Abstract: The present invention relates to the field of unmanned aerial vehicle safety protection technologies, and in particular, to an unmanned aerial vehicle safety protection method and apparatus and an unmanned aerial vehicle. The method includes: obtaining ultrasonic information and a flight status of an unmanned aerial vehicle, where the flight status includes a normal flight state and a descending state; and performing safety protection on the unmanned aerial vehicle according to the ultrasonic information and the flight status. The implementation can reduce an occurrence probability that an unmanned aerial vehicle crashes at a high altitude when ultrasound encounters abnormalities to get out of control at the high altitude and fail to descend, rise, move to the left or move to the right and land without slowing down to violently hit the ground, so that the safety of the unmanned aerial vehicle is enhanced, and user experience is improved.

Abstract: The present invention discloses an unmanned aerial vehicle and a method for controlling a gimbal thereof. The method for controlling a gimbal includes: generating, by a flight control system, a yaw angular speed instruction of the unmanned aerial vehicle; and controlling, by a gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle. In the present invention, the yaw axis motor of the gimbal is jointly controlled by the flight control system and the gimbal control system, so that advantages of high-precision control and quick response of the gimbal control system are maximized. The advantages are used for compensating for deficiencies of the flight control system in yaw control, thereby improving the stability of a yaw channel of the gimbal, and completely resolving frame freezing of an aerial video when the unmanned aerial vehicle yaws at a low speed.

Abstract: Embodiments of the present invention relate to a method for generating search information of an unmanned aerial vehicle (UAV) and a UAV. The method includes: controlling a gimbal camera apparatus of the UAV to perform surround shooting to obtain character image information when the UAV is in an input locked state; matching the character image information with internal image information of the UAV; and generating the search information of the UAV according to a matching result. Therefore, a user can find the UAV in time according to the search information. In this way, theft is prevented, reducing the user loss.

Abstract: Embodiments of the present invention are an unmanned aerial vehicle (UAV) severe low-power protection method and a UAV. The method includes: first acquiring ground environment information when the UAV is in a severe low-power protection state, and then obtaining landing safety judgment information according to the ground environment information, and further controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV. The foregoing method reduces the probability of explosion of the UAV, avoids injury accidents, and improves flight safety when the UAV is in a severe low-power state.

Abstract: Embodiments of the present invention is an inertial measurement module, including a mount, a circuit board, a thermally conductive member and a cover plate mounted to the mount. The circuit board is mounted to an end surface of the mount, and is configured to mount an inertial measurement assembly and the thermally conductive member. The inertial measurement assembly includes a thermal resistor and an inertial measurement unit. The thermally conductive member is configured to abut against the thermal resistor and the inertial measurement unit. A surface of the cover plate is provided with a first groove. A receiving space is formed by the first groove and the surface of the mount. The circuit board and the thermally conductive member are both received in the receiving space. The thermally conductive member is arranged at a preset distance from a bottom of the first groove.

Abstract: An obstacle avoidance method is applicable to an unmanned aerial vehicle (UAV). The UAV includes binocular cameras. The the obstacle avoidance method includes: acquiring a binocular direction corresponding to each binocular camera, each binocular direction being corresponding to obstacle sectors; detecting an obstacle distance of each of obstacle sectors corresponding to each binocular direction; determining an obstacle distance in each binocular direction according to the obstacle distance of each of obstacle sectors corresponding to each binocular direction; and determining an obstacle avoidance policy according to the obstacle distance in each binocular direction with reference to a flight direction of the UAV. By determining the obstacle distance in each binocular direction, and then determining the obstacle avoidance policy with reference to the flight direction of the UAV, the obstacle avoidance success rate of the UAV is improved.

Abstract: Embodiments of the present application relate to the technical field of aircrafts and disclose a method and apparatus for yaw fusion and an aircraft. The method for yaw fusion is applicable to an aircraft and includes: acquiring global positioning system (GPS) data, inertial measurement unit (IMU) data, and magnetometer data, wherein the GPS data includes GPS location, velocity, acceleration information, and GPS velocity signal quality, and the IMU data includes IMU acceleration information and IMU angular velocity information; determining a corrected yaw according to the IMU data, the GPS data, and the magnetometer data; determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data, and the corrected yaw; determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information; and generating a fused yaw according to the corrected yaw, the magnetometer alignment deviation angle, and the GPS realignment deviation angle.

