Simulation method of unmanned aerial vehicle, terminal equipment and computer readable storage medium

文档序号：1510279 发布日期：2020-02-07 浏览：7次中文

阅读说明：本技术 一种无人机的仿真方法、终端设备及计算机可读存储介质 (Simulation method of unmanned aerial vehicle, terminal equipment and computer readable storage medium ) 是由陈超彬于 2018-10-31 设计创作，主要内容包括：一种无人机的仿真方法、终端设备及计算机可读存储介质,其中,方法包括：检测用户的配置操作(301)；根据检测到的所述配置操作确定仿真飞行环境特征的配置参数(S302)；进而,根据所述仿真飞行环境特征的配置参数生成并显示仿真飞行环境特征(S303),进一步的各个仿真飞行环境特征组成了无人机仿真的仿真飞行环境。采用本实施例,可以动态配置无人机的仿真环境,扩大了飞行模拟器的适用范围,提高了开发人员验证无人机相应功能的便捷性,从而可提高无人机的开发效率。(A simulation method of an unmanned aerial vehicle, a terminal device and a computer readable storage medium are provided, wherein the method comprises the following steps: detecting a configuration operation (301) of a user; determining configuration parameters of the simulated flight environment characteristics according to the detected configuration operation (S302); and generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics (S303), wherein further each simulated flight environment characteristic forms a simulated flight environment of the unmanned aerial vehicle simulation. By adopting the embodiment, the simulation environment of the unmanned aerial vehicle can be dynamically configured, the application range of the flight simulator is expanded, and the convenience for developers to verify the corresponding functions of the unmanned aerial vehicle is improved, so that the development efficiency of the unmanned aerial vehicle can be improved.)

1. A simulation method of an unmanned aerial vehicle is characterized by comprising the following steps:

detecting a configuration operation of a user, wherein the configuration operation is used for configuring simulated flight environment characteristics in a simulated flight environment of the unmanned aerial vehicle;

determining configuration parameters of the simulated flight environment characteristics according to the detected configuration operation, wherein the configuration parameters of the simulated flight environment characteristics comprise type information and attribute parameters of the simulated flight environment characteristics;

and generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, wherein the simulated flight environment characteristics form the simulated flight environment of the unmanned aerial vehicle.

2. The method of claim 1, wherein the type information comprises one or more of an obstacle, ground, magnetic field disturbance, wind, rain.

3. The method of claim 1 or 2, wherein the property parameters comprise one or more of location, size, intensity, time parameter, angle, attitude, temperature, humidity, speed.

4. The method according to any one of claims 1-3, further comprising:

determining whether the configuration parameters of the simulated flight environment features are legal or not;

when the configuration parameters are illegal, refusing to generate and display the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, and generating and displaying prompt information;

and when the configuration parameters are legal, generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics.

5. The method of claim 4, wherein determining whether the configuration parameters of the simulated flight environment feature are legitimate comprises:

determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics accords with a corresponding first parameter configuration rule;

if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal;

and if any one of the configuration parameters of the simulated flight environment characteristics does not conform to the corresponding first parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

6. The method of claim 4 or 5, wherein the determining whether the configuration parameters of the simulated flight environment features are legal comprises:

determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics conforms to a second parameter configuration rule;

if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal;

and if any two configuration parameters in the configuration parameters of the simulated flight environment characteristics do not accord with a second parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

7. The method according to any one of claims 1-5, further comprising:

acquiring the authority of the user;

determining and displaying identification information of the target simulated flight environment characteristics matched with the authority according to the authority of the user;

the detecting the configuration operation of the user comprises:

detecting configuration operation of the user aiming at identification information of the target simulated flight environment characteristics;

the determining configuration parameters of the simulated flight environment features according to the detected configuration operations comprises:

determining configuration parameters of one or more types of simulated flight environment characteristics of the target simulated flight environment characteristics according to the detected configuration operation.

8. The method according to any one of claims 1-5, further comprising:

determining whether the user has authority over the simulated flight environment feature;

when the user does not have the right, refusing to generate and display the simulated flight environment characteristic according to the configuration parameter of the simulated flight environment characteristic, and generating and displaying prompt information;

determining configuration parameters for simulating flight environment characteristics according to the detected configuration operation when the user has the authority.

9. The method according to any one of claims 1-5, further comprising:

sending the configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment;

and acquiring and displaying the simulated flight state data sent by the unmanned aerial vehicle so as to verify whether the unmanned aerial vehicle executes preset response operation aiming at the simulated flight environment characteristics.

10. The method of claim 9, further comprising:

detecting the editing operation of the user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the editing operation is used for adjusting the attribute parameter of the simulated flight environment characteristic;

determining updated attribute parameters according to the detected editing operation;

generating and displaying updated simulated flight environment characteristics according to the updated attribute parameters;

and sending the updated attribute parameters of the simulated flight environment characteristics to the unmanned aerial vehicle in the simulation mode.

11. The method according to claim 9 or 10, characterized in that the method further comprises:

detecting an adding operation of the user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the adding operation is used for adding the simulated flight environment characteristic in the simulated flight environment;

determining configuration parameters of the added simulated flight environment features according to the detected adding operation;

generating and displaying the added simulated flight environment characteristics according to the configuration parameters of the added simulated flight environment characteristics;

and sending the added configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment.

12. The method of claim 1, further comprising:

outputting prompt information whether to store the simulated flight environment characteristics;

and if the confirmation information for saving the simulated flight environment characteristic is detected, storing the configuration parameter of the simulated flight environment characteristic.

13. An unmanned aerial vehicle's simulation device, its characterized in that includes:

a detection unit for detecting a configuration operation of a user, wherein the configuration operation is used for configuring flight environment characteristics in a simulated flight environment of the unmanned aerial vehicle;

the processing unit is used for determining configuration parameters of the simulated flight environment characteristics according to the configuration operation detected by the detection unit, wherein the configuration parameters of the simulated flight environment characteristics comprise type information and attribute parameters of the simulated flight environment characteristics;

the processing unit is further used for generating and displaying simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, wherein the simulated flight environment characteristics form a simulated flight environment of the unmanned aerial vehicle.

