aerial vehicle as the flight direction reference. However, since at least two control terminals can both change the yaw direction of the nose of the unmanned aerial vehicle, the horizontal flight control of the unmanned aerial vehicle by the first control terminal of the at least two control terminals will be controlled by at least two control terminals. interfered by the second control terminal, because the second control terminal's adjustment of the yaw direction of the UAV's nose will change the horizontal flight reference of the first control terminal's horizontal flight control of the UAV, which will affect the first control terminal The user experience is not good for continuous horizontal flight control of UAV aircraft.

In order to solve the above technical problems, embodiments of the present application provide an unmanned aerial vehicle control method, device, unmanned aerial vehicle, system and storage medium, aiming to solve the problem that the horizontal flight control of the unmanned aerial vehicle by one control terminal will be affected by another Technical issues caused by interference from the second control terminal.

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

It should be noted that the control method provided by the embodiment of the present application is applied to unmanned aerial vehicles, also called UAVs. UAVs may include rotor-type UAVs, such as four-rotor UAVs, six-rotor UAVs, The eight-rotor UAV may also be a fixed-wing UAV, or a combination of a rotary-wing UAV and a fixed-wing UAV, which is not specifically limited in the embodiments of the present application.

Please refer to FIG. 1 , which is a schematic structural diagram of a control system provided by an embodiment of the present application. As shown in Figure 1, a control system includes an unmanned aerial vehicle 100, a first control terminal 200 and a second control terminal 300. The unmanned aerial vehicle 100 can be communicatively connected with the first control terminal 200 and the second control terminal 300. In some cases, the unmanned aerial vehicle 100 is communicatively connected with the first control terminal 200 and the second control terminal 300. In some cases, the unmanned aerial vehicle 100 is communicatively connected with the first control terminal 200 and the second control terminal 300. The first control terminal 200 communicates with the unmanned aerial vehicle 100. In some cases, the unmanned aerial vehicle 100 communicates with the second control terminal 300. The first control terminal 200 communicates with the unmanned aerial vehicle 100 through the second control terminal 300. connect. The first control terminal 200 and the second control terminal 300 are both used to control the unmanned aerial vehicle 100. Wherein, the first control terminal 200 may include at least one of a remote control, a smart phone, and a tablet computer, and the second control terminal 300 may include at least one of a remote control, a smart phone, and a wearable device, and the wearable device includes Head-mounted display device, the head-mounted display device may include a virtual reality (VR, virtual reality) display device or a first-person perspective (FPV, first person view) display device.

In some embodiments, the unmanned aerial vehicle 100 includes an airframe 110, a power system 120, an imaging device 130, and a control device (not shown in Figure 1). The body 110 may include a nose. In some embodiments, the unmanned aerial vehicle 100 further includes an arm, wherein the arm is connected to the fuselage 110 and is used to install the power system. In some embodiments, the The power system 120 can be directly installed on the fuselage 110 .

The power system 120 is used to provide flight power for the unmanned aerial vehicle. The power system 120 may include a motor and a propeller installed on the motor and driven by the motor. The power system 120 can drive the body 110 of the UAV 100 to rotate around one or more rotation axes. For example, the above-mentioned rotation axis may include a roll axis, a yaw axis, and a pitch axis. When the power system 120 drives the fuselage 110 to rotate around the yaw axis, the yaw direction of the nose of the fuselage will change. That is, the yaw rotation of the fuselage 110 can be controlled by controlling the power system 120 . It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

The imaging device 130 is carried directly on the fuselage 110 or carried through a pan/tilt, and is used to capture images, and the images may be pictures and/or videos. In the yaw direction, the yaw rotation of the imaging device 130 is related to the yaw rotation of the fuselage 110. Further, the imaging device 130 follows the yaw rotation of the fuselage 110, or the yaw rotation of the imaging device 130 follows the yaw rotation of the fuselage 110. The fuselage 110 follows the yaw rotation of the imaging device 130 and yaws.

In some embodiments, as shown in FIG. 2A , the imaging device 130 is fixedly connected to the fuselage 110 in the yaw direction, and the yaw direction of the imaging device 130 and the yaw direction of the fuselage 110 cannot be adjusted independently. In the yaw direction, the imaging device 130 cannot deflect equivalent to the fuselage 110 and can only deflect synchronously with the fuselage 110, and the fuselage 110 drives the imaging device 130 to deflect. Specifically, when the yaw direction of the imaging device 130 needs to be adjusted, the yaw direction of the fuselage 110 needs to be adjusted, so that the imaging device 130 follows the rotation of the fuselage 110 to adjust the yaw direction to obtain the required yaw direction. In this case, the imaging device 130 follows the yaw rotation of the fuselage 110 . For example, the rotation of the imaging device 130 in the yaw direction follows the rotation of the fuselage 110 in the yaw direction, thereby adjusting the yaw direction of the imaging device 130 to the required target yaw direction. The deflection is rotation in the yaw direction.

