CN106094868A - The Hovering control device of unmanned vehicle and Hovering control method thereof - Google Patents
The Hovering control device of unmanned vehicle and Hovering control method thereof Download PDFInfo
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- 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
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Abstract
The Hovering control device of a kind of unmanned vehicle and Hovering control method thereof, the Hovering control device of unmanned vehicle includes the position measuring module (1) for scanning unmanned vehicle locus, the negative feedback control module (2) connecting described position measuring module (1) and activates the actuation means (3) of unmanned vehicle motion, and deviation based on the described locus change of described negative feedback control module (2) generates the instruction of inverse motion compensation and is sent to described actuation means (3).
Description
Technical field
The invention belongs to unmanned vehicle control field, particularly relate to a kind of unmanned vehicle Hovering control device and
Its Hovering control method.
Background technology
Unmanned vehicle is because its flying quality and cost balance accept level, so starting to obtain more close to user
It is widely applied, especially to take photo by plane as main application fields, the unmanned vehicle with multi-rotor aerocraft as main frame, by
In being capable of hovering, and for traditional Fixed Wing AirVehicle, take off, land, airflight controls all
Become the simplest, therefore become upsurge at present.
For multi-rotor aerocraft as above, a very important performance is exactly stablizing of hovering
Property.Hovering is the basis of multi-rotor aerocraft flying activity aloft, it is however generally that, more ripe many rotor flyings
Device, be not received by any control instruction occur in that burst accident in other words when, all can be controlled automatically at hovering
State, in this state, the safety of aircraft itself is ensured, and for operator, its mental pressure is the biggest
Alleviate greatly.
For example, if there being the player playing small-sized unmanned aircraft should have this cognition, subminiature nobody flies
The consideration that row device controls due to recreational and volume cost, and be not provided with automatic suspension and stop function, so this bug is only
Receiving the input control instruction just meeting change of flight state of user, the gyroscope that aircraft is preset only can ensure that with flying to control
The balance during flight aloft of this aircraft.Specifically, it is simply that very fast being embodied in that instruct of user's input flies
On the flare maneuver of row device, at this moment, user operation aircraft is the most nervous, because unmanned vehicle similarly is headless fly one
Sample is taken action the most everywhere, and user wants to keep aircraft certain altitude to be aloft less susceptible to, the most now user
The lifting shaft with all strength guaranteeing the remote controller of this aircraft is needed to instruct in one extremely true scope, but now aircraft
Often also as elegant error can exist the stable movement of horizontal direction, deconditioned user to keep suitable flying height
While, judge at once aircraft towards with elegant, then input the horizontal direction flight control instruction of correspondence so that fly
Row device flies to the desired direction of user, is close to an impossible mission.Thus example is visible, it is possible to stable realization
Hovering, allow user can be calm judge aircraft towards, thus accurately input flight control instruction, is extremely important
Basic function, it is in fact possible to say and be, in addition to self-balancing, multi-rotor aerocraft most important basis flight controls merit
Energy.
Current hovering constantly judges often by the position that unmanned vehicle is current, then floats it
Move what the mode compensated was implemented, implementing of this hovering, need to consume unmanned aerial vehicle control system
Energy consumption, has had influence on flying power and the flight performance of aircraft, it is therefore necessary to make improvements.
Disclosed in patent documentation CN104536453 A, the control method of a kind of aircraft comprises the following steps: according to detection
The position in the current vertical direction arrived and acceleration, conversion and negative feedback double-closed-loop control by coordinate system obtain aircraft and exist
Thrust in vertical direction in body axis system；According to the current latitude and longitude value detected and the speed of horizontal direction, by sitting
Conversion and the negative feedback double-closed-loop control of mark system obtain aircraft controlled quentity controlled variable of horizontal direction in body axis system；According to detection
The current vertical direction arrived and the magnetic induction data of horizontal direction, conversion and feedback control by coordinate system obtain direction, course
Controlled quentity controlled variable；According to the thrust in described vertical direction, the controlled quentity controlled variable of horizontal direction and the controlled quentity controlled variable in direction, course, control flight
Device flies to target location.This patent simply obtains the controlled quentity controlled variable at three-dimensional with stabilized flight, i.e. obtains on three-dimensional
Accurate kinetic control, and the deviation change being not based on described locus obtains the instruction of inverse motion compensation, it is impossible to
Realize the dynamic equilibrium of Hovering control, it is impossible to energy efficient, have influence on flying power and the flight performance of aircraft.
