CN108445897A - A kind of control method and control system of unmanned plane - Google Patents
A kind of control method and control system of unmanned plane Download PDFInfo
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- CN108445897A CN108445897A CN201810404067.XA CN201810404067A CN108445897A CN 108445897 A CN108445897 A CN 108445897A CN 201810404067 A CN201810404067 A CN 201810404067A CN 108445897 A CN108445897 A CN 108445897A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to unmanned plane fields, and in particular to a kind of control method and control system of unmanned plane.The step of control method includes：The height position information of unmanned plane is obtained, and a reference position is set；The status information of unmanned plane is obtained, and starts unmanned plane judging that unmanned plane is in when throwing flies state；Control unmanned plane hovers over reference position.The invention further relates to a kind of control systems of unmanned plane.The present invention, by throwing the spot takeoff for flying to realize unmanned plane, simplifies by designing a kind of control method and control system of unmanned plane and opens step, avoid occurring the case where disorderly flying to hurt sb.'s feelings in unmanned plane uphill process, and improve user experience；Meanwhile throwing and flying, especially child more attractive for user, excite the limbs ability to act of child.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a control method and a control system of an unmanned aerial vehicle.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer.
The unmanned aerial vehicle mode of taking off generally keeps flat in ground with unmanned aerial vehicle, lets unmanned aerial vehicle take off by oneself and rises after starting unmanned aerial vehicle, and wherein there is a problem exactly when the inside problem that the use discovery can not appear in the flight, and the unmanned aerial vehicle takes off and probably appears the unusual condition, very easily leads to the fact bodily injury to the spectator in crowd intensive region.
And, the steps that currently existing drones on the market must carry out before flying: the method comprises a series of steps of starting up, starting remote control or APP, code matching, calibration and take-off, no matter in time-delay flight or when an ordinary consumer uses the method, the method waits for a long time, and user experience is not facilitated.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a control method and a control system for an unmanned aerial vehicle, aiming at the above defects in the prior art, and solve the problems that the existing unmanned aerial vehicle is complicated to operate and is not beneficial to user experience.
The technical scheme adopted by the invention for solving the technical problems is as follows: provided is a control method of an unmanned aerial vehicle, the steps of the control method including: acquiring height position information of the unmanned aerial vehicle, and setting a reference position; acquiring state information of the unmanned aerial vehicle, and starting the unmanned aerial vehicle when the unmanned aerial vehicle is judged to be in a throwing flying state; controlling the unmanned aerial vehicle to hover at the reference position.
Preferably, the control method further includes: entering a throwing mode; controlling a flying wing motor of the unmanned aerial vehicle to run at an idle speed; when the unmanned aerial vehicle is in a throwing flying state, the flying wing motor of the unmanned aerial vehicle is controlled to operate at a high speed, and the unmanned aerial vehicle is started.
Preferably, the step of obtaining the altitude and position information of the unmanned aerial vehicle includes: acquiring current height position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data; or, the change of the height position information of the unmanned aerial vehicle is obtained according to the acceleration sensing data or/and the air pressure data, whether the unmanned aerial vehicle is in a static state or not is judged, and if yes, a reference position is set according to the current height position information.
Preferably, the step of setting the reference position includes: when the unmanned aerial vehicle is in a static state, recording the current height h0 of the unmanned aerial vehicle; and, clearing the optical flow position integral, setting coordinate positions x0 and y0 to both 0; the height h0, coordinate positions x0 and y0 are set as reference positions.
Wherein, preferred scheme is, the step of obtaining unmanned aerial vehicle's state information and judging that unmanned aerial vehicle is in the state of throwing to fly includes: acquiring the vertical acceleration of the unmanned aerial vehicle according to the acceleration sensing data and the gyroscope data; when the acceleration in the vertical direction is smaller than a preset value, timing is started, and the unmanned aerial vehicle is started when a preset time threshold value is reached; and controlling the unmanned aerial vehicle to hover at the reference position.