14. A terminal device, comprising a processor and a memory:

the memory for storing a computer program comprising program instructions;

the processor is used for executing the following steps when calling the program instruction:

detecting a configuration operation by a user, wherein the operation is used for configuring simulated flight environment characteristics in a simulated flight environment of the unmanned aerial vehicle;

15. The terminal device of claim 14, wherein the type information includes one or more of an obstacle, magnetic field interference, wind, rain.

16. A terminal device according to claim 14 or 15, wherein said property parameters comprise one or more of location, size, intensity, time parameter, angle, attitude, temperature, humidity, speed.

17. The terminal device of any of claims 14-16, wherein the processor, when invoking the program instructions, further performs:

determining whether the configuration parameters of the simulated flight environment features are legal or not;

18. The terminal device of claim 17, wherein the processor, in determining whether the configuration parameters of the simulated flight environment feature are legitimate, performs the following:

determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics accords with a corresponding first parameter configuration rule;

if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal;

19. The terminal device of claim 17 or 18, wherein the processor, in determining whether the configuration parameters of the simulated flight environment feature are legal, performs the following operations:

determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics conforms to a second parameter configuration rule;

if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal;

20. The terminal device of any of claims 14-18, wherein the processor, when invoking the program instructions, further performs:

acquiring the authority of the user;

determining and displaying identification information of the target simulated flight environment characteristics matched with the authority according to the authority of the user;

the processor performs the following operations when detecting the configuration operation of a user:

detecting configuration operation of the user for the target simulated flight environment feature;

the processor, when determining configuration parameters of simulated flight environment features according to the detected configuration operations, performs the following operations:

and determining configuration parameters of one or more types of simulated flight environment characteristics in the target simulated flight environment characteristics according to the detected configuration operation.

21. The terminal device of any of claims 14-18, wherein the processor, when invoking the program instructions, further performs:

determining whether the user has authority over the simulated flight environment feature;

determining configuration parameters for simulating flight environment characteristics according to the detected configuration operation when the user has the authority.

22. The terminal device of any of claims 14-18, wherein the processor, when invoking the program instructions, further performs:

23. The terminal device of claim 22, wherein the processor, when invoking the program instructions, further performs:

determining updated attribute parameters according to the detected editing operation;

generating and displaying updated simulated flight environment characteristics according to the updated attribute parameters;

and sending the updated attribute parameters of the simulated flight environment characteristics to the unmanned aerial vehicle in the simulation mode.

24. The terminal device of claim 22 or 23, wherein the processor, when invoking the program instructions, further performs:

determining configuration parameters of the added simulated flight environment features according to the detected adding operation;

generating and displaying the added simulated flight environment characteristics according to the configuration parameters of the added simulated flight environment characteristics;

25. The terminal device of claim 14, wherein the processor, when invoking the program instructions, further performs:

outputting prompt information whether to store the simulated flight environment characteristics;

and if the confirmation information for saving the simulated flight environment characteristic is detected, storing the configuration parameter of the simulated flight environment characteristic.

26. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method of simulating a drone of any one of claims 1-12.

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a simulation method for an unmanned aerial vehicle, a terminal device, and a computer-readable storage medium.

Background

In the field of unmanned aerial vehicles, after developers complete the development of flight functions and algorithms of the unmanned aerial vehicles, before the unmanned aerial vehicles are used normally, the flight characteristics of the unmanned aerial vehicles need to be verified in a flight simulator. Typically, the flight control device (e.g., flight controller) of the drone is typically configured with a flight simulator that is used to support the simulation of the drone. The user can be familiar with unmanned aerial vehicle's basic function through the flight simulator to and temper flight technique etc. unmanned aerial vehicle's developer can also verify unmanned aerial vehicle's some preset function through the flight simulator.

The existing flight simulator generally considers the flight environment of the unmanned aerial vehicle as ideal, and does not consider the influence of the environment on the flight of the aircraft, so that the functions of autonomous obstacle avoidance, advanced auxiliary flight and the like of the unmanned aerial vehicle are difficult to verify in the flight simulator, and in addition, the behavior of the unmanned aerial vehicle under different environmental interferences is difficult to simulate. In conclusion, when simulating the flight of the unmanned aerial vehicle in the flight simulator, the influence of the environment on the flight of the unmanned aerial vehicle is not considered, and the application range of the flight simulator is limited.

Disclosure of Invention

The embodiment of the invention provides a simulation method of an unmanned aerial vehicle, terminal equipment and a computer readable storage medium, which can dynamically configure the simulation environment of the unmanned aerial vehicle and improve the development efficiency of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a simulation method for an unmanned aerial vehicle, including:

In a second aspect, an embodiment of the present invention provides a simulation apparatus for an unmanned aerial vehicle, including:

a detection unit for detecting a configuration operation of a user, wherein the configuration operation is used for configuring simulated flight environment characteristics in a simulated flight environment of the unmanned aerial vehicle;

In a third aspect, an embodiment of the present invention provides a terminal device, including a processor and a memory, where the processor is connected to the memory, and the memory stores a computer program, where the computer program includes program instructions, and the processor, when calling the program instructions, is configured to perform:

Accordingly, an embodiment of the present invention provides a computer-readable storage medium, where computer program instructions are stored, and when the computer program instructions are executed, the method for simulating a drone according to the first aspect is implemented.

In the embodiment of the invention, the terminal equipment determines the configuration parameters of the simulated flight environment characteristics under the condition of detecting the configuration operation of the user on the simulated flight environment characteristics, and then generates and displays the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, so that the simulated flight environment of the unmanned aerial vehicle is formed according to the simulated flight environment characteristics, the influence of environment factors on the flight of the unmanned aerial vehicle in a flight simulator can be realized, the use range of the flight simulator is expanded, the convenience for developers to verify the functions of the developed unmanned aerial vehicle is provided, and the development efficiency is further improved.

Drawings

Fig. 1 is a schematic diagram of a simulation principle of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic view of a simulation scene of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a simulation method of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a flowchart of a simulation method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a simulation apparatus of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a simulation method of an unmanned aerial vehicle, which is applied to terminal equipment, wherein the terminal equipment is connected with flight control equipment, a flight simulator can be configured in the flight control equipment, the flight simulator is used for simulating the flight of the unmanned aerial vehicle, and the terminal equipment is responsible for providing a simulated flight environment for simulating the flight of the unmanned aerial vehicle.