In some embodiments, as shown in Figures 1 and 2B, the imaging device 130 and the fuselage 110 are movably connected in the yaw direction, and the unmanned aerial vehicle may include a pan/tilt 140, and the imaging device 130 is installed on the pan/tilt. 140, the pan/tilt 140 is connected to the fuselage 110. The pan/tilt 140 can control the yaw rotation of the imaging device 130 to adjust the yaw direction of the imaging device 130. Specifically, the pan/tilt 140 may include a yaw motor 141 for controlling the yaw rotation of the imaging device 130. Further, in some embodiments, the pan/tilt 140 controls the yaw rotation of the imaging device 130, and the unmanned aerial vehicle can obtain the rotation information (such as yaw attitude, yaw angular velocity or angular acceleration) of the imaging device 130 and adjust the yaw rotation according to the required The rotation information controls the yaw rotation of the fuselage 110 (for example, the power system is controlled according to the rotation information to control the yaw rotation of the fuselage 110). In this case, the fuselage 110 follows the yaw rotation of the imaging device 130. Yaw rotation. In some embodiments, the unmanned aerial vehicle controls the yaw and rotation of the fuselage 110 (for example, controls the power system to control the yaw and rotation of the fuselage 110), and the unmanned aerial vehicle can obtain the rotation information of the yaw and rotation of the fuselage 110 (for example, the yaw and rotation of the fuselage 110). attitude, yaw angular velocity or angular acceleration), and controls the yaw rotation of the pan/tilt 140 according to the rotation information to control the yaw rotation of the imaging device 130. In this case, the imaging device 130 follows the yaw of the fuselage 110 Rotation and yaw rotation.

In some embodiments, the pan/tilt 140 can control the pitch rotation of the imaging device 130 to adjust the pitch direction of the imaging device 130. Specifically, the pan/tilt 140 may include a pitch motor for controlling the pitch rotation of the imaging device 130. In some embodiments, the pan/tilt 140 can control the pitch rotation of the imaging device 130 to adjust the pitch direction of the imaging device 130. Specifically, the pan/tilt 140 may include a pitch motor for controlling the pitch rotation of the imaging device 130. In some embodiments, the pan/tilt 140 can control the rolling rotation of the imaging device 130 to adjust the rolling direction of the imaging device 130. Specifically, the pan/tilt 140 can include a roll motor, and the pitch motor is used to control the imaging device 130. Roll and turn.

The first control terminal sends a first yaw control instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle can control the yaw rotation of the fuselage according to the first yaw control instruction. Among them, the method of controlling the yaw rotation of the fuselage according to the first yaw control instruction may include any of the following methods:

In one way, as mentioned above, in the yaw direction, the imaging device 130 is fixedly connected to the fuselage 110, and the UAV can control the power system according to the first yaw control instruction to control the yaw rotation of the fuselage;

In another way, as mentioned above, in the yaw direction, the imaging device 130 and the fuselage 110 are movably connected. The fuselage 110 follows the yaw rotation of the imaging device 130 and the unmanned aerial vehicle 100 The pan/tilt 140 is controlled to rotate according to the first yaw control instruction. The pan/tilt 140 controls the yaw rotation of the imaging device 130. The unmanned aerial vehicle 100 can obtain the rotation information of the yaw rotation of the imaging device (such as yaw attitude, yaw angular velocity or Angular acceleration) and control the yaw rotation of the fuselage 110 according to the rotation information (for example, controlling the power system according to the rotation information to control the yaw rotation of the fuselage);

In another way, as mentioned above, the imaging device 130 and the fuselage 110 are movably connected in the yaw direction. The imaging device 130 follows the yaw rotation of the fuselage 110 and the unmanned aerial vehicle 100 The yaw rotation of the fuselage 110 is controlled according to the first yaw control instruction (for example, the power system is controlled to control the yaw rotation of the fuselage). In this case, further, the UAV 100 can obtain the rotation information of the yaw rotation of the fuselage 110 (such as yaw attitude, yaw angular velocity or angular acceleration), and control the yaw of the gimbal 140 according to the rotation information. Rotate to control the yaw rotation of the imaging device 130 .

The second control terminal 300 sends a second yaw control instruction to the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 can control the yaw rotation of the fuselage 110 according to the second yaw control instruction. The manner in which the unmanned aerial vehicle 100 can control the yaw and rotation of the fuselage 110 according to the second yaw control instruction may be the same as the manner in which the unmanned aerial vehicle 100 can control the yaw and rotation of the fuselage 110 according to the first yaw control instruction. In some cases, the manner in which the unmanned aerial vehicle 100 can control the yaw and rotation of the fuselage 110 according to the second yaw control instruction may be the same as the manner in which the unmanned aerial vehicle 100 can control the yaw and rotation of the fuselage 110 according to the first yaw control instruction. It can also be different.

The first control terminal 200 may include an input device, wherein the input device may detect a user's control operation of the first control terminal 200 , and the first control terminal 200 may generate a control operation for the unmanned aerial vehicle based on the user's control operation detected by the input device. 100 control instructions. For example, the first control terminal 200 may generate a first yaw control instruction according to the yaw control operation of the user of the first control terminal 200 detected by the input device, and the first control terminal 200 may send the first yaw control instruction to the wireless device. Human aircraft 100; the first control terminal 200 can generate a pitch control instruction according to the pitch control operation of the user of the first control terminal 200 detected by the input device, and the first control terminal 200 can send the pitch control instruction to the unmanned aircraft 100; A control terminal 200 can generate a roll control instruction according to the user's roll control operation of the first control terminal 200 detected by the input device, and the first control terminal 200 can send the roll control instruction to the unmanned aerial vehicle 100 . The unmanned aerial vehicle 100 may fly horizontally according to pitch control instructions and/or roll control instructions.

Please refer to Figure 3. In some embodiments, the first control terminal 200 includes a remote control. The remote control is provided with an input device 201 and a communication device 202. The communication device 202 is a wireless communication device. The wireless communication device may include a high frequency At least one of a radio transceiver, a WIFI module, and a Bluetooth module. The input device 201 is used to generate corresponding control instructions in response to the user's manipulation, so that the remote controller can control the unmanned aerial vehicle 100 to adjust the flight attitude and/or flight speed through the control instructions. The input device 201 includes at least one of a button, a joystick, a thumbwheel, and a touch screen. For example, the input device 201 is a joystick, and the joystick is installed on the body of the remote controller. The remote controller senses the user's yaw control manipulation of the joystick to generate a corresponding first yaw control instruction, and transmits the first yaw control instruction through the signaling device 202 . The yaw control command is sent to the unmanned aerial vehicle 100100 to control the unmanned aerial vehicle 100100 to adjust and control the yaw rotation of the fuselage to adjust the yaw direction of the nose.

