Method and device for trajectory switching

Abstract

The invention provides a method and a device for trajectory switching. The method includes: (S110) the drone moves along a first trajectory, the first trajectory is an arc trajectory, the center of the circle where the first trajectory is located is the first center of circle, the radius is the first radius, and the first center of circle is at the first position; (S120) the drone determines a second position, the second position is the position of the point of interest updated relative to the first position; (S130) the drone determines a second trajectory based on the second position, the second trajectory is also an arc trajectory, the first trajectory is tangent to the second trajectory, the center of the circle where the second trajectory is located is the second center of circle, theradius is the second radius, and the second center of circle is located at the second position; (S140) the drone is switched from the first trajectory to run along the second trajectory. According tothe invention, the drone is switched between two arc trajectories by updating the position of the point of interest. The two arc trajectories are tangent to each other, so that the trajectories of thedrone during autonomous flight are smoothly connected, autonomous operation of the drone can be improved and the user experience is improved.

Description

[0001] Copyright statement [0002] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. technical field [0003] The present application relates to the field of drones, in particular to a method and device for switching tracks of drones. Background technique [0004] Points of interest (POI) are important information for enriching navigation maps. In a geographic information system, a POI can be a house, a shop, a mailbox, or a bus stop, etc. With the development of science and technology, UAVs are used in more and more scenarios, and it is an important goal for the development of UAVs to make UAVs perform autonomous flight operations. In the field of drones, POI surround is one of the flight m...

AI Technical Summary

Problems solved by technology

However, this POI surround method requires knowing the exact coordinates of the POI, the flight trajectory is solidified, and the autonomous operation of the UAV is poor.

In addition, in the POI surround, the connection and switching of various trajectories during the flight of the existing UAV are not smooth, and the user experience is poor.

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