Disclosed in patent documentation CN105487555 A, a kind of station keeping method of unmanned plane includes: when unmanned plane is in
After floating state, camera lens shoots the image of specific region the most for the first time, determines the multiple features in the image of described specific region
Object, and determine the initial coordinate of the plurality of feature object by setting up coordinate system in the image of described specific region；
Be continuously shot the image of same specific region according to predetermined period, determine in the image of described same specific region with described at the beginning of
Multiple feature objects identical in the image of secondary shooting specific region, and by building in the image of described same specific region
The vertical coordinate system identical with the image of described first shooting specific region determines the coordinate of the plurality of feature object；When determining
The plurality of coordinate of feature object in the image of described same specific region and the change of initial coordinate are positioned at first and preset
Time outside scope, adjust the direction of described unmanned plane, make in the image of the same specific region that described unmanned plane shoots next time
The plurality of coordinate of feature object and the changing value of initial coordinate be positioned at described first preset range within.This patent cycle
The station keeping state of image this unmanned plane of real-time oversight in the shooting level face of property, improves the precision of location.But this is special
The hovering method of profit depends on the shooting image of capture apparatus, is appropriate only for more closer from counterpart than relatively low or indoor etc.
In the case of use, be not particularly suited for unmanned vehicle in high hovering, particularly near the counterpart that do not has to shoot
Situation, therefore, this patent range of application is little, it addition, this patent uses capture apparatus shooting image and identifies framing, error
Greatly, degree of accuracy is low, it is impossible to automatically obtain the instruction of inverse motion compensation, it is impossible to realize the dynamic equilibrium of Hovering control, it is impossible to joint
About energy consumption, has had influence on flying power and the flight performance of aircraft.
A kind of miniature hovering four rotor wing unmanned aerial vehicle disclosed in patent documentation CN204197284 mainly includes main body (1), control
System processed (2), gesture drive module (3), attitude measurement system (4), form regulation system (5), action adjustor (6), wherein:
Control system (2) is connected with gesture drive module (3), and attitude measurement system (4) is connected with form regulation system (5), and attitude is adjusted
Whole system (5) is connected with action adjustor (6).This patent can VTOL and hovering, it is adaptable to the working environment of small space.
But these patent parts are many, cost is big, and attitude measurement system cumulative error is big, it is impossible to obtain space bit confidence accurately for a long time
Breath, this patent also cannot automatically obtain the instruction of inverse motion compensation, it is impossible to realizes the dynamic equilibrium of Hovering control, it is impossible to saves
Energy consumption, has had influence on flying power and the flight performance of aircraft.
Therefore, this area urgency technical issues that need to address are, in any environment, can keep good overhead suspension
Stop performance, under the preferable environment that either, windage little at geomagnetic noise is little or big at geomagnetic noise, windage is big
Adverse circumstances under, good hovering performance can be guaranteed, it is possible to spatial positional information accurately, automatically obtain reversely fortune
The dynamic instruction compensated, it is achieved the dynamic equilibrium of Hovering control；Further, in the way of the most energy-conservation, keep hovering, not
The when of needs, reduce system repeatedly and carry out the frequency of aligning, it is possible to save system energy consumption, improve the continuous of unmanned vehicle
Boat ability and flight performance.
Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to
Comprise and be not formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
The present invention is concerned about problem above, it is proposed that the Hovering control device of a kind of unmanned vehicle and Hovering control side thereof
Method.
It is an object of the invention to be achieved by the following technical programs.
According to an aspect of the present invention, the Hovering control device of a kind of unmanned vehicle includes for scanning unmanned vehicle
The position measuring module of locus, the negative feedback control module connecting described position measuring module and actuating unmanned vehicle fortune
Dynamic actuation means, deviation based on the described locus change of described negative feedback control module generates the finger of inverse motion compensation
Make and be sent to described actuation means.
Preferably, described position measuring module is provided with rate of scanning adjustment module, described rate of scanning adjustment module based on
Described instruction adjusts the rate of scanning of described position measuring module.Wherein, due to instruction be deviation based on described locus
Change generates, therefore, instruction reflects the deviation size of locus, and such as offset 10 centimetres, instruction is level
Returning 10 centimetres, such as setting more than 100 centimetres of threshold values of deviation is early-warning conditions, and 10 centimetres are much smaller than this threshold value, therefore, described
Rate of scanning adjustment module such as reduces rate of scanning based on described instruction, adjusts the rate of scanning of described position measuring module.
Such as setting more than 2 centimetres of threshold values of deviation is early-warning conditions, and 10 centimetres are much larger than this threshold value, and therefore, described rate of scanning regulates
Module such as improves rate of scanning based on described instruction, adjusts the rate of scanning of described position measuring module.Furthermore it is also possible to base
Frequency in described instruction generation adjusts the rate of scanning of described position measuring module.The frequency that the instruction of this Contrary compensation produces
The highest, also imply that the skew of current flight device occurs the most frequent, now should improve the rate of scanning of position measuring module.
Preferably, the hovering position of described negative feedback control module settings unmanned vehicle, when position measuring module sends
Locus deviate described hovering position, negative feedback control module generates the difference between described locus and hovering position
As the instruction of inverse motion compensation and be sent to described actuation means, described actuation means performs described instruction and nobody is flown
Row device compensates described difference.
Preferably, when described actuation means is the flight control system of unmanned vehicle self or is arranged in nobody and flies
Power injection device in the multiple directions of row device.
Preferably, described position measuring module by satellite positioning module and height sensor form for scanning space
The position measuring module of position, and/or the inertia measuring module that is made up of gyroscope and accelerometer and/or ultrasonic ranging
Sensor and/or framing module.
Preferably, described satellite positioning module is GPS locating module or Big Dipper locating module, and described height sensor is high
Degree meter or ultrasonic distance-measuring sensor, described framing module is optical flow method framing module.
Preferably, described negative feedback control module is PID controller, general processor, digital signal processor, special collection
Becoming circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit, described negative feedback control module will initially be hanged
Off-position is put or a upper hovering position is set as the hovering position of unmanned vehicle.
Preferably, described position measuring module is provided with rate of scanning adjustment module, when within N number of scan period, and wherein N=
1,2,3, the instruction that described negative feedback control module generates reduces less than first threshold, described rate of scanning adjustment module
The rate of scanning of described position measuring module, wherein, N number of scan period is continuous or discontinuous.
Preferably, when within M detection cycle, wherein M=1,2,3, described negative feedback control module generates
Instruction is more than Second Threshold, and described rate of scanning adjustment module improves the rate of scanning of described position measuring module, wherein, M
Scan period is continuous or discontinuous.
Preferably, when within O scan period, wherein O=1,2,3, described negative feedback control module generates and refers to
The frequency of order is more than the 3rd threshold value, and described rate of scanning adjustment module improves the rate of scanning of described position measuring module, wherein,
O scan period is continuous or discontinuous, when within P detection cycle, and wherein P=1,2,3, described negative feedback
Control module generates the frequency of instruction and reduces described position measuring module less than the 4th threshold value, described rate of scanning adjustment module
Rate of scanning, wherein, P scan period is continuous print or discontinuous.