The user controls the remote controller to generate pitch control instructions and/or roll control instructions by manipulating the input device 201 .

In some embodiments, the first control terminal 200 can receive the image transmitted by the unmanned aerial vehicle 100 and display it on the display device 205 . The display device 205 can be integrated with the first control terminal 200 , or the display device 205 and the first control terminal 200 Separately set up and communicated with the first control terminal 200. The communication connection method can be a wired communication connection method or a wireless communication connection method. For example, the wireless communication connection method can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection. .

Exemplarily, the display device 205 and the first control terminal 200 are provided independently, and the display device 205 and the first control terminal 200 are respectively provided with corresponding communication interfaces, and the communication interface of the display device 205 and the first control terminal 200 are connected through a data line. communication interface, so that when receiving the image transmitted by the unmanned aerial vehicle 100, the first control terminal 200 transmits the image to the display device 205 through the data line for display.

In some embodiments, the second control terminal 300 may include an input device, wherein the input device may detect a user's control operation of the second control terminal 300 , and the second control terminal 300 may detect the user's control operation according to the input device. The operation generates control instructions for the unmanned aerial vehicle. For example, the second control terminal 300 may generate a second yaw control instruction according to the yaw control operation of the user of the second control terminal 300 detected by the input device, and the second control terminal 300 may send the first yaw control instruction to the wireless device. Human aircraft. In some embodiments, the second control terminal 300 is provided with a motion sensor, and the movement of the second control terminal 300 sensed by the motion sensor generates corresponding control instructions to control the unmanned aerial vehicle 100 to perform corresponding operations, for example, the motion sensor The sensed movement (eg, yaw rotation) of the second control terminal 300 generates a second yaw control instruction to control the yaw rotation of the fuselage of the UAV 100 to adjust the yaw direction of the nose. The user of the first control terminal 200 may be the same as the user of the second control terminal 300. In some cases, the user of the first control terminal 200 may be different from the user of the second control terminal 300.

In some embodiments, the second control terminal 300 can receive images collected by the imaging device transmitted by the unmanned aerial vehicle 100 and display them on a display. The display can be integrated with the second control terminal 300 , or the display can be combined with the second control terminal 300 It is set up separately and communicates with the second control terminal 300. The communication connection method can be a wired connection method or a wireless connection method, which is not limited here.

For example, the second control terminal 300 is a head-mounted display device, and the display of the second control terminal 300 can be integrated on the body of the head-mounted display device, or communicate with the head-mounted display device through a data line.

Below, the control method of the unmanned aerial vehicle provided by the embodiment of the present application will be introduced in detail with reference to the scene in Figure 1 . It should be noted that the scenario in Figure 1 is only used to explain the control method of the unmanned aerial vehicle provided by the embodiment of the present application, but does not constitute a limitation on the application scenarios of the control method of the unmanned aerial vehicle provided by the embodiment of the present application.

Please refer to Figure 4. Figure 4 is a schematic flow chart of steps of a control method provided by an embodiment of the present application. This control method is applied to the aforementioned unmanned aerial vehicle 100, which is communicatively connected with the first control terminal 200 and the second control terminal 300, respectively, to control according to the first control terminal 200 and/or the second control terminal 300. instructions to control the unmanned aerial vehicle 100 to perform corresponding operations.

As shown in Figure 4, the control method includes steps S101 to S103.

Step S101: Obtain the reference yaw direction of the aircraft nose.

Specifically, the unmanned aerial vehicle can obtain a reference yaw direction of the nose, wherein the reference yaw direction serves as a flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal, and the first control terminal controls the unmanned aerial vehicle. The flight direction of the human aircraft in horizontal flight is based on the reference yaw direction. Further, the first control terminal can send a horizontal control instruction (including at least one of a pitch control instruction and a roll control instruction) to the unmanned aerial vehicle to control the unmanned aerial vehicle to fly horizontally, and the unmanned aerial vehicle can receive the first control instruction. When the unmanned aerial vehicle performs horizontal flight in response to the horizontal flight control instruction sent by the terminal, it needs to use the reference yaw direction to determine the flight direction of the horizontal flight. During the actual flight of the unmanned aerial vehicle, the reference yaw direction of the aircraft head may be the same as the actual yaw direction of the aircraft nose. However, in most cases, the reference yaw direction of the aircraft nose is the same as the actual yaw direction of the aircraft nose. The actual yaw direction of the aircraft nose is different. The reference yaw direction of the aircraft head may be stored in a storage device. The storage device may be a local storage device of the unmanned aerial vehicle. The unmanned aircraft may obtain the reference yaw direction of the aircraft nose from the local storage device. Yaw direction. In some cases, the storage device may be a storage device provided outside the unmanned aerial vehicle. For example, the storage device may be a storage device provided at the first control terminal, and the unmanned aerial vehicle may obtain the first control terminal. Send the reference yaw direction of the aircraft nose. The reference yaw direction of the aircraft nose here may be the current reference yaw direction of the UAV.

Step S102: If the first yaw control instruction from the first control terminal is obtained, control the yaw rotation of the fuselage according to the first yaw control instruction and update the reference yaw direction to obtain the updated Base yaw direction.