At unmanned aerial vehicle's flight in-process, the flight environment is the important factor that influences unmanned aerial vehicle safety flight, consequently, for unmanned aerial vehicle's safety flight, except that the basic function that will guarantee unmanned aerial vehicle is normal, still need to guarantee that unmanned aerial vehicle can adjust the flight state according to the change of flight environment, still needs the operating personnel to be can be skilled control unmanned aerial vehicle flight under various environment in addition. At present, functions such as autonomous obstacle avoidance and advanced auxiliary flight have been developed in most unmanned aerial vehicles, so that the unmanned aerial vehicle can adjust the flight state along with environmental changes, but for safety, various functions in the unmanned aerial vehicle need to be verified before the unmanned aerial vehicle is officially used.

Under the general condition, various functions of the unmanned aerial vehicle are verified by adopting a method of simulating the flight of the unmanned aerial vehicle in a flight simulator, the flight simulator in the prior art can simulate basic functions of the unmanned aerial vehicle and exercise flight operation technology, and developers can also test the flight performance of the unmanned aerial vehicle through the flight simulator. However, when the flight simulator is used to simulate the flight of the unmanned aerial vehicle, the flight environment of the unmanned aerial vehicle is considered as ideal, that is, the influence of the environmental factors on the flight of the unmanned aerial vehicle is not considered, so that when the environmental factors change, whether the unmanned flight control device performs a response operation for the change of the environmental factors cannot be determined through simulation, for example, when an obstacle occurs in the environment, whether the flight control device controls the autonomous obstacle avoidance function of the unmanned aerial vehicle to be started, and the like. To solve the problem, embodiments of the present invention provide a simulation method for an unmanned aerial vehicle, a terminal device, and a computer-readable storage medium, so as to simulate the flight of the unmanned aerial vehicle under the condition of dynamically configuring simulated flight environment characteristics in a simulated flight environment.

In the embodiment of the invention, the flight simulator can be configured in the flight control equipment of the unmanned aerial vehicle, before the flight simulator operates, the terminal equipment can display identification information corresponding to a plurality of simulated flight environment characteristics forming the simulated flight environment to a user, the identification information comprises icons corresponding to the simulated flight environment characteristics or characters capable of representing the simulated flight environment characteristics, and the like, before the flight simulator operates, the user carries out configuration operation aiming at the plurality of simulated flight environment characteristics (for example, the user manually drags the icons corresponding to the simulated flight environment characteristics to a specified position, and if the user can also set the attributes such as the position, the appearance time, the size and the like of the simulated flight environment characteristics in a script mode), the terminal equipment is instructed to generate configuration parameters of the simulated flight environment characteristics, and then the simulated flight environment characteristics forming the simulated flight environment of the unmanned aerial vehicle are generated and displayed according to the configuration parameters, and send the configuration parameter of emulation flight environment characteristic for unmanned aerial vehicle's flight control equipment to can make unmanned aerial vehicle fly under the emulation flight environment, in order to verify that unmanned aerial vehicle independently keeps away predetermined functions such as barrier, senior supplementary flight, also tempered the user to unmanned aerial vehicle's manipulation technique simultaneously.

For the simulation of an unmanned aerial vehicle provided with a simulated flight environment, the simulation principle will be described in detail below. When the drone is in the simulation mode, in particular when the flight control device of the drone is in the simulation mode, the simulation of the drone is carried out on the basis of a simulation model of the drone. Referring to fig. 1, the simulation model of the drone at least includes a physical model 101 of the drone and a simulated flight environment 102, and the physical model 101 of the drone is a software module representing a physical modality of the drone. The physical model 101 of the unmanned aerial vehicle receives a power signal, wherein the power signal may be a Pulse Width Modulation (PWM) signal, the physical model 101 of the unmanned aerial vehicle responds to the received power signal and outputs a simulated flight state data true value, and the simulated flight state data true value may represent a flight state of the unmanned aerial vehicle after the power signal affects the physical model 101 of the unmanned aerial vehicle. The physical model 101 of the drone may also include one or more of a motor-propeller model, a kinetic model, a kinematic model, an object model (which is used to characterize the physical structure of the drone, such as power, structure, weight, electro-mechanical, etc.).

The simulated flight environment 102 is configured to provide a simulated flight environment for simulated flight of the drone, and the simulated flight environment 102 is composed of at least one simulated flight environment feature, which may include configuration parameters, where the configuration parameters include type information and attribute parameters of the simulated flight environment feature. The type information includes one or more of obstacles, the ground, magnetic field interference, wind and rain, the attribute parameter may include one or more of position, size, strength, time parameter, angle, attitude, temperature, humidity and speed, and the time parameter may refer to the occurrence time, duration and end time of the simulated flight environment characteristic. For example, the simulated flight environment feature may be an obstacle with a height of 500 meters and a longitude and latitude of (23,24), or the simulated flight environment feature may be a strong wind of 5 degrees with a duration of 2 minutes, or the simulated flight environment feature may be a combination of the two simulated flight environment features. At some point, the simulated flight environment 102 may act on the physical model 101 of the drone, for example, the simulated flight environment 102 may include a strong wind of class 5 with a duration of 2 minutes, and the physical model 101 of the drone may output a true value of simulated flight status data in response to the power signal and the simulated flight environment 102.

In one embodiment, the sensor model 103 may also be included in the simulation model of the drone of fig. 1. When the flight control device is in the simulation mode, the sensor model 103 determines and outputs simulated sensor data after receiving a true value of the simulated flight state data of the physical model 101 of the drone, and at some times, the sensor model 103 may also determine and output simulated sensor data in conjunction with the simulated flight environment 102. Correspondingly, when the flight control device is in a normal working mode, the real sensor can determine real sensor data by combining with a real flight environment.

In an embodiment, the simulation model of the unmanned aerial vehicle shown in fig. 1 may further include a fusion module 104, when the flight control device is in the simulation mode, the simulated sensor data output by the sensor model 103 may be output to the fusion module 104, and the fusion module 104 may determine the simulated flight state data according to the simulated sensor data, that is, the fusion module 104 may perform fusion calculation on the simulated sensor data to determine the simulated flight state data. In some cases, the fusion module 104 may be a software model. In other embodiments, the fusion module 104 may receive real sensor data output by real sensors and fuse the real sensor data to determine real flight status data when the flight control apparatus is in normal operation.

In other embodiments, when the flight control apparatus is in the simulation mode, the simulated sensor data output by the sensor model 103 may not be output to the fusion module, that is, the simulated sensor data output by the sensor model 103 is directly determined as the simulated flight state data. Correspondingly, when the flight control apparatus is in the normal operating mode, the real sensor data may be determined as real flight status data.