According to a further aspect in the invention, the Hovering control method of the Hovering control device of a kind of described unmanned vehicle
Comprise the following steps.
In first step, position measuring module scanning unmanned vehicle locus.
In second step, connect the negative feedback control module deviation based on described locus of described position measuring module
Change generates the instruction of inverse motion compensation and is sent to described actuation means.
Actuation means described in third step performs described instruction and makes unmanned vehicle compensate deviation.
Preferably, in second step, described position measuring module is provided with rate of scanning adjustment module, when in N number of scanning week
In phase, wherein N=1,2,3, the instruction that described negative feedback control module generates is less than first threshold, described rate of scanning
Adjustment module reduces the rate of scanning of described position measuring module, and wherein, N number of scan period is continuous or discontinuous；When
Within M scan period, wherein M=1,2,3, the instruction that described negative feedback control module generates is more than Second Threshold,
Described rate of scanning adjustment module improves the rate of scanning of described position measuring module, wherein, M scan period be continuous print or
Discontinuous.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention
Above and other objects, features and advantages can become apparent, illustrate with the detailed description of the invention of the present invention below
Explanation.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit
Those of ordinary skill in the art be will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred implementation,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawing.And in whole accompanying drawing, it is presented with like reference characters identical parts.
In the accompanying drawings:
Fig. 1 is the structural representation of the Hovering control device of unmanned vehicle according to an embodiment of the invention；
Fig. 2 is the structural representation of the Hovering control device of unmanned vehicle in accordance with another embodiment of the present invention；
Fig. 3 is the step of the Hovering control method of the Hovering control device of unmanned vehicle according to an embodiment of the invention
Rapid schematic diagram.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention's
Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not limited by embodiments set forth here
System.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be complete by the scope of the present invention
Convey to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call same assembly with different nouns.This specification and right
In the way of requiring that difference by noun is not used as distinguishing assembly, but be used as distinguishing with assembly difference functionally
Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should solve
It is interpreted into " comprise but be not limited to ".Description subsequent descriptions be implement the present invention better embodiment, right described description be with
For the purpose of the rule of description, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right
Require that defined person is as the criterion.
For ease of the understanding to the embodiment of the present invention, do as a example by several specific embodiments further below in conjunction with accompanying drawing
Explanation, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
Fig. 1 is the structural representation of the Hovering control device of the unmanned vehicle of one embodiment of the present of invention, the present invention
Embodiment will be specifically described in conjunction with Fig. 1.
As it is shown in figure 1, An embodiment provides the Hovering control device of a kind of unmanned vehicle, nobody flies
The Hovering control device of row device includes the position measuring module 1 for scanning unmanned vehicle locus, connects described position
The negative feedback control module 2 of measurement module 1 and the actuation means 3 of actuating unmanned vehicle motion, described negative feedback control module 2
Deviation change based on described locus generates the instruction of inverse motion compensation and is sent to described actuation means 3.
In embodiment, unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV " (unmanned aerial
Vehicle), it is the most manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle.From technical standpoint
Definition can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts, and many rotor unmanned aircrafts are permissible
It it is four rotors, six rotors and the rotor quantity unmanned vehicle more than six.
The unmanned vehicle that technical solution of the present invention uses is primarily referred to as many rotor unmanned aircrafts little, miniature, this nothing
People's aircraft volume is little, low cost, flight stability preferable, and flight cost is low.The present invention use aircraft, typically with
Four axle multi-rotor aerocrafts are representative.