Specifically, the unmanned aerial vehicle can receive a first yaw control instruction generated and sent by the first control terminal, and the unmanned aerial vehicle can control the yaw rotation of the fuselage according to the first yaw control instruction. When the fuselage When the yaw rotates, the actual yaw direction of the aircraft nose will change accordingly. For the principle of the UAV controlling the yaw rotation of the fuselage according to the yaw control command, please refer to the previous section. In addition, the unmanned aerial vehicle will update the reference yaw direction according to the first yaw control instruction to obtain the updated reference yaw direction. That is, the unmanned aerial vehicle will update the reference yaw direction according to the first yaw control instruction and the The above-mentioned reference yaw direction determines a new reference yaw direction of the aircraft head, and updates the reference yaw direction with the determined new reference yaw direction of the aircraft nose, where the new reference yaw direction of the aircraft nose is determined. The heading is the updated reference yaw direction of the aircraft nose. Further, updating the reference yaw direction according to the first yaw control instruction includes: obtaining the yaw rotation angle of the fuselage corresponding to the first yaw control instruction, and The angle of yaw rotation updates the reference yaw direction. The updated reference yaw direction of the aircraft head may be a yaw direction obtained by superposing the angle of the yaw rotation of the fuselage to the reference yaw direction of the aircraft head. The angle of yaw rotation of the fuselage corresponding to the first yaw control instruction may be based on the sensing data of the fuselage output by the sensor of the unmanned aerial vehicle. The yaw rotation angle of the fuselage corresponding to the first yaw control instruction The angle of can be obtained by estimating the angle of yaw rotation of the fuselage caused by the first yaw control command.

In some embodiments, as mentioned above, the sensor may include at least one of the following: an inertial measurement unit (Inertial Measurement Unit, IMU for short), a compass and a gyroscope combined unit. The attitude sensor may output sensing data, and the sensing data may be used to determine rotation information of the fuselage of the UAV in the yaw direction (such as the actual attitude of the fuselage, the yaw direction of the fuselage, etc.) at least one of angular velocity and angular acceleration).

Further, the method may further include: obtaining a yaw control instruction and determining a control terminal that generates the yaw control instruction. If the control terminal that generates the yaw control instruction is the first control terminal, it is determined that the first yaw control instruction sent by the first control terminal is obtained. If the control terminal that generates the yaw control instruction is When controlling the second terminal, it is determined that the second yaw control instruction sent by the second control terminal is obtained. Specifically, after the unmanned aerial vehicle obtains the yaw control instruction, it can determine which control terminal generated the yaw control instruction. For example, the yaw control instruction includes a device identification, and the yaw control instruction generated by different control terminals The control instruction and the device identifier included in the yaw control instruction are different. The unmanned aerial vehicle can determine the control terminal that generates the yaw control instruction according to the device identifier in the yaw control instruction.

As mentioned above, during the actual flight of the unmanned aerial vehicle, the reference yaw direction of the aircraft head may be the same as the actual yaw direction of the aircraft nose. However, in most cases, the reference yaw direction of the aircraft head The reference yaw direction is different from the actual yaw direction of the aircraft nose. In order to facilitate understanding, let's take the example that the reference yaw direction of the aircraft head is the same as the actual yaw direction of the aircraft head. As shown in Figure 5, the reference yaw direction of the aircraft nose of the unmanned aerial vehicle is OA is consistent with the actual yaw direction of the aircraft nose OB. When the unmanned aerial vehicle receives the first control terminal to generate and send the first yaw control command, it controls the fuselage of the unmanned aerial vehicle to deflect counterclockwise in the yaw direction by an angle C1 , the actual yaw direction of the fuselage is adjusted to OB1, and the UAV updates the reference yaw direction OA of the nose according to the first yaw control instruction to obtain the updated reference yaw direction OA1. Further, the UAV obtains the angle C1 of the fuselage yaw rotation corresponding to the first yaw control instruction, and updates the reference yaw direction according to the angle C1 of the fuselage yaw rotation. The updated reference yaw direction 0A1 of the aircraft head may be the yaw direction obtained by superposing the angle of the yaw rotation of the fuselage to the reference yaw direction of the aircraft head.

Step S103: If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged.

Specifically, the unmanned aerial vehicle obtains the second yaw control instruction from the second control terminal, controls the yaw rotation of the fuselage according to the second yaw control instruction and keeps the reference yaw direction unchanged.

As mentioned above, during the actual flight of the unmanned aerial vehicle, the reference yaw direction of the aircraft head may be the same as the actual yaw direction of the aircraft nose. However, in most cases, the reference yaw direction of the aircraft head The reference yaw direction is different from the actual yaw direction of the aircraft nose. In order to facilitate understanding, let's take the example that the reference yaw direction of the aircraft head is the same as the actual yaw direction of the aircraft head. As shown in Figure 6, the reference yaw direction of the aircraft nose of the unmanned aerial vehicle is OA is consistent with the actual yaw direction of the aircraft nose OB. When the UAV receives the second control terminal to generate and send the second yaw control command, it controls the UAV's body to deflect counterclockwise in the yaw direction by C1 angle. , the actual yaw direction of the fuselage is adjusted to OB1, and the reference yaw direction of the nose is not updated and remains unchanged, that is, the first yaw control command changes the reference yaw direction of the nose.