In one embodiment, when the flight control device is in the simulation mode, the simulated flight state data may be output to the terminal device 106, and the terminal device 106 may display the simulated flight state data in a display screen or the like, so that the developer verifies whether certain preset functions of the unmanned aerial vehicle are normal, and the developer or the user may input control operations on the unmanned aerial vehicle according to the simulated flight state data to adjust or control the simulated flight of the unmanned aerial vehicle. In yet another embodiment, simulated flight status data may also be output to the controller 105 when the flight control apparatus is in simulation mode, the controller 105 being an important component or software module of the flight control apparatus. Controller 105 can also receive terminal equipment 106's control lever volume, control lever volume is the control command that terminal equipment 106 is confirmed through the unmanned aerial vehicle control operation that detects the user, and controller 105 can produce power signal according to simulation flight state data and/or control lever volume, and the power signal of controller 105 output is received to unmanned aerial vehicle's physical model 101, and through this way, can drive the continuation of unmanned aerial vehicle's emulation and go on.

Accordingly, when the flight control device is in the normal operating mode, the controller 105 may receive the real flight status data and may generate a power signal according to the real status data and/or the joystick amount output by the terminal device 105, and the real power system of the drone may receive the power signal and perform a corresponding operation.

In one embodiment, the terminal device 105 may detect a configuration operation of the user before or during the flight control device is in the simulation mode, wherein the configuration operation is used to configure the simulated flight environment characteristics of the drone; the terminal device 105 may determine configuration parameters of the simulated flight environment characteristics according to the detected configuration operation, where the configuration parameters of the simulated flight environment characteristics include type information and attribute parameters of the simulated flight environment characteristics, where the type information of the simulated flight environment characteristics includes one or more of obstacles, the ground, magnetic field interference, wind, and rain; the attribute parameters of the simulated flight environment features comprise one or more of position, size, intensity, time parameters, angle, attitude, temperature, humidity and speed. Further, the terminal device 105 generates and displays the simulated flight environment feature according to the configuration parameter of the simulated flight environment feature, and then the terminal device 105 may combine a plurality of simulated flight environment features into a simulated flight environment.

In other embodiments, the user may adjust the simulated flight environment characteristics, and thus the simulated flight environment. The terminal device 106 may detect the adjustment operation of the user and then adjust the characteristics of the simulated flight environment according to the adjustment operation, thus implementing dynamic configuration of the simulated flight environment. The adjusting operation may include an editing operation and an adding operation of the current simulated flight environment characteristic by the user, the editing operation is used for adjusting the attribute parameter of the simulated flight environment characteristic in the current simulated flight environment in the simulation process, and the adding operation is used for adding a new simulated flight environment characteristic in the current simulated flight environment in the simulation process.

After the terminal device 106 adjusts the characteristics of the simulated flight environment, the simulated flight state data output by the sensor model 103 after the simulated flight environment is adjusted can be received, and the terminal device 106 displays the simulated flight state data so that a user can verify certain preset functions of the unmanned aerial vehicle. For example, the current simulation environment characteristic is an ideal environment, an obstacle with a height of 600 meters is added to the simulation flight environment characteristic adjusted by the terminal device 106, and at this time, if the re-output simulated flight state data shows that the flight speed and other state data of the unmanned aerial vehicle change, it is indicated that the autonomous obstacle avoidance function of the unmanned aerial vehicle is normal.

In some implementations, the simulation model may be built in a flight control device (for example, a flight controller), and referring to fig. 2, a schematic diagram of a simulation scenario of an unmanned aerial vehicle according to an embodiment of the present invention is provided. As shown in fig. 2, the drone 200 may include a flight control device 2001, and the simulation model 2002 may be built in the flight control device 2001, and when the flight control device 2001 is in the simulation mode, the flight control device 2001 may acquire a power signal generated by the controller through an internal data link or an external data link of the flight control device, and operate the simulation model 2002 according to the power signal. In one embodiment, the flight control device 2001 may transmit the simulated flight state data output by the simulation model 2002 to a controller of the flight control device 2001 via a flight control device internal data link or an external data link, the controller generating a power signal according to the stick amount of the terminal device 201 and/or the simulated flight state data, and transmitting the power signal to the simulation model 2002 via the internal data link or the external data link of the flight control device 2001.

A physical model of the unmanned aerial vehicle outputs a simulated flight state data true value according to a power signal, a sensor model acquires the simulated flight state data true value, simulated sensor data are determined and output by combining simulated environment flight, and then the simulated flight state data are output according to the simulated sensor data. The flight control device 2001 transmits the simulated flight status data to the terminal device 201, and the terminal device 201 acquires the simulated flight status data and displays the simulated flight status data through a display device, where the display device may include a display screen or other device capable of displaying data. As can be seen from fig. 2, the terminal device 201 can display the image 2012 of the unmanned aerial vehicle through the display device, can also display information such as the current attitude, position, and battery power of the unmanned aerial vehicle 200, and can also display other object images in the simulation environment where the unmanned aerial vehicle 200 is currently located, for example, a tree image 2011, a building image 2013, and the like, so that a user can perform further operations on the unmanned aerial vehicle 200 according to the simulation flight environment.

Referring to fig. 3, which is a schematic flow chart of a simulation method of an unmanned aerial vehicle according to an embodiment of the present invention, the simulation method shown in fig. 3 may be applied to the simulation of the unmanned aerial vehicle shown in fig. 1 and fig. 2, the simulation method of the unmanned aerial vehicle is executed by a terminal device, and the terminal device may include one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a desktop computer, and a wearable device. The simulation method of the unmanned aerial vehicle shown in fig. 3 is mainly used for providing a simulated flight environment for the simulation of the unmanned aerial vehicle shown in fig. 1 and 2, so that the unmanned aerial vehicle can simulate flight under the condition that the simulated flight environment exists, and the simulation method of the unmanned aerial vehicle shown in fig. 3 may include the following steps:

in step S301, a configuration operation by a user is detected.