Preferably, the control method further includes: and adjusting the flight attitude of the unmanned aerial vehicle according to the gyroscope data, the air pressure data and the optical flow sensing data.
Preferably, the control method further includes: after the unmanned aerial vehicle hovers at the reference position, continuously detecting the access condition of the control signal; after the control signal is accessed, the unmanned aerial vehicle is controlled by the control signal.
The technical scheme adopted by the invention for solving the technical problems is as follows: there is provided a control system for a drone, the control system comprising: the height position information processing module is used for acquiring the height position information of the unmanned aerial vehicle and setting a reference position; the state information processing module is used for acquiring the state information of the unmanned aerial vehicle and starting the unmanned aerial vehicle when judging that the unmanned aerial vehicle is in a throwing flying state; and the throwing flying processing module controls the unmanned aerial vehicle to hover at the reference position.
Wherein, the preferred scheme is: the control system further comprises a pre-starting control module, wherein the pre-starting control module controls the flying wing motor of the unmanned aerial vehicle to run at an idle speed and waits for the unmanned aerial vehicle to throw away.
Wherein, the preferred scheme is: the control system further comprises a data processing module arranged on the unmanned aerial vehicle, and an air pressure sensor, an optical flow sensor, an acceleration sensor and a gyroscope sensor which are all connected with the data processing module, wherein the data processing module acquires air pressure data, optical flow sensing data, acceleration sensing data and gyroscope data; the height position information processing module acquires the height position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data, or the height position information processing module acquires the change of the height position information of the unmanned aerial vehicle according to the air pressure data and the acceleration sensing data; and the state information processing module acquires the state information of the unmanned aerial vehicle according to the acceleration sensing data and the gyroscope data.
Compared with the prior art, the unmanned aerial vehicle control method and the unmanned aerial vehicle control system have the advantages that the fixed-point take-off of the unmanned aerial vehicle is realized through throwing flying, the starting steps are simplified, the situation that the unmanned aerial vehicle flies randomly to hurt people in the ascending process is avoided, and the user experience is improved; meanwhile, throwing away is more attractive for users, particularly for children, and the limb mobility of the children is stimulated.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic flow chart of a control method of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic flow chart of a flying wing motor control method of the present invention;
FIG. 3 is a schematic flow chart of setting a reference position according to the present invention;
FIG. 4 is a schematic flow chart of the present invention for acquiring the state information of the UAV and determining that the UAV is in a flying state;
FIG. 5 is a flow chart of a control method based on control signal access according to the present invention;
fig. 6 is a block diagram of a control system of the drone of the present invention;
FIG. 7 is a block diagram of the pre-boot control module of the present invention;
fig. 8 is a block diagram of the structure of a data processing module of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides a preferred embodiment of a control method of an unmanned aerial vehicle.
A control method of a drone, the steps of the control method comprising:
s11, acquiring height position information of the unmanned aerial vehicle, and setting a reference position;
step S12, acquiring state information of the unmanned aerial vehicle, and starting the unmanned aerial vehicle when the unmanned aerial vehicle is judged to be in a throwing flying state;
and step S13, controlling the unmanned aerial vehicle to hover at the reference position.
In step S11, the step of acquiring the altitude position information of the drone includes: acquiring current height position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data; or, the change of the height position information of the unmanned aerial vehicle is obtained according to the acceleration sensing data or/and the air pressure data, whether the unmanned aerial vehicle is in a static state or not is judged, and if yes, a reference position is set according to the current height position information.
Specifically, the air pressure data of the unmanned aerial vehicle can be acquired through equipment for measuring air pressure such as an air pressure sensor, and the optical flow sensing data of the unmanned aerial vehicle can be acquired through an optical flow sensor; the method comprises the steps of acquiring rough information through an air pressure sensor and carrying out hovering height rough control, acquiring accurate horizontal information through an optical flow sensor and accurately determining a hovering horizontal position, and accordingly obtaining height position information with high accuracy.