For further explanation, let us take the example that the reference yaw direction of the aircraft head is inconsistent with the actual yaw direction of the aircraft head. As shown in Figure 7, the reference yaw direction of the aircraft nose of the UAV is OA, the actual yaw direction of the nose of the unmanned aerial vehicle is OB. When the unmanned aerial vehicle receives the first control terminal to generate and send the first yaw control instruction, it controls the fuselage of the unmanned aerial vehicle to reverse the yaw direction. The hour hand deflects by angle C1, and the actual yaw direction of the fuselage is adjusted to OB1. The UAV updates the reference yaw direction OA of the nose according to the first yaw control instruction to obtain the updated reference yaw direction OA1. When the unmanned aerial vehicle receives and sends the second yaw control command generated by the second control terminal, it controls the fuselage of the unmanned aerial vehicle to deflect counterclockwise at an angle C2 in the yaw direction, and the actual yaw direction of the fuselage is adjusted to OB2, The reference yaw direction of the aircraft nose is not updated and remains unchanged, that is, the first yaw control command changes the reference yaw direction of the aircraft nose OA1.

Based on this, the yaw control instruction issued by the second control terminal will not change the reference yaw direction of the unmanned aerial vehicle, so that the first control terminal can continuously control the horizontal flight of the unmanned aerial vehicle.

In some embodiments, the method further includes: receiving a horizontal flight control instruction for the unmanned aerial vehicle sent by the first control terminal, wherein the horizontal flight control instruction includes a pitch control instruction and/or a roll control instruction. ; Control the unmanned aerial vehicle to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction according to the pitch control instruction; and/or control the unmanned aerial vehicle according to the roll control instruction; The human aircraft flies horizontally in a direction perpendicular to the reference yaw direction.

Specifically, the first control terminal may generate and send the horizontal control instruction, wherein the horizontal flight control instruction includes a pitch control instruction and/or a roll control instruction. The horizontal control instruction may be generated by the first control detecting the user's horizontal control operation. The first control terminal may include an interaction device, and the horizontal control instruction is generated by the first control terminal according to the user's horizontal control operation detected by the interaction device. The horizontal control instruction is generated by the first control terminal according to the user's horizontal control operation detected by the interactive device. The first yaw control instruction is generated by the first control terminal according to the user's yaw control operation detected by the interaction device. The first yaw control instruction is generated by the first control terminal according to the user's yaw control operation detected by the interaction device. The interactive device includes at least one of a rocker, a button, a pulsator, a touch display screen, and a touch pad.

The pitch control command is used to control the UAV to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction. When receiving the pitch control command sent by the first control terminal, the unmanned aerial vehicle controls the power system to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction according to the pitch control command. The roll control command is used to control the unmanned aerial vehicle to fly horizontally in the direction of the vertical reference yaw. When the unmanned aerial vehicle receives the roll control command sent by the first control terminal, it controls the power system to yaw along the vertical reference according to the pitch control command. Fly level in the direction of the heading.

In some embodiments, the first control terminal includes a remote controller, and the horizontal control instruction is generated by the remote controller detecting the user's horizontal control operation. Further, the remote controller includes a joystick, and the horizontal control instruction is generated by the remote controller according to the horizontal control operation detected by the joystick.

In one embodiment, the first control terminal may be the remote controller as described above, and the method further includes: sending the reference yaw direction to the remote controller so that all devices communicatively connected with the remote controller The display device displays an orientation mark indicating the reference yaw orientation. In this way, the user who operates the first control terminal can know the flight direction reference of the horizontal flight control of the unmanned aerial vehicle by the first control terminal by observing the displayed orientation mark. The display device may be a smart phone or a tablet computer.

In one embodiment, the method includes: sending the reference yaw direction to the first control terminal, so that the first control terminal displays an orientation indicator indicating the reference yaw direction. In this way, the user who operates the first control terminal can know the flight direction reference of the horizontal flight control of the unmanned aerial vehicle by the first control terminal by observing the displayed orientation mark.

Further, the first control terminal includes a remote control and a display device as mentioned above. The display device can be integrated with the remote control, or can be set up separately from the remote control and communicated with the remote control; the method Also includes:

The reference yaw direction is sent to the remote controller so that the display device communicatively connected with the remote controller displays an orientation mark indicating the reference yaw direction.

For example, the unmanned aerial vehicle sends a reference yaw direction signal to the remote controller. After the remote controller receives the reference yaw direction sent by the unmanned aerial vehicle, the remote controller controls the display device to display the reference yaw direction on the corresponding display interface. mark so that users can know the base yaw direction of the UAV through the orientation mark, thereby facilitating the user to control the UAV. As shown in Figure 8, the direction pointed by the arrow in the icon is the base yaw direction.

The second yaw control instruction is generated by the second control terminal and sent to the unmanned aerial vehicle. The second yaw control instruction is generated by the second control terminal detecting the user's yaw control instruction or detecting the movement of the body part of the user holding or wearing the second control terminal.

In some embodiments, the second control terminal may include an interaction device, and the second yaw control instruction is generated by the second control terminal according to the user's yaw control operation detected by the interaction device. The interactive device includes at least one of a rocker, a button, a pulsator, a touch display screen, and a touch pad.

In some embodiments, the second control terminal includes a head-mounted display device, wherein the unmanned aerial vehicle can send the image collected by the imaging device to the second control terminal, and the display of the head-mounted display device displays the image of the unmanned aerial vehicle. images collected by the imaging device.

Exemplarily, the second control terminal includes a wearable display device, which may be a head-mounted display device or a hand-mounted display device, wherein the head-mounted display device may be a virtual reality (VR, virtual reality) display device or first person view (FPV, first person view) display device. The head-mounted display device may be, for example, a glasses-type display device or a helmet-mounted display device. A communication module is provided in the head-mounted display device, which is used to receive images collected by the imaging device of the unmanned aerial vehicle, and control the display of the head-mounted display device to display the images collected by the imaging device, as shown in Figure 9.