In one embodiment, the configuration operation of the user is for configuring simulated flight environment features in a simulated flight environment of the drone. The configuration operation comprises one or more of clicking, sliding, pressing, dragging and the like. The configuration operation of the detection user described in step S301 is to detect which simulated flight environment features are selected by the user to form the simulated flight environment. The terminal device can store at least one simulated flight environment characteristic, and is responsible for managing type information, attribute parameters, configuration authority of each simulated flight environment characteristic and the like. The type information of the simulated flight environment features may include one or more of obstacles (such as trees, walls, tables, etc.), ground (such as mountains, plains, lakes, etc.), magnetic field disturbances, wind, rain; the attribute parameters of the simulated flight environment characteristics can refer to one or more of position, size, time parameters, speed, humidity, temperature and other parameters; the configuration authority of the simulated flight environment features refers to the use authority of different users for the simulated flight environment features, and in general, different developers or different users have different configuration requirements for the simulated flight environment, and accordingly, the configuration authorities of the developers or the users are different. For example, a user may not have configuration rights for a simulated flight environment feature that is configurable by a developer.

Before the simulation of the unmanned aerial vehicle begins or during the simulation process of the unmanned aerial vehicle, the terminal device can display the identification information corresponding to at least one simulated flight environment characteristic matched with the simulation of the current unmanned aerial vehicle to the user, the configuration operation of the user can refer to any one of click operation, drag operation and sliding operation of the user on the identification information of the at least one simulated flight environment characteristic, and the simulated flight environment characteristic matched with the simulation of the current unmanned aerial vehicle refers to the simulated flight environment characteristic which can be configured in the simulation of the current unmanned aerial vehicle and can be operated by the user.

Specifically, the specific implementation manner of S301 may be: acquiring the authority of a user; determining and displaying identification information of the target simulated flight environment characteristics matched with the authority according to the authority of the user; and detecting the configuration operation of the user aiming at the identification information of the target simulated flight environment characteristic.

The terminal device stores multiple simulated flight environment characteristics and identification information corresponding to the multiple simulated flight environment characteristics, and different users or developers have different use permissions for the multiple simulated flight environment characteristics, for example, if a certain simulated flight environment characteristic can only be operated or configured by the developers, the user does not have the use permission for the simulated flight environment characteristic; for another example, a certain simulated flight environment feature is open for a senior user, and a normal user does not have the authority to use the simulated flight environment feature. The terminal device may pre-store a corresponding relationship between the authority of the user and the simulated flight environment feature, for example, the advanced user corresponds to the first simulated flight environment feature set, and the normal user corresponds to the second simulated flight environment feature set. Before the user inputs configuration operation to the terminal equipment, the terminal equipment can firstly judge the authority of the user, find and display the identification information of the simulated flight environment characteristics corresponding to the authority of the user for the user to operate.

In one embodiment, the terminal device may determine the authority of the user by acquiring a user identifier, where the user identifier may include identity information of the user, registration information of the user in the terminal device, and the like. After the terminal equipment judges the authority of the user, the target simulated flight environment characteristic corresponding to the authority of the user is found, and the identification information corresponding to the target simulated flight environment characteristic is displayed to the user, so that the user can conveniently select the target simulated flight environment characteristic. The identification information of the target simulated flight environment feature may be an icon capable of representing the target simulated flight environment feature, or may also be a text capable of representing the target simulated flight environment, or may also be another identification capable of representing the target simulated flight environment feature, which is not specifically limited in the embodiment of the present invention. The configuration operation of the user on the target simulated flight environment feature may refer to dragging, sliding, or clicking identification information of the target simulated flight environment feature, and the like.

Step S302, determining configuration parameters of the simulated flight environment characteristics according to the detected configuration operation.

In one embodiment, the configuration parameters of the simulated flight environment feature include type information and attribute parameters. The user's configuration operations of the simulated flight environment features may include: dragging the identification information of a certain simulated flight environment characteristic to a preset position, adjusting the size or other attribute parameters of the simulated flight environment characteristic, and acquiring the following information by the terminal equipment through configuration operation of a user: a user wants to select which simulated flight environment characteristic to be used as an environmental factor in the simulation of the unmanned aerial vehicle; the specific attribute parameters of the selected simulated flight environment features are what, and further, the terminal device generates and displays the simulated flight environment features through the acquired information, so that the simulated flight environment features can form the simulated flight environment of the unmanned aerial vehicle.

In one embodiment, the terminal device, before determining the configuration parameters of the simulated flight environment features according to the detected configuration operation, further comprises: determining whether a user has authority over the simulated flight environment feature; when the user does not have the right, refusing to generate and display the simulated flight environment characteristic according to the configuration parameter of the simulated flight environment characteristic, and generating and displaying prompt information; determining configuration parameters for simulating flight environment characteristics according to the detected configuration operation when the user has the authority. In brief, the terminal device not only sets the selection permission for the simulated flight environment features for different users, but also sets the permission for the simulated flight environment features for different users, and can also be understood as a configuration permission, the configuration permission indicates whether the user can use, change or configure the configuration parameters of the simulated flight environment features, and if the user has the permission, the terminal device executes step S302; if the user does not have the authority, the terminal device may refuse to execute step S302, and may generate and display a prompt message, where the prompt message may be used to prompt the user that the current operation may not exceed the authority range.

And step S303, generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics.

Optionally, the terminal device generates a plurality of simulated flight environment features according to the configuration operation of the user and the configuration parameters of the simulated flight environment features corresponding to the configuration operation, and the simulated flight environment is formed by the plurality of simulated flight environment features.

In one embodiment, before the terminal device generates and displays the simulated flight environment feature according to the configuration parameter of the simulated flight environment feature, it is further required to determine whether the configuration parameter of the simulated flight environment feature in the configuration operation selected by the user is legal, and in the case of the legal configuration, the terminal device executes the step of generating and displaying the simulated flight environment feature according to the configuration parameter of the simulated flight environment feature. In other words, the simulation method of the drone shown in fig. 3 further includes: determining whether the configuration parameters of the simulated flight environment features are legal or not; when the configuration parameters are illegal, refusing to generate and display the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, and generating and displaying prompt information; and when the configuration parameters are legal, generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated airplane environment characteristics.

In one embodiment, the determining whether the configuration parameters of the simulated flight environment feature are legal may be understood as: determining whether the configuration parameters of each simulated flight environment feature meet corresponding preset parameter configuration rules, and if so, determining that the simulated flight environment feature is legal; if not, it may be determined that the simulated flight environment characteristic is illegal. For example, the type information of the simulated flight environment features is trees, and if the parameter configuration rule of the trees is specified in advance as follows: the height range is 10 m-30 m, if the configuration parameter of the tree indicated in the configuration operation of the user is 45 m, the configuration parameter can not meet the parameter configuration rule according to the parameter configuration rule, namely the configuration parameter is illegal; if the configuration parameter of the tree indicated in the user's configuration operation is 28 meters in height, it indicates that the configuration parameter is legitimate.