Abstract: Embodiments of the present invention are a trajectory tracking method and an unmanned aerial vehicle. The method is including an unmanned aerial vehicle body and a gimbal, and the unmanned aerial vehicle body being equipped with at least one visual sensor, and the method includes: obtaining a flight image acquired by the at least one visual sensor, the flight image including a to-be-tracked target; performing visual image processing on the flight image, to generate a gimbal rotation instruction and a path instruction; adjusting an angle of the gimbal according to the gimbal rotation instruction and a gimbal state parameter of the gimbal, to lock the to-be-tracked target; and controlling a motor speed of a flight motor of the unmanned aerial vehicle according to the path instruction and a flight state parameter of the unmanned aerial vehicle, to cause the unmanned aerial vehicle to track the to-be-tracked target according to the path instruction.

Abstract: Embodiment of the present invention are a flight control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The flight control method for an unmanned aerial vehicle includes: obtaining an obstacle position and an obstacle orientation of each obstacle within a preset range around the unmanned aerial vehicle; calculating a push-pull coefficient of each obstacle relative to the unmanned aerial vehicle according to the obstacle position of each obstacle; obtaining a target position and a target orientation of the unmanned aerial vehicle; calculating a baton coefficient of the target position relative to the unmanned aerial vehicle according to the target position; and adjusting a flight direction of the unmanned aerial vehicle according to the baton coefficient, the target orientation, the push-pull coefficient of each obstacle relative to the unmanned aerial vehicle, and the obstacle orientation.

Abstract: Embodiments of the present invention are an unmanned aerial vehicle (UAV) severe low-power protection method and a UAV. The method includes: first acquiring ground environment information when the UAV is in a severe low-power protection state, and then obtaining landing safety judgment information according to the ground environment information, and further controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV. The foregoing method reduces the probability of explosion of the UAV, avoids injury accidents, and improves flight safety when the UAV is in a severe low-power state.

Abstract: Embodiments of the present invention discloses an unmanned aerial vehicle, comprising: a fuselage, the centroid of the unmanned aerial vehicle being located on the fuselage; an arm connected to the fuselage; and a motor, wherein the motor is obliquely mounted on the arm, the projection of the inclination direction of the motor on a horizontal plane forms a preset angle with a connecting line between the motor and the centroid, and the inclination direction of the motor forms an acute angle with the vertical direction.

Abstract: Embodiments of the present invention are a flight control method and device, and an unmanned aerial vehicle. The method comprises firstly acquiring the current flight velocity of the unmanned aerial vehicle, then obtaining the current optimum inclination angle corresponding to the unmanned aerial vehicle according to the current flight velocity, and further adjusting the flight state of the unmanned aerial vehicle according to the current optimum inclination angle. The method can relieve the restrictions on the flight freedom of unmanned aerial vehicles and make the user experience rapid flight pleasure.

Abstract: The embodiments are an aircraft return control method and device, an aircraft and a storage medium. The method includes: determining the location of a return target region according to the time and the phase of a return signal; and when flying to the return target region, according to a matching result between an image of a current region and a pre-collected image of the return target region, adjusting flight parameters to land at the return target. Embodiments of the present invention solve the technical problem in the prior art that the aircraft cannot be accurately landed at the return target due to the movement of the return target, and achieve the technical effect of controlling the aircraft to accurately and safely land at the return target on the return target region.

Abstract: Embodiments of the present invention relate to a method of controlling an aircraft and a flight control device for an aircraft, an aircraft with such flight control device and a storage medium. The method includes: determining a flight mode adopted by the aircraft in a non-static state; if the flight mode is an absolute hovering mode, determining a target speed of the aircraft according to a current flight speed, a current flight height and a first preset hovering height of the aircraft and a remote control speed set for the aircraft by remote control device; if the flight mode is a relative static hovering mode, determining the target speed of the aircraft according to a relative flight speed, the current flight height, a second preset switching hovering height and the remote control speed; and controlling the aircraft to fly according to the target speed.