In some embodiments, the second control terminal is provided with a motion sensor, and the second yaw control instruction is generated by the second control terminal according to the motion of the head-mounted display device sensed by the motion sensor.

For example, the second control terminal is provided with a mapping relationship between the flight control instructions and the motion information of the second control terminal. The motion sensor senses the motion information of the second control terminal and generates corresponding control instructions based on the motion information. For example, taking the second control terminal as a head-mounted display device as an example, after the user wears the head-mounted display device on his head, the user rotates his head and drives the head-mounted display device to yaw and rotate, and the head-mounted display device The device may generate the second yaw control instruction according to rotation information (such as attitude, angular velocity, or angular acceleration) of the yaw rotation of the head-mounted display device sensed by the motion sensor.

In some embodiments, the second control terminal further includes a display, and the method further includes:

The reference yaw direction is sent to the second control terminal so that the display of the second control terminal displays an orientation mark indicating the reference yaw direction.

The display can be installed on the body of the second control terminal, or can be set up independently from the second control terminal. As long as the display receives the reference yaw direction sent by the unmanned aerial vehicle, the display can display the reference yaw direction. The orientation identification of the heading, so that the user can know the reference yaw direction of the unmanned aircraft through the orientation identification, thereby facilitating the user operating the first control terminal and/or the user operating the second control terminal to perform horizontal flight control of the unmanned aircraft, As shown in Figure 9, the direction pointed by the arrow in the icon is the reference yaw direction. It can be understood that, in some cases, the user operating the first control terminal may be the same as the user operating the second control terminal. In some cases, the user operating the first control terminal may be the same as the user operating the second control terminal. Users are different.

In some embodiments, the method further includes: obtaining a first correction instruction; in response to the first correction instruction, adjusting the reference yaw direction to the actual yaw direction of the aircraft nose; and/or, Obtain a second correction instruction; in response to the second correction instruction, adjust to a reference yaw direction according to the actual yaw direction of the aircraft nose.

As mentioned before, during the flight of the unmanned aerial vehicle, the reference yaw direction of the aircraft nose and the actual yaw direction of the aircraft nose are inconsistent. The user may want the actual yaw direction of the aircraft nose to be consistent with the reference yaw direction of the aircraft nose. Same direction. The UAV can obtain correction instructions to adjust the actual yaw direction of the aircraft nose to be consistent with the reference yaw orientation of the aircraft nose. The correction instructions may include first correction instructions and/or second correction instructions. When the unmanned aerial vehicle obtains the first correction instruction, it may adjust the reference yaw direction of the nose of the unmanned aerial vehicle to the actual yaw direction of the nose in response to the first correction instruction. After the unmanned aerial vehicle obtains the second correction instruction, in response to the second correction instruction, the actual yaw direction of the nose of the unmanned aerial vehicle can be adjusted to the reference yaw direction.

The correction instruction may be generated by the first control terminal or the second control terminal. Further, the correction instruction may be generated by the user's correction operation detected by the first control terminal through the interaction device. In some cases, , the correction instruction may be generated by the user's correction operation detected by the second control terminal through the interaction device. For example, the first correction instruction is for the first control terminal to send an instruction for adjusting the reference yaw direction of the unmanned aerial vehicle, and the second correction instruction is for the second control terminal to send an instruction for adjusting the reference yaw direction of the unmanned aerial vehicle. instruction. The user can cause the first control terminal to output a first correction instruction by manipulating the first control terminal, and can cause the second control terminal to output a second correction instruction by manipulating the second control terminal.

As shown in Figures 10A and 10B, there is an included angle between the reference yaw direction OA of the aircraft head and the actual yaw direction OB of the aircraft head. As shown in Figure 10A, the unmanned aerial vehicle responds to the first correction instruction and adjusts the reference yaw direction OA to the actual yaw direction OB of the aircraft head; as shown in Figure 10B, the unmanned aerial vehicle responds to the first correction instruction. The second correction instruction is to adjust the aircraft nose to the reference yaw direction OA according to the actual yaw direction OB.

In some embodiments, the method further includes:

Obtain working mode indication information; determine the working mode of the unmanned aerial vehicle according to the working mode indication information;

If the second yaw control instruction from the second control terminal is obtained, controlling the yaw rotation of the fuselage according to the second yaw control instruction and keeping the reference yaw direction unchanged includes:

When the working mode is the first working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw is maintained. The orientation remains unchanged.

In some embodiments, the method further includes:

When the working mode is the second working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw direction is controlled. Updated to get updated base yaw heading.

In some embodiments, the working mode indication information is generated by the first control terminal or the second control terminal detecting the user's mode selection operation. Further, the working mode indication information is generated by the first control terminal measuring the user's mode selection operation through the interactive device of the first control terminal, or the working mode indication information is generated by the second control terminal measuring the user through the interactive device of the second control terminal. Generated by the mode selection operation.

For example, the unmanned aerial vehicle is provided with multiple working modes. In different working modes, the second yaw control instruction has different update strategies for the reference yaw direction of the nose.

For example, the unmanned aerial vehicle is provided with a first working mode and a second working mode. In the first working mode, if a second yaw control instruction from the second control terminal is received, the fuselage yaw is controlled according to the second yaw control instruction. yaw and keep the reference yaw direction unchanged. This ensures that the parallel control of the UAV flight by the first control terminal is not interfered with by the second control terminal.

In the second working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw. Orientation, the method of updating the reference yaw direction according to the second yaw control instruction to obtain the updated reference yaw direction can be the same as the method of updating the reference yaw direction according to the first yaw control instruction to obtain the updated reference yaw direction as described above. The updated reference yaw direction is the same, and the details will not be repeated.