In an embodiment, if the number of the simulated flight environment features is at least one, the determining whether the configuration parameters of the simulated flight environment features are legal may include determining whether the configuration parameters of each of the simulated flight environment features are legal. Specifically, the determining whether the configuration parameters of the simulated flight environment features are legal includes: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics accords with a corresponding first parameter configuration rule; and if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal. And if any one of the configuration parameters of the simulated flight environment characteristics does not conform to the corresponding first parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal. Optionally, the first parameter configuration rule is a parameter configuration rule of a simulated flight environment feature under the condition that the simulated flight environment feature exists alone.

In brief, if the number of the simulated flight environment features indicated by the configuration operation of the user is at least one, after the terminal device obtains the configuration parameters of each simulated flight environment feature, it may first determine whether the configuration parameters of each simulated flight environment feature are all legal, and if all the configuration parameters are legal, perform step S303; if one of the simulated flight environment characteristics is illegal, the terminal equipment can generate and output prompt information for informing the user that the configuration parameters of the certain simulated flight environment characteristic are illegal, and at the moment, the user can select to reconfigure the configuration parameters of the simulated flight environment characteristic according to the prompt information or delete the simulated flight environment characteristic.

For example, assuming that the detected current configuration operation of the user includes two different simulated flight environment features, the two different simulated flight environment features are respectively tree and wind, the configuration parameters of the two simulated flight environment features are respectively tree height of 30 meters and wind speed of 8 meters/second, assuming that the first parameter configuration threshold value of the tree is height of 20 meters-30 meters and the first parameter configuration threshold value of the wind is speed of 0.5 meters/second-10.7 meters/second, it can be known that the two simulated flight environment features both conform to the respective corresponding first parameter configuration rules, and then it is determined that the configuration parameters of the simulated flight environment features indicated according to the current configuration operation of the user are legal. Based on the above assumed first parameter configuration of the tree and the first parameter configuration of the wind, if it is assumed that the height of the tree is 25 meters and the wind speed is 18 meters/second in the two different simulated flight environment characteristics, it is known that the configuration parameters of the simulated flight environment characteristics wind are illegal, and therefore, it can be determined that the configuration parameters of the simulated flight environment characteristics indicated by the current configuration operation of the user are illegal.

In another embodiment, if the number of the simulated flight environment features is at least one, determining whether the configuration parameters of the simulated flight environment features are legal may further include determining whether the configuration parameters of each of the simulated flight environment features in the simulated flight environment features are legal. Specifically, the determining whether the configuration parameters of the simulated flight environment features are legal includes: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics conforms to a second parameter configuration rule; if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal; and if any two configuration parameters in the configuration parameters of the simulated flight environment characteristics do not accord with a second parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

The second parameter configuration rule is used for judging whether configuration parameters of the plurality of simulated flight environment features conflict with each other, namely whether the attribute parameters and/or the type information of the simulated flight environment features conflict with each other. In an embodiment, the conflict between the configuration parameters of the simulated flight environment features may mean that the type information of the simulated flight environment features is in conflict under the condition that the attribute parameters are fixed, for example, it is assumed that the simulated flight environment features are respectively a lake and a house, and the positions included in the attribute parameters of the two simulated flight environment features are the same, that is, the lake and the house are both present at the same position, and at this time, the configuration parameters corresponding to the two simulated flight environments of the lake and the house are in conflict.

If the configuration parameters of the plurality of simulated flight environment characteristics are not conflicted, the configuration parameters of the simulated flight environment characteristics are legal, and the terminal equipment generates and displays the simulated flight environment according to the configuration parameters of the simulated flight environment characteristics; if the configuration parameters of the plurality of simulated flight environment characteristics conflict with each other, it is indicated that the configuration parameters in the configuration parameters of the simulated flight environment characteristics are illegal, and the terminal device can output prompt information, such as 'the lake and the house cannot be simultaneously present at the same position and please modify'.

In an embodiment, after the terminal device generates the simulated flying environment feature, the configuration parameter of the simulated flying environment feature may be sent to the unmanned aerial vehicle in the simulation mode so that the unmanned aerial vehicle in the simulation mode flies in the simulation environment, and the simulated flying state data sent by the unmanned aerial vehicle is acquired and displayed to verify whether the unmanned aerial vehicle executes a preset response operation for the simulated flying environment feature. The advanced response operation may refer to an autonomous obstacle avoidance operation, an advanced auxiliary flight operation, and the like. For example, the simulated flight environment generated by the terminal device is characterized in that a big tree with the height of 30 meters appears right in front of the unmanned aerial vehicle, the configuration parameters of the simulated flight environment are sent to the unmanned aerial vehicle in the simulation mode, the currently generated simulated flight state data sent by the unmanned aerial vehicle is obtained, and if the simulated flight state data show that the unmanned aerial vehicle adjusts the flight direction in front of the big tree or the flight height of the unmanned aerial vehicle is adjusted (more than 30 meters), it is indicated that the autonomous obstacle avoidance function of the unmanned aerial vehicle is normal.

The simulation method of the unmanned aerial vehicle provided by the embodiment of the invention can realize dynamic change of the characteristics of the simulated flight environment before the start of simulation or in the simulation process, so that the simulated flight environment of the unmanned aerial vehicle is changed, thus the application range of the flight simulator is expanded, the convenience of developing functions verified by developers is improved, and the development efficiency is improved.

In one embodiment, the modification of the simulated environmental characteristics may include an editing operation of the current simulated flight environmental characteristics, and may also include adding new simulated flight environmental characteristics to the current simulated flight environmental characteristics. As a possible implementation manner, during the flight of the unmanned aerial vehicle in the simulated flight environment, an editing operation of a user on the simulated flight environment feature is detected, wherein the editing operation is used to adjust an attribute parameter of the simulated flight environment feature; determining updated attribute parameters according to the detected editing operation; generating and displaying updated simulated flight environment characteristics according to the updated attribute parameters; and sending the updated attribute parameters of the simulated flight environment characteristics to the unmanned aerial vehicle in the simulation mode.