Preferably, described negative feedback control module 2 sets the hovering position of unmanned vehicle to the embodiment of the present invention, works as position
Putting the described hovering position of locus deviation that measurement module 1 sends, negative feedback control module 2 generates described locus and hangs
Difference between off-position is put as the instruction of inverse motion compensation and is sent to described actuation means 3, and described actuation means 3 performs
Described instruction makes unmanned vehicle compensate described difference.In an embodiment, negative feedback control module 2 can be desired by user
Locus is set to hovering position, it is also possible to using initial hovering position as the hovering position that will hover, it is also possible to automatically will
A upper hovering position is as hovering position.In one embodiment, negative feedback control module is provided with for relatively described space
The processing unit of the instruction of the comparing unit of the difference between position and hovering position and generation inverse motion compensation.
Owing to the actual degree of freedom related to of the skyborne flight of unmanned vehicle wants many more than the vehicle of action on ground,
So the hovering of unmanned vehicle, first have to realize the monitoring to self-position, then by periodically to self-position
Monitoring, the when that the position monitored there occurs change, compensates above-mentioned change, can realize hovering before and after finding.It
So the reason of drift can be occurred to have in a lot of possibility, such as indoor and outdoor surroundings there is bigger crosswind, some unknown magnetic for another example
Interference, the most even someone passes through to pull and drags unmanned plane and disengage it from home position.From the foregoing it can be that unmanned vehicle
The basis of hovering is able to realize position monitoring and rectification with in short transverse in the horizontal direction.
Preferably, described position measuring module 1 is by satellite positioning module and height sensor group to the embodiment of the present invention
Become the position measuring module for scanning space position, and/or be made up of gyroscope and accelerometer inertia measuring module,
And/or ultrasonic distance-measuring sensor and/or framing module.
Wherein, position monitoring or coordinate in the horizontal direction obtain, and the coordinate of horizontal level is then by GPS module herein
GPS for GPS is schematically described, it can also use Russia or Beidou satellite navigation system of China
System, is not limited to use GPS of America satellite navigation system to determine, in the indoor not having gps signal, generally by optical flow method
The coordinate realizing horizontal level Deng image recognition algorithm confirms and corrects, and position monitoring or coordinate in short transverse obtain
On, the most in general it is to measure the distance with ground, or barometertic altimeter by ultrasonic sensor, it is based on height
The change that can affect atmospheric pressure is measured.
Certainly, GPS can also provide elevation information, but for the unmanned plane of main flow, is more likely to use barometer,
Because the Refresh Data rate of the GPS of low cost is the lowest, if movement velocity is too big, it is likely to result in unmanned plane owing to data are delayed
Fall.
Additionally in addition to the above-mentioned pattern utilizing sensor measurement positions, also have a kind of " gesture mode ", this pattern
Rely on is internal IMU inertia measuring module, another group of gyroscope+acceierometer sensor can identify self flight
State and relative displacement.By the reverse analysis of the data to IMU, realize the position compensation to skew.
In an embodiment of the present invention, such as a example by GPS pattern, when unmanned vehicle is by ectocine, highly have
During the trend raised or reduce, negative feedback control module 2 compares the locus that deviate from default hovering position, sends anti-
Automatically adjust to motion compensation instructions, i.e. reduce the height of deviation by actuation means 3 or raise deviation Hubei Province height, activating
The power of device scalable motor carries out suitable opposite direction motion compensation；The hovering position if unmanned vehicle is laterally blown off by wind
Putting, the locus deviateing described hovering position is measured and sent to position measuring module 1, and negative feedback control module 2 generates described
Difference between locus and hovering position is as the instruction of inverse motion compensation and is sent to described actuation means 3, described
Actuation means 3 performs described instruction and makes unmanned vehicle compensate described difference, for example, it is possible to startup side flies pattern and supports therewith
Disappear these reactions be all ratio faster, as long as ectocine is not big must to go against accepted conventions, specialty multiaxis unmanned vehicle is the most anti-
Moderate breeze is the most no problem to strong breeze, and the unmanned vehicle of specialty can be dealt with and gets, what you were seen is exactly it steadily
Be scheduled on there do not move.