By setting different working modes, users are given more choice space to meet the control habits of different users.

Please refer to FIG. 11 , which is a schematic structural block diagram of a control device provided by an embodiment of the present application. The control device is applied to the aforementioned unmanned aerial vehicle 100. The control device can be integrated into the aforementioned unmanned aerial vehicle 100, or can be set up independently with the unmanned aerial vehicle 100 and communicate with it. The aforementioned control method can also be applied to the aforementioned unmanned aerial vehicle 100. control device.

As shown in Figure 11, the control device 400 includes a processor 401 and a memory 402. The processor 401 and the memory 402 are connected through a bus 403. The bus 403 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 401 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc.

Wherein, the processor 401 is used to run the computer program stored in the memory 402, and implement the following steps when executing the computer program:

Obtain the reference yaw direction of the aircraft nose;

If the first yaw control instruction from the first control terminal is obtained, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw direction. ;

If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged;

Wherein, the reference yaw direction serves as the flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal.

In some embodiments, the processor 401 is also used to implement the following steps:

Receive horizontal flight control instructions for the unmanned aerial vehicle sent by the first control terminal, wherein the horizontal flight control instructions include pitch control instructions and/or roll control instructions;

Control the unmanned aerial vehicle to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction according to the pitch control instruction; and/or,

The unmanned aerial vehicle is controlled to fly horizontally in a direction perpendicular to the reference yaw direction according to the roll control instruction.

In some embodiments, the first control terminal includes a remote control.

In some embodiments, the processor 401 is also used to implement the following steps:

The reference yaw direction is sent to the remote controller so that the display device communicatively connected with the remote controller displays an orientation mark indicating the reference yaw direction.

In some embodiments, the second control terminal includes a head-mounted display device, wherein a display of the head-mounted display device displays images collected by an imaging device of the unmanned aerial vehicle.

In some embodiments, the second control terminal is provided with a motion sensor, and the second yaw control instruction is generated by the second control terminal according to the movement of the second control terminal sensed by the motion sensor.

In some embodiments, the second control terminal includes a display, and the processor 401 is also used to implement the following steps:

The reference yaw direction is sent to the second control terminal so that the display of the second control terminal displays an orientation mark indicating the reference yaw direction.

In some embodiments, the processor 401 is also used to implement the following steps:

Obtain the first correction instruction of the reference yaw direction;

In response to the first correction instruction, adjust the reference yaw direction to the actual yaw direction of the aircraft nose; and/or,

Obtain the second correction instruction of the reference yaw direction;

In response to the second correction instruction, the aircraft nose is adjusted to a reference yaw direction according to the actual yaw direction.

In some embodiments, the processor 401 is also used to implement the following steps:

Get working mode indication information;

Determine the working mode of the unmanned aerial vehicle according to the working mode indication information;

If the second yaw control instruction from the second control terminal is obtained, controlling the yaw rotation of the fuselage according to the second yaw control instruction and keeping the reference yaw direction unchanged includes:

When the working mode is the first working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw is maintained. The orientation remains unchanged.

In some embodiments, the processor 401 is also used to implement the following steps:

When the working mode is the second working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw direction is controlled. Updated to get updated base yaw heading.

In some embodiments, when obtaining the working mode indication information, the processor 401 includes:

Obtain the working mode indication information sent by the first control terminal or the second control terminal, wherein the working mode indication information is generated by the first control terminal or the second control terminal detecting the user's mode selection operation.

It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the control device described above can be referred to the corresponding process in the foregoing control method embodiment, and will not be described again here. .

It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the control system described above can be referred to the corresponding process in the foregoing control method embodiment, and will not be described again here. .

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement the above-mentioned embodiments. steps of the control method.

The computer-readable storage medium may be an internal storage unit of the unmanned aerial vehicle described in any of the preceding embodiments, such as a hard disk or memory of the unmanned aerial vehicle. The computer-readable storage medium may also be an external storage device of the unmanned aerial vehicle, such as a plug-in hard drive, a smart memory card (Smart Media Card, SMC), or a secure digital (SD) card equipped on the unmanned aerial vehicle. , Flash Card, etc.

It should be understood that the terminology used in the specification of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly dictates otherwise.

It will also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of various equivalent methods within the technical scope disclosed in the present application. Modification or replacement, these modifications or replacements shall be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (25)