In the simulation process of the unmanned aerial vehicle, the terminal equipment can receive the editing operation of a user at any time, and changes the attribute parameters of the current simulated flight environment characteristic according to the editing operation of the user, such as adjusting the size, the position, the time parameter and the like of the simulated flight environment characteristic. And then, the terminal equipment sends the attribute parameters of the simulated flight environment characteristics with the changed attribute parameters to the unmanned aerial vehicle in the simulation mode, so that the unmanned aerial vehicle runs in the changed simulated flight environment.

In another embodiment, during the flight of the unmanned aerial vehicle in the simulated flight environment, an adding operation of a user to the simulated flight environment feature is detected, wherein the adding operation is used for adding the simulated flight environment feature in the simulated flight environment; determining configuration parameters of the added simulated flight environment features according to the detected adding operation; generating and displaying the added simulated flight environment characteristics according to the configuration parameters of the added simulated flight environment characteristics; and sending the added configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment.

That is, in the simulation process of the unmanned aerial vehicle, the terminal device can receive the adding operation of the user at any time, add some new simulated flight environment characteristics for the current simulated flight environment characteristics according to the adding operation of the user, for example, only trees are included in the current simulated flight environment characteristics, add two new simulated flight environment characteristics of wind and rain for the current simulated flight environment characteristics according to the adding operation of the user, then, the terminal device combines the current simulated flight environment characteristics and the newly added simulated flight environment characteristics into a new simulated flight environment characteristic, and sends configuration parameters of the new simulated flight environment characteristic to the unmanned aerial vehicle in simulation, so that the unmanned aerial vehicle flies in the new simulated flight environment.

In one embodiment, each time a simulated flight environment feature is configured, the terminal device outputs prompt information on whether the simulated flight environment feature is stored, and if confirmation information of storing the simulated flight environment feature is detected, the configuration parameters of the simulated flight environment feature are stored. This is so that the simulated flight environment signature can be retrieved directly from the stored data without reconfiguration if the simulated flight environment signature is subsequently used.

Referring to fig. 4, a flow chart of a simulation process of the unmanned aerial vehicle according to an embodiment of the present invention is shown, and fig. 4 shows a simulation process of the unmanned aerial vehicle based on the simulation method of the unmanned aerial vehicle shown in fig. 3. As can be seen from fig. 4, the terminal device is mainly responsible for providing the simulated flight environment and controlling the simulated progress for the simulation of the unmanned aerial vehicle during the simulation process of the unmanned aerial vehicle, and the flight control device is mainly responsible for controlling the simulated flight of the unmanned aerial vehicle. Some possible embodiments included in fig. 4 have been specifically described in the embodiments of fig. 1 to 3, and are not described herein again.

Referring to fig. 5, which is a schematic structural diagram of a simulation apparatus for an unmanned aerial vehicle according to an embodiment of the present invention, the simulation apparatus for an unmanned aerial vehicle shown in fig. 5 includes a detection unit 501 and a processing unit 502:

the detecting unit 501 is configured to detect a configuration operation of a user, where the configuration operation is used to configure a flight environment feature in a simulated flight environment of the drone;

the processing unit 502 is configured to determine configuration parameters of the simulated flight environment features according to the configuration operation detected by the detection unit, where the configuration parameters of the simulated flight environment features include type information and attribute parameters of the simulated flight environment features;

the processing unit 502 is further configured to generate and display a simulated flight environment characteristic according to the configuration parameter of the simulated flight environment characteristic, where the simulated flight environment characteristic constitutes a simulated flight environment of the unmanned aerial vehicle.

In one embodiment, the type information includes one or more of obstacles, ground, magnetic field disturbances, wind, rain. In one embodiment, the attribute parameters include one or more of a location, a size, an intensity, a time parameter, an angle, an attitude, a temperature, a humidity, a speed.

In one embodiment, the processing unit 502 is further configured to: determining whether the configuration parameters of the simulated flight environment features are legal or not; when the configuration parameters are illegal, refusing to generate and display the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, and generating and displaying prompt information; and when the configuration parameters are legal, generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics.

In one embodiment, the implementation manner of the processing unit 502 for determining whether the configuration parameters of the simulated flight environment features are legal is: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics accords with a corresponding first parameter configuration rule; and if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal. And if any one of the configuration parameters of the simulated flight environment characteristics does not conform to the corresponding first parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

In one embodiment, the implementation manner of the processing unit 502 for determining whether the configuration parameters of the simulated flight environment features are legal is: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics conforms to a second parameter configuration rule; if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal; and if any two configuration parameters in the configuration parameters of the simulated flight environment characteristics do not accord with a second parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

In one embodiment, the processing unit 502 is further configured to: acquiring the authority of the user; determining and displaying identification information of the target simulated flight environment characteristics matched with the authority according to the authority of the user; the processing unit 502 is configured to detect a configuration operation of a user according to the following embodiments: detecting configuration operation of the user aiming at identification information of the target simulated flight environment characteristics; the processing unit 502 is configured to determine configuration parameters of the simulated flight environment features according to the detected configuration operation in an implementation manner as follows: determining configuration parameters of one or more types of simulated flight environment characteristics of the target simulated flight environment characteristics according to the detected configuration operation.

In one embodiment, the processing unit 502 is further configured to: determining whether a user has authority over the simulated flight environment feature; when the user does not have the right, refusing to generate and display the simulated flight environment characteristic according to the configuration parameter of the simulated flight environment characteristic, and generating and displaying prompt information; when the user has the authority, determining configuration parameters of the simulated flight environment characteristics according to the detected configuration operation.

In one embodiment, the processing unit 502 is further configured to: sending the configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment; and acquiring and displaying the simulated flight state data sent by the unmanned aerial vehicle so as to verify whether the unmanned aerial vehicle executes preset response operation aiming at the simulated flight environment characteristics.

In one embodiment, the processing unit 502 is further configured to: detecting the editing operation of a user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the editing operation is used for adjusting the attribute parameter of the simulated flight environment characteristic; determining updated attribute parameters according to the detected editing operation; generating and displaying updated simulated flight environment characteristics according to the updated attribute parameters; and sending the updated attribute parameters of the simulated flight environment characteristics to the unmanned aerial vehicle in the simulation mode.