Not being fine at weather, GPS searches star difficulty or indoor when do not have gps signal, described position measuring module 1
The inertia measuring module being made up of gyroscope and accelerometer, gesture mode just uses.Rely within unmanned plane
IMU inertia measuring module, system can identify current flight attitude, carries out autobalance compensation, equally realizes height
Locking with horizontal level.Popular says, as long as monitored by IMU inertia measuring module and recorded, at unmanned vehicle
Not receiving in the case of the flight control instruction of remote controller, the position skew that aircraft is occurred, then by anti-
To the mode of motion compensation, compensate this partial offset, simple self-balancing can be realized.This kind of mode, due to IMU inertia measurement
The score accumulation error of module, it is not fine for being used alone IMU unit for a long time to realize the effect of hovering, so, enter
One step ground, is provided with calibration module to avoid long-time cumulative error, improves inertia measurement mould in described IMU inertia measuring module
The accuracy of block.
In the indoor not having gps signal, spot hover also can be realized by visual pattern localization methods such as optical flow method.In room
In can also use ultrasonic distance-measuring method, the method is to send ultrasound wave by ultrasonic transmission device, receives according to receptor
Time difference during ultrasound wave is it is known that distance.Ultrasonic transmitter launches ultrasound wave to a direction, at x time
While start timing, ultrasound wave propagates in atmosphere, encounters barrier and returns the most immediately in way, and ultrasonic receiver receives
Echo stops timing the most immediately.The aerial spread speed of ultrasound wave is 340m/s, according to the time t of timer record,
Just can calculate the launch point distance (s) away from barrier, it may be assumed that s=340t/2.Strong in ultrasound wave directivity, pass in media as well
That broadcasts is distant, thus ultrasound wave is frequently used for the measurement of distance.Especially in indoor environment as above, utilize super
Sonic detection often relatively rapidly, convenient, calculate simple, be prone to accomplish to control in real time, and can reach in terms of certainty of measurement
The requirement that industry is practical, for example, as long as (such as: three directions front, left and right) being mounted with ultrasound on some directions
Away from system, aircraft just can be allowed to obtain a relative position coordinates on several directions.According to this relative position coordinates, with regard to energy
Real-time implementation hovering position is corrected.
In one embodiment, described satellite positioning module is GPS locating module or Big Dipper locating module, and described height passes
Sensor is altimeter or ultrasonic distance-measuring sensor, and described framing module is optical flow method framing module.
In one embodiment, described negative feedback control module 2 is PID controller, general processor, Digital Signal Processing
Device, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit, described negative feedback control mould
Initial hovering position or a upper hovering position are set as the hovering position of unmanned vehicle by block 2.
Fig. 2 is the structural representation of the Hovering control device of the unmanned vehicle of an alternative embodiment of the invention, this
Bright embodiment will be specifically described in conjunction with Fig. 2.
Existing mode is limited in that to come often by the product test before dispatching from the factory for above-mentioned hovering function
Determine that the suitable coordinate during a hovering obtains frequency, then periodically carry out sweeping of coordinate position according to this frequency
Retouching acquisition and position compensation, this frequency is relatively-stationary.Being limited in that of this pattern, it is contemplated that extreme feelings
Under condition such as, the hovering performance of unmanned vehicle in the case of ambient wind is relatively big, system is had to this rate of scanning
Arrange is higher, and so In the view of user, unmanned vehicle is just held in the most motionless floating state, if environment
Impact is relatively big, and the rate of scanning of pattern of hovering is low, and processing speed is slow, then In the view of user, and unmanned vehicle is the most just
It is in a kind of unsure state, is all the time in the motor process of skew and recovery.But this rate of scanning does not sets
That puts is the highest more good, the highest when this frequency configuration, then the burden caused system is the biggest, and data are not only in this scanning
Read, also include follow-up a series of process for data, and a series of system resource of transfer may go nothing
The action of people's aircraft.