A control method for an unmanned aerial vehicle, the unmanned aerial vehicle includes a fuselage, and the fuselage includes a nose, characterized in that the method includes: Obtain the reference yaw direction of the aircraft nose; If the first yaw control instruction from the first control terminal is obtained, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw direction. ; If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged; Wherein, the reference yaw direction serves as the flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal. The method of claim 1, further comprising: Receive horizontal flight control instructions for the unmanned aerial vehicle sent by the first control terminal, wherein the horizontal flight control instructions include pitch control instructions and/or roll control instructions; Control the unmanned aerial vehicle to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction according to the pitch control instruction; and/or, The unmanned aerial vehicle is controlled to fly horizontally in a direction perpendicular to the reference yaw direction according to the roll control instruction. The method according to claim 1 or 2, characterized in that the first control terminal includes a remote control. The method of claim 3, wherein the first control terminal includes a display device, and the method further includes: The reference yaw direction is sent to the remote controller so that the display device communicatively connected with the remote controller displays an orientation mark indicating the reference yaw direction. The method according to any one of claims 1 to 4, characterized in that the second control terminal includes a head-mounted display device, wherein the display of the head-mounted display device displays the imaging of the unmanned aerial vehicle Images captured by the device. The method according to any one of claims 1 to 5, characterized in that the second control terminal is provided with a motion sensor, and the second yaw control instruction is based on the motion sensor sensed by the second control terminal. The movement of the second control terminal is generated. The method according to any one of claims 1 to 6, characterized in that the second control terminal includes a display, and the method further includes: The reference yaw direction is sent to the second control terminal so that the display device of the second control terminal displays an orientation mark indicating the reference yaw direction. The method according to any one of claims 1-7, characterized in that the method further includes: Obtain the first correction instruction; In response to the first correction instruction, adjust the reference yaw direction to the actual yaw direction of the aircraft nose; and/or, Obtain the second correction instruction; In response to the second correction instruction, the aircraft head is adjusted to a reference yaw direction according to the actual yaw direction of the aircraft nose. The method according to any one of claims 1-8, characterized in that the method further includes: Get working mode indication information; Determine the working mode of the unmanned aerial vehicle according to the working mode indication information; If the second yaw control instruction from the second control terminal is obtained, controlling the yaw rotation of the fuselage according to the second yaw control instruction and keeping the reference yaw direction unchanged includes: When the working mode is the first working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw is maintained. The orientation remains unchanged. The method according to claim 9, characterized in that, the method further includes: When the working mode is the second working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw direction is controlled. Updated to get updated base yaw heading. The method according to claim 9, characterized in that said obtaining the working mode indication information includes: Obtain the working mode indication information sent by the first control terminal or the second control terminal, wherein the working mode indication information is generated by the first control terminal or the second control terminal detecting the user's mode selection operation. A control device for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle includes a fuselage, the fuselage includes a nose, and the control device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the following steps when executing the computer program: Obtain the reference yaw direction of the aircraft nose; If the first yaw control instruction from the first control terminal is obtained, the yaw rotation of the fuselage is controlled according to the first yaw control instruction and the reference yaw direction is updated to obtain the updated reference yaw direction. ; If the second yaw control instruction from the second control terminal is obtained, control the yaw rotation of the fuselage according to the second yaw control instruction and keep the reference yaw direction unchanged; Wherein, the reference yaw direction serves as the flight direction reference for the horizontal flight control of the unmanned aerial vehicle by the first control terminal. The control device according to claim 12, characterized in that the processor is also used to implement the following steps: Receive horizontal flight control instructions for the unmanned aerial vehicle sent by the first control terminal, wherein the horizontal flight control instructions include pitch control instructions and/or roll control instructions; Control the unmanned aerial vehicle to fly horizontally along the reference yaw direction and/or in a direction deviating from the reference yaw direction according to the pitch control instruction; and/or, The unmanned aerial vehicle is controlled to fly horizontally in a direction perpendicular to the reference yaw direction according to the roll control instruction. The control device according to claim 12 or 13, characterized in that the first control terminal includes a remote control. The control device according to claim 14, wherein the first control terminal includes a display device, and the processor is further configured to implement the following steps: The reference yaw direction is sent to the remote controller so that the display device communicatively connected with the remote controller displays an orientation mark indicating the reference yaw direction. The control device according to any one of claims 12 to 15, characterized in that the second control terminal includes a head-mounted display device, wherein the display of the head-mounted display device displays the information of the unmanned aerial vehicle. Images captured by the imaging device. The control device according to any one of claims 12 to 16, characterized in that the second control terminal is provided with a motion sensor, and the second yaw control instruction is based on the motion sensor sensing of the second control terminal. generated by the movement of the second control terminal. The control device according to any one of claims 12 to 17, characterized in that the second control terminal includes a display, and the processor is also used to implement the following steps: The reference yaw direction is sent to the second control terminal so that the display of the second control terminal displays an orientation mark indicating the reference yaw direction. The control device according to any one of claims 12-18, characterized in that the processor is also used to implement the following steps: Obtain the first correction instruction; In response to the first correction instruction, adjust the reference yaw direction to the actual yaw direction of the aircraft nose; and/or, Obtain the second correction instruction; In response to the second correction instruction, the aircraft head is adjusted to a reference yaw direction according to the actual yaw direction of the aircraft nose. The control device according to any one of claims 12-19, characterized in that the processor is also used to implement the following steps: Get working mode indication information; Determine the working mode of the unmanned aerial vehicle according to the working mode indication information; If the second yaw control instruction from the second control terminal is obtained, controlling the yaw rotation of the fuselage according to the second yaw control instruction and keeping the reference yaw direction unchanged includes: When the working mode is the first working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw is maintained. The orientation remains unchanged. The control device according to claim 20, characterized in that the processor is also used to implement the following steps: When the working mode is the second working mode, if the second yaw control instruction from the second control terminal is obtained, the yaw rotation of the fuselage is controlled according to the second yaw control instruction and the reference yaw direction is controlled. Updated to get updated base yaw heading. The control device according to claim 20, wherein when the processor obtains the working mode indication information, it includes: Obtain the working mode indication information sent by the first control terminal or the second control terminal, wherein the working mode indication information is generated by the first control terminal or the second control terminal detecting the user's mode selection operation. An unmanned aerial vehicle, the unmanned aerial vehicle includes a fuselage, the fuselage includes a nose, and is characterized in that the unmanned aerial vehicle includes the control device according to any one of claims 11-22. A control system, characterized in that the control system includes a first control terminal, a second control terminal and the unmanned aerial vehicle as claimed in claim 23, wherein the first control terminal and the second control terminal Communicate with the unmanned aerial vehicle. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program causes the processor to implement the method described in any one of claims 1-11. the steps of the control method described above.

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