In one embodiment, the processing unit 502 is further configured to: detecting an adding operation of a user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the adding operation is used for adding the simulated flight environment characteristic in the simulated flight environment; determining configuration parameters of the added simulated flight environment features according to the detected adding operation; generating and displaying the added simulated flight environment characteristics according to the configuration parameters of the added simulated flight environment characteristics; and sending the added configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment.

In one embodiment, the processing unit 502 is further configured to: outputting prompt information whether to store the simulated flight environment characteristics; and if the confirmation information for saving the simulated flight environment characteristic is detected, storing the configuration parameter of the simulated flight environment characteristic.

In the embodiment of the invention, under the condition that the detection unit 501 detects the configuration operation of the user for the simulated flight environment characteristics, the processing unit 502 determines the configuration parameters of the simulated flight environment characteristics, and then generates and displays the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, so that the simulated flight environment of the unmanned aerial vehicle is formed according to the simulated flight environment characteristics, the influence of environment factors on the flight of the unmanned aerial vehicle in a flight simulator can be simulated, the use range of the flight simulator is expanded, the convenience for developers to verify the functions of the developed unmanned aerial vehicle is provided, and the development efficiency is improved.

Referring to fig. 6, which is a schematic structural diagram of a terminal device according to an embodiment of the present invention, the terminal device shown in fig. 6 includes a processor 601 and a memory 602, where the memory 602 is connected to the processor 601 through a bus 603, and the memory 602 is used to store program instructions.

The memory 602 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 602 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), etc.; the memory 602 may also comprise a combination of memories of the kind described above.

The processor 601 may be a Central Processing Unit (CPU). The processor 601 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a General Array Logic (GAL), or the like. The processor 601 may also be a combination of the above structures.

In the embodiment of the present invention, the memory 602 is used for storing a computer program, the computer program includes program instructions, and the processor 601 is used for executing the program instructions stored in the memory 602, so as to implement the steps of the corresponding method in the embodiment shown in fig. 3.

In one embodiment, the processor 601 is configured to execute program instructions stored in the memory 602, and the processor 601 is configured to execute the following steps when the program instructions are called: detecting a configuration operation by a user, wherein the operation is used for configuring simulated flight environment characteristics in a simulated flight environment of the unmanned aerial vehicle;

In one embodiment, the prompting device is configured to display a user interface, and the second instruction is configured to control the user interface displayed on the prompting device.

In one embodiment, the type information includes one or more of an obstacle, a magnetic field disturbance, wind, rain. In one embodiment, the attribute parameters include one or more of a location, a size, an intensity, a time parameter, an angle, an attitude, a temperature, a humidity, a speed.

In one embodiment, the processor 601, when calling the program instructions, further performs: determining whether the configuration parameters of the simulated flight environment features are legal or not; when the configuration parameters are illegal, refusing to generate and display the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics, and generating and displaying prompt information; and when the configuration parameters are legal, generating and displaying the simulated flight environment characteristics according to the configuration parameters of the simulated flight environment characteristics.

In one embodiment, the processor 601, when determining whether the configuration parameters of the simulated flight environment feature are legal, performs the following operations: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics accords with a corresponding first parameter configuration rule; and if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal. And if any one of the configuration parameters of the simulated flight environment characteristics does not conform to the corresponding first parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

In one embodiment, the processor 601, when determining whether the configuration parameters of the simulated flight environment feature are legal, performs the following operations: determining whether each configuration parameter in the configuration parameters of the simulated flight environment characteristics conforms to a second parameter configuration rule; if the configuration parameters are all in accordance with the configuration parameters, determining that the configuration parameters of the simulated flight environment characteristics are legal; and if any two configuration parameters in the configuration parameters of the simulated flight environment characteristics do not accord with a second parameter configuration rule, determining that the configuration parameters of the simulated flight environment characteristics are illegal.

In one embodiment, the processor 601, when calling the program instructions, further performs: acquiring the authority of the user; determining and displaying identification information of the target simulated flight environment characteristics matched with the authority according to the authority of the user; the processor performs the following operations when detecting the configuration operation of a user: detecting configuration operation of a user aiming at the target simulation flight environment characteristics; the processor 601, when determining configuration parameters of the simulated flight environment features according to the detected configuration operations, performs the following operations: and determining configuration parameters of one or more types of simulated flight environment characteristics in the target simulated flight environment characteristics according to the detected configuration operation.

In one embodiment, the processor 601, when calling the program instructions, further performs: determining whether a user has authority over the simulated flight environment feature; when the user does not have the right, refusing to generate and display the simulated flight environment characteristic according to the configuration parameter of the simulated flight environment characteristic, and generating and displaying prompt information; when the user has the authority, determining configuration parameters of the simulated flight environment characteristics according to the detected configuration operation.

In one embodiment, the processor 601, when calling the program instructions, further performs: sending the configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment; and acquiring and displaying the simulated flight state data sent by the unmanned aerial vehicle so as to verify whether the unmanned aerial vehicle executes preset response operation aiming at the simulated flight environment characteristics.

In one embodiment, the processor 601, when calling the program instructions, further performs: detecting the editing operation of a user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the editing operation is used for adjusting the attribute parameter of the simulated flight environment characteristic; determining updated attribute parameters according to the detected editing operation; generating and displaying updated simulated flight environment characteristics according to the updated attribute parameters; and sending the updated attribute parameters of the simulated flight environment characteristics to the unmanned aerial vehicle in the simulation mode.

In one embodiment, the processor 601, when calling the program instructions, further performs:

detecting an adding operation of a user on the simulated flight environment characteristic in the process that the unmanned aerial vehicle flies in the simulated flight environment, wherein the adding operation is used for adding the simulated flight environment characteristic in the simulated flight environment; determining configuration parameters of the added simulated flight environment features according to the detected adding operation; generating and displaying the added simulated flight environment characteristics according to the configuration parameters of the added simulated flight environment characteristics; and sending the added configuration parameters of the simulated flying environment characteristics to the unmanned aerial vehicle in the simulation mode so as to enable the unmanned aerial vehicle in the simulation mode to fly in the simulation environment.

In one embodiment, the processor 601, when calling the program instructions, further performs: outputting prompt information whether to store the simulated flight environment characteristics; and if the confirmation information for saving the simulated flight environment characteristic is detected, storing the configuration information of the simulated flight environment characteristic.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

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Simulation method of unmanned aerial vehicle, terminal equipment and computer readable storage medium

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