For example, use the time cycle of 30ms to realize hovering as rate of scanning when system and system is adopted
The when of realizing hovering with the time cycle of 300ms as rate of scanning, performance may be completely in different environments
Different, it is also possible to not have difference.Such as environmental effect is severe when, rate of scanning is the hovering performance meeting of 30ms
More stable, but environmental effect is the least when, rate of scanning is that the hovering performance of 300ms there is not difference yet,
And also reduce the burden of system simultaneously, improve the flying power of unmanned vehicle.
As in figure 2 it is shown, An embodiment provides the Hovering control device of a kind of unmanned vehicle, nobody flies
The Hovering control device of row device includes the position measuring module 1 for scanning unmanned vehicle locus, connects described position
The negative feedback control module 2 of measurement module 1 and the actuation means 3 of actuating unmanned vehicle motion, described position measuring module 1 sets
Having rate of scanning adjustment module 4, described rate of scanning adjustment module 4 adjusts described position measuring module 1 based on described instruction
Rate of scanning.
Described position measuring module is provided with rate of scanning adjustment module, and described rate of scanning adjustment module is based on described instruction
Adjust the rate of scanning of described position measuring module.Wherein, owing to instruction is that deviation based on described locus change generates,
Therefore, instruction reflects the deviation size of locus, and such as offset 10 centimetres, instruction is level and returns 10 lis
Rice, such as setting more than 100 centimetres of threshold values of deviation is early-warning conditions, and 10 centimetres are much smaller than this threshold value, therefore, described rate of scanning
Adjustment module such as reduces rate of scanning based on described instruction, adjusts the rate of scanning of described position measuring module.Such as set
Deviateing more than 2 centimetres of threshold values is early-warning conditions, 10 centimetres be much larger than this threshold value, therefore, described rate of scanning adjustment module based on
Described instruction such as improves rate of scanning, adjusts the rate of scanning of described position measuring module.Furthermore it is also possible to based on described finger
The frequency that order generates adjusts the rate of scanning of described position measuring module.
In one embodiment, described negative feedback control module 2 deviation based on described locus change generates reversely
The instruction of motion compensation and be sent to described actuation means 3, wherein, described position measuring module 1 is provided with rate of scanning regulation mould
Block 4, when within N number of scan period, wherein N=1,2,3, the instruction that described negative feedback control module 2 generates is less than the
One threshold value, described rate of scanning adjustment module 4 reduces the rate of scanning of described position measuring module 1, wherein, N number of scan period
It is continuous or discontinuous.
In one embodiment, when within M detection cycle, wherein M=1,2,3, described negative feedback control mould
The instruction that block 2 generates is more than Second Threshold, and described rate of scanning adjustment module 4 improves the scanning frequency of described position measuring module 1
Rate, wherein, M scan period is continuous or discontinuous.In one embodiment, when within O scan period, wherein O=
1,2,3, described negative feedback control module 2 generates the frequency of instruction more than the 3rd threshold value, described rate of scanning regulation mould
Block 4 improves the rate of scanning of described position measuring module 1, and wherein, O scan period is continuous or discontinuous, when at P
In the detection cycle, wherein P=1,2,3, described negative feedback control module 2 generates the frequency of instruction and is less than the 4th threshold value,
Described rate of scanning adjustment module 4 reduces the rate of scanning of described position measuring module 1, and wherein, P scan period is continuous print
Or it is discontinuous.
Therefore, the frequency that described rate of scanning adjustment module 4 size based on described instruction or instruction produce, but not only
It is limited to this, adjusts the rate of scanning of described position measuring module 1.
The embodiment of the present invention preferably, is previously set several hovering with different scanning frequency flight and controls
Pattern, suitable to arrange this hovering flight control mode, at environment shadow based on the environment residing for current unmanned vehicle
In the case of sound is little, use the hovering flight control mode of low frequency, in the case of environmental effect is big, use the sky of high frequency
Middle hovering flight control model.So can obtain the performance of hovering ability equilibrium with hovering function consumption, neither
Affect the key property of aircraft, the most more environmentally-friendly energy-conservation.Judge that the condition of environmental effect size can be based on one or company
In continuous/several time cycles discontinuous, the history deflection performance of unmanned vehicle determines.For example: 1 scanning
In cycle, when position unmanned vehicle being detected is shifted out a predetermined threshold when, it can be determined that for environmental effect
It is big that size degree promotes a rank impact, and corresponding reduces an order frequencies height by hovering flight control mode；Instead
It, within 1 scan period, when position unmanned vehicle being detected offsets less than a predetermined threshold when, can sentence
Breaking, it is little to reduce a rank impact for environmental effect size degree, and corresponding promotes a level by hovering flight control mode
Other frequency is low.For another example, within continuous 5 scan periods, when position unmanned vehicle being detected is shifted out a predetermined threshold
The when of value, it can be determined that promote a rank for environmental effect size degree, corresponding by hovering flight control mode
Reduce a rank；Otherwise, within continuous 5 scan periods, when position unmanned vehicle being detected offsets pre-less than one
The when of determining threshold value, it can be determined that reduce a rank for environmental effect size degree, corresponding controls hovering flight
Pattern promotes a rank.For another example, in running up to discrete 5 scan periods, the position of unmanned vehicle is all detected
The when of being shifted out a predetermined threshold, it can be determined that promote a rank for environmental effect size degree, corresponding by sky
Middle hovering flight control model reduces a rank；Otherwise, in running up to discrete 5 scan periods, nothing all detected
The when that the position skew of people's aircraft being less than a predetermined threshold, it can be determined that reduce a level for environmental effect size degree
, not corresponding hovering flight control mode is promoted a rank.Further, since currently show with energy-conservation at flight performance
Therebetween, user temporarily focuses more on flight expressive ability, it is possible to use different standards to design the overhead suspension grounding
The lifting of row control model and reduction strategy, such as when detecting that 1 position is shifted out the situation of predetermined threshold, i.e. promote sky
The order frequencies of middle hovering flight control model is high, and corresponding working as runs up to, in discrete 5 scan periods, nothing all be detected
The when that the position skew of people's aircraft being less than a predetermined threshold, just reduce the order frequencies of hovering flight control mode
Low.
The embodiment of the present invention preferably, when described actuation means 3 be unmanned vehicle self flight control system or
The power injection device that person is arranged in the multiple directions of unmanned vehicle.In one embodiment, flight control system connects
Receive and the instruction of execution inverse motion compensation makes the locus of unmanned vehicle be returned to hovering position, i.e. sky before deviation
Between position.
See Fig. 3, use Hovering control device outstanding of described unmanned vehicle according to an embodiment of the invention
Stop control method comprises the following steps.
In first step S1, position measuring module 1 scans unmanned vehicle locus；
In second step S2, the negative feedback control module 2 connecting described position measuring module 1 is based on described locus
Deviation change generates the instruction of inverse motion compensation and is sent to described actuation means 3；
In third step S3, described actuation means 3 performs described instruction and makes unmanned vehicle compensate deviation.
Preferably, in second step S2, described position measuring module 1 is provided with rate of scanning regulation to embodiments of the invention
Module 4, when within N number of scan period, wherein N=1,2,3, the instruction that described negative feedback control module 2 generates is less than
First threshold, described rate of scanning adjustment module 4 reduces the rate of scanning of described position measuring module 1, wherein, N number of scanning week
Phase is continuous or discontinuous；When within M scan period, wherein M=1,2,3, described negative feedback control module 2
The instruction generated is more than Second Threshold, and described rate of scanning adjustment module 4 improves the rate of scanning of described position measuring module 1,
Wherein, M scan period is continuous or discontinuous.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiments the most schematic, guiding rather than restricted
's.Those of ordinary skill