Among them, as for the optical flow sensor, the basic principle of detecting a moving object by an optical flow method is: each pixel point in the image is endowed with a velocity vector, so that an image motion field is formed, at a specific moment of motion, the points on the image correspond to the points on the three-dimensional object one to one, the corresponding relation can be obtained by projection relation, and the image can be dynamically analyzed according to the velocity vector characteristics of each pixel point. If there is no moving object in the image, the optical flow vector is continuously varied over the entire image area. When a moving object exists in the image, the target and the image background move relatively, and the speed vector formed by the moving object is different from the speed vector of the neighborhood background, so that the moving object and the position are detected.
In step S12, the state information of the drone includes stationary, uniform speed, acceleration, and other relevant factors, and the state information may indicate whether the drone is in a throwing state, and the throwing state is an acceleration motion, and an upward throwing motion or a stationary falling motion, even a downward throwing motion, which is affected by gravity, and if the drone is in a side throwing motion, only the motion path and the stress in the vertical direction are considered.
Wherein, when throwing on, unmanned aerial vehicle receives gravity and decurrent resistance influence, and the atress is greater than gravity 1G this moment, and when up to the top, only receive gravity to influence, the atress equals gravity 1G this moment, then carries out the free fall motion, and unmanned aerial vehicle receives gravity and ascending resistance influence, and the atress is less than gravity 1G this moment.
And static falling motion and throwing motion down, unmanned aerial vehicle all receives gravity and ascending resistance influence, and the atress is less than gravity 1G this moment.
Regarding the current height position information of the unmanned aerial vehicle obtained according to the air pressure data and the optical flow sensing data, the preferred algorithm is as follows: current height H1 ═ 44331 ═ 1- (P0/101325^0.1903), where P0 is the barometric pressure value of the barometric pressure sensor read, and therefore the current position (X, Y) ═ Σ (Δ X, Δ Y), where Δ X, Δ Y are the X-axis and Y-axis velocities of the optical flow output.
Regarding to obtaining the change of the height position information of the unmanned aerial vehicle according to the acceleration sensing data or/and the air pressure data, judging whether the unmanned aerial vehicle is in a static state, and the preferable algorithm is that when the unmanned aerial vehicle is in a static state, the acceleration output value of the acceleration sensing data meets the condition: (x ^2+ y ^2+ z ^2) ≈ 1G ^ 2; and, when rising, the acceleration output value of the acceleration sensing data satisfies the condition: (x ^2+ y ^2+ z ^2) >1G ^ 2; when descending, the acceleration output value of the acceleration sensing data meets the condition: (x ^2+ y ^2+ z ^2) <1G ^ 2; and the mode of acquiring the height change through the acceleration output value of the acceleration sensing data is as follows: and delta h is (vz-1G) delta t ^2, wherein vz is the acceleration value in the vertical direction, and delta t is the sampling time interval of the acceleration value.
Furthermore, an approximate height position can be obtained firstly according to the air pressure data, and the height position information of the unmanned aerial vehicle is obtained. The coarse change in height position is obtained from the change in air pressure data.
In this embodiment, and referring to fig. 2, the steps of the control method further include:
step S21, entering a throwing mode;
step S22, controlling the flying wing motor of the unmanned aerial vehicle to run at an idle speed;
and step S23, when the unmanned aerial vehicle is in a throwing flying state, controlling a flying wing motor of the unmanned aerial vehicle to operate at a high speed, and starting the unmanned aerial vehicle.
In step S21, the unmanned aerial vehicle automatically enters the throwing mode when being powered on, or is provided with a throwing mode start button or a related control button and a corresponding click method, and clicks or correctly clicks to enter the throwing mode, or enters the throwing mode through the control of a remote controller or a mobile terminal; or, the automatic throwing mode or the non-throwing mode can be automatically entered when the computer is started through related settings.