Abstract: Embodiments of the present application relate to the technical field of aircrafts and disclose a method and apparatus for yaw fusion and an aircraft. The method for yaw fusion is applicable to an aircraft and includes: acquiring global positioning system (GPS) data, inertial measurement unit (IMU) data, and magnetometer data, wherein the GPS data includes GPS location, velocity, acceleration information, and GPS velocity signal quality, and the IMU data includes IMU acceleration information and IMU angular velocity information; determining a corrected yaw according to the IMU data, the GPS data, and the magnetometer data; determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data, and the corrected yaw; determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information; and generating a fused yaw according to the corrected yaw, the magnetometer alignment deviation angle, and the GPS realignment deviation angle.

Abstract: Embodiments of the present application discloses a method and apparatus for correcting a yaw angle of an aircraft and an aircraft. The method includes: acquiring inertial measurement unit (IMU) data and magnetometer data, where the IMU data includes IMU acceleration information and IMU angular velocity information; determining a magnetometer yaw angle according to the magnetometer data; determining an initial value of a yaw angle according to the magnetometer yaw angle; determining an angular velocity compensation quantity of the yaw angle according to the magnetometer data; determining a corrected angular velocity according to the IMU angular velocity information and the angular velocity compensation quantity of the yaw angle; determining a relative value of the yaw angle according to the corrected angular velocity; and generating a fused yaw angle according to the initial value of the yaw angle and the relative value of the yaw angle.

Abstract: Embodiments of the present invention relates to a method and apparatus for yaw fusion and an aircraft. The method includes: acquiring magnetometer data, inertial measurement unit (IMU) data, and global positioning system (GPS) data; determining a yaw angular velocity correction amount according to the GPS data and the magnetometer data; determining a first yaw angular velocity error value according to the IMU acceleration information and the GPS acceleration information; determining an initial complementary fusion yaw angular velocity; determining a second yaw angular velocity error value; and determining a final complementary fusion yaw.

Abstract: The present invention relates to the field of unmanned aerial vehicle safety protection technologies, and in particular, to an unmanned aerial vehicle safety protection method and apparatus and an unmanned aerial vehicle. The method includes: obtaining ultrasonic information and a flight status of an unmanned aerial vehicle, where the flight status includes a normal flight state and a descending state; and performing safety protection on the unmanned aerial vehicle according to the ultrasonic information and the flight status. The implementation can reduce an occurrence probability that an unmanned aerial vehicle crashes at a high altitude when ultrasound encounters abnormalities to get out of control at the high altitude and fail to descend, rise, move to the left or move to the right and land without slowing down to violently hit the ground, so that the safety of the unmanned aerial vehicle is enhanced, and user experience is improved.

Abstract: The present invention relates to a wind velocity measurement method, a wind velocity estimator and an unmanned aerial vehicle (UAV). The wind velocity measurement method includes: determining current wind resistance interference of a UAV by means of system identification based on flight data and attribute data of the UAV; and calculating a wind velocity of a flight environment of the UAV according to the wind resistance interference and the inherent wind resistance of the UAV. The method realizes the wind velocity measurement by identifying parameters based on the principle of system identification without a newly added wind velocity sensor and an external database. Therefore, not only hardware device costs are saved, but also an additional computing burden and a problem about real-time performance are avoided. The method is simple and requires low costs.

Abstract: Embodiments of the present invention relate to the field of aerial photography technologies and disclose an aircraft control method and an aircraft. The aircraft control method is applicable to the aircraft, and the aircraft includes a flight control system (FCS) configured to control the aircraft and a gimbal control system (GCS) configured to control a gimbal. The GCS can obtain a yaw control instruction to be inputted into the aircraft and attitude angle information outputted by the gimbal and then control yawing of the gimbal according to the yaw control instruction to be inputted into the aircraft and the attitude angle information outputted by the gimbal, so as to implement high-precision control of aerial photography of the aircraft, thereby ensuring high quality of an aerial video and resolving video freezing during aerial photography at a low rotation speed.