In the steps S22 and S23, the unmanned aerial vehicle controls the rotation of the flying wing through the flying wing motor to realize the flying of the unmanned aerial vehicle, and after entering the throwing flight mode, the flying wing motor of the unmanned aerial vehicle is controlled to run at an idle speed, i.e. rotate at a slow speed, so that the current impact of sudden takeoff can be reduced; when the unmanned aerial vehicle is in a throwing state or returns to a reference position after the unmanned aerial vehicle is in the throwing state, controlling the flight wing motor of the unmanned aerial vehicle to operate at a high speed, and realizing that the unmanned aerial vehicle is controlled to hover at the reference position.
Specifically, the idling operation of the flying wing motor of the unmanned aerial vehicle is controlled by about 10% of the output power of the unmanned aerial vehicle, and the rotating speed of the flying wing motor is about 100 and 200RPM at the moment; the above 10% is a preferable value, but the range may be 5-50%, and it is within the protection scope of the present invention to enable the flying wing motor to realize idle operation. Meanwhile, the high-speed operation of the flying wing motor is generally controlled by the output power of 80-100% of the unmanned aerial vehicle, and the rotating speed of the flying wing motor is about 8000-.
Or, a flight power can be set, that is, the control power for flying the unmanned aerial vehicle can be set, and if the flying wing motor runs at an idle speed, the output control power is lower than the flight power, otherwise, the output control power is higher than the flight power.
As shown in FIG. 3, the present invention provides a preferred embodiment for setting the reference position.
The step of setting the reference position includes:
step S31, when the unmanned aerial vehicle is in a static state, recording the current height h0 of the unmanned aerial vehicle;
step S33, and clearing the optical flow position integral, setting both coordinate positions x0 and y0 to 0;
step S33, the height h0, coordinate positions x0 and y0 are set as reference positions.
Specifically, whether the airplane is in a static state or not can be detected by using a combination of an acceleration sensor and an air pressure sensor, and when the unmanned aerial vehicle is in the static state, the current height h0 of the unmanned aerial vehicle is recorded by the air pressure sensor. Similarly, the horizontal position of the drone is acquired by the optical flow sensor and referenced by the coordinate positions x0 and y 0.
As shown in fig. 4, the present invention provides a preferred embodiment for acquiring status information of an unmanned aerial vehicle and determining that the unmanned aerial vehicle is in a throwing state.
The steps of obtaining state information of the unmanned aerial vehicle and judging that the unmanned aerial vehicle is in a flying state comprise:
step S41, acquiring the vertical acceleration of the unmanned aerial vehicle according to the acceleration sensing data and the gyroscope data;
step S42, when the acceleration in the vertical direction is smaller than a preset value, timing is started, and when a preset time threshold is reached, the unmanned aerial vehicle is started;
and step S43, controlling the unmanned aerial vehicle to hover at the reference position.
Specifically, as described above, when throwing, unmanned aerial vehicle receives gravity and decurrent resistance influence, and the atress is greater than gravity 1G this moment, and when up to the top, only receive the influence of gravity, the atress equals gravity 1G this moment, then carries out the free fall motion, and unmanned aerial vehicle receives gravity and ascending resistance influence, and the atress is less than gravity 1 this moment. Therefore, when detecting that the vertical direction acceleration of unmanned aerial vehicle is less than preset numerical value, the acceleration value that preset numerical value preferred is less than 1G indicates that unmanned aerial vehicle is in the free fall motion state promptly, begins timing, and the time threshold value of predetermineeing is the best time that descends to the reference position that reachs through many times of experiments, and when reaching the time threshold value promptly, can judge that unmanned aerial vehicle is in on the reference position.
If the throwing flight is not upward throwing, but the static falling motion or downward throwing motion, the corresponding state can be obtained according to the stress condition of the unmanned aerial vehicle, and the unmanned aerial vehicle can be directly started without a timing process.
In step S41, the manner of acquiring the vertical direction acceleration of the drone from the acceleration sensing data and the gyro data is: and (3) fusing gyroscope data and acceleration sensing data through quaternion, and extracting an acceleration value in the vertical direction from the data: vz ═ q0q0-q1q1-q2q2+ q3q 3; where q represents acceleration sensing data, and q represents gyroscope data.
In this embodiment, the control method further includes: and adjusting the flight attitude of the unmanned aerial vehicle according to the gyroscope data, the air pressure data and the optical flow sensing data.
Specifically, the flying attitude is sensed through the gyroscope, hovering height rough control is achieved through the air pressure sensor, hovering horizontal position is accurately determined through the optical flow sensor, horizontal position height rough positioning can also be achieved through the GPS module, all data are integrated through the control circuit, and the normal flying attitude of the airplane is automatically maintained.
Wherein, about according to gyroscope data, atmospheric pressure data and light stream sensing data, the mode of adjustment unmanned aerial vehicle's flight gesture is: through PID closed-loop control: and the output value SS is Kp + Ki + i + Kd, wherein Kp, Ki and Kd are control parameters, p is the error between the expected value and the measured value, i is the integral of the error, and d is the difference value between the current error and the last error.
As shown in fig. 5, the present invention provides a preferred embodiment of a control method.
The control method further comprises the following steps:
step S51, when the unmanned aerial vehicle hovers at the reference position, continuously detecting the access condition of the control signal;
and step S52, after the control signal is accessed, the unmanned aerial vehicle is controlled by the control signal.
The problem that a long time is waited for when an existing unmanned aerial vehicle is started, remote control or APP is started, codes are matched, calibration and a take-off lamp are solved, and the unmanned aerial vehicle can fly up firstly and then be connected in a code matching mode through a unique 'throwing flying' scheme of the unmanned aerial vehicle, so that user experience is improved, and operation is facilitated.
In step S51, the control signal may be sent by a remote control or a mobile terminal and received by the drone. Preferably, the mobile terminal comprises a mobile phone, a tablet or even a wearable device installed with a corresponding control program.
As shown in fig. 6, 7 and 8, the present invention provides a preferred embodiment of a control system for a drone.
The utility model provides an unmanned aerial vehicle's control system 100, control system 100 includes height position information processing module 110, state information processing module 120 and throws and fly processing module 130 to and still include a master control unit, the master control unit is connected with height position information processing module 110, state information processing module 120 and throws and fly processing module 130 respectively, and of course, the master control unit can be a processing chip, and height position information processing module 110, state information processing module 120 and throw and fly processing module 130 can be including the processing function module in the processing chip, also can include peripheral check out test set or detection components and parts.
The altitude position information processing module 110 obtains altitude position information of the unmanned aerial vehicle and sets a reference position; the state information processing module 120 acquires state information of the unmanned aerial vehicle, and starts the unmanned aerial vehicle when judging that the unmanned aerial vehicle is in a throwing flight state; the tossing processing module 130 controls the drone to hover at the reference location.
In the present embodiment, and referring to fig. 7, the control system 100 further includes a pre-start control module 140, where the pre-start control module 140 controls the flying wing motor of the drone to idle and waits for the drone to be thrown.
In this embodiment, and referring to fig. 8, the control system 100 further includes a data processing module 150 disposed on the drone, and an air pressure sensor 161, an optical flow sensor 162, an acceleration sensor 163, and a gyroscope sensor 164, all connected to the data processing module 150, where the data processing module 150 acquires air pressure data, optical flow sensing data, acceleration sensing data, and gyroscope data; the altitude position information processing module 110 obtains altitude position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data, or the altitude position information processing module 110 obtains change of the altitude position information of the unmanned aerial vehicle according to the air pressure data and the acceleration sensing data; the status information processing module 120 obtains status information of the drone according to the acceleration sensing data and the gyroscope data.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, but rather as embodying the invention in a wide variety of equivalent variations and modifications within the scope of the appended claims.
Claims (10)
1. A control method of an unmanned aerial vehicle, characterized in that the steps of the control method comprise:
acquiring height position information of the unmanned aerial vehicle, and setting a reference position;
acquiring state information of the unmanned aerial vehicle, and starting the unmanned aerial vehicle when the unmanned aerial vehicle is judged to be in a throwing flying state;
controlling the unmanned aerial vehicle to hover at the reference position.
2. The control method according to claim 1, characterized in that the steps of the control method further include:
entering a throwing mode;
controlling a flying wing motor of the unmanned aerial vehicle to run at an idle speed;
when the unmanned aerial vehicle is in a throwing flying state, the flying wing motor of the unmanned aerial vehicle is controlled to operate at a high speed, and the unmanned aerial vehicle is started.
3. The control method according to claim 1 or 2, wherein the step of acquiring the altitude position information of the unmanned aerial vehicle includes:
acquiring current height position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data;
or, the change of the height position information of the unmanned aerial vehicle is obtained according to the acceleration sensing data or/and the air pressure data, whether the unmanned aerial vehicle is in a static state or not is judged, and if yes, a reference position is set according to the current height position information.
4. The control method according to claim 1 or 2, wherein the step of setting the reference position includes:
when the unmanned aerial vehicle is in a static state, recording the current height h0 of the unmanned aerial vehicle;
and, clearing the optical flow position integral, setting coordinate positions x0 and y0 to both 0;
the height h0, coordinate positions x0 and y0 are set as reference positions.
5. The control method according to claim 1 or 2, wherein the step of obtaining the state information of the unmanned aerial vehicle and determining that the unmanned aerial vehicle is in the throwing state comprises:
acquiring the vertical acceleration of the unmanned aerial vehicle according to the acceleration sensing data and the gyroscope data;
when the acceleration in the vertical direction is smaller than a preset value, timing is started, and the unmanned aerial vehicle is started when a preset time threshold value is reached;
and controlling the unmanned aerial vehicle to hover at the reference position.
6. The control method according to claim 5, characterized in that the steps of the control method further include: and adjusting the flight attitude of the unmanned aerial vehicle according to the gyroscope data, the air pressure data and the optical flow sensing data.
7. The control method according to claim 1, characterized in that the steps of the control method further include:
after the unmanned aerial vehicle hovers at the reference position, continuously detecting the access condition of the control signal;
after the control signal is accessed, the unmanned aerial vehicle is controlled by the control signal.
8. A control system for a drone, the control system comprising:
the height position information processing module is used for acquiring the height position information of the unmanned aerial vehicle and setting a reference position;
the state information processing module is used for acquiring the state information of the unmanned aerial vehicle and starting the unmanned aerial vehicle when judging that the unmanned aerial vehicle is in a throwing flying state;
and the throwing flying processing module controls the unmanned aerial vehicle to hover at the reference position.
9. The control system of claim 8, wherein: the control system further comprises a pre-starting control module, wherein the pre-starting control module controls the flying wing motor of the unmanned aerial vehicle to run at an idle speed and waits for the unmanned aerial vehicle to throw away.
10. The control system of claim 8, wherein: the control system further comprises a data processing module arranged on the unmanned aerial vehicle, and an air pressure sensor, an optical flow sensor, an acceleration sensor and a gyroscope sensor which are all connected with the data processing module, wherein the data processing module acquires air pressure data, optical flow sensing data, acceleration sensing data and gyroscope data; wherein,
the altitude position information processing module acquires altitude position information of the unmanned aerial vehicle according to the air pressure data and the optical flow sensing data, or the altitude position information processing module acquires change of the altitude position information of the unmanned aerial vehicle according to the air pressure data and the acceleration sensing data; and the state information processing module acquires the state information of the unmanned aerial vehicle according to the acceleration sensing data and the gyroscope data.
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| CN113137982A (en) * | 2021-04-29 | 2021-07-20 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle falling judgment method and device, unmanned aerial vehicle and storage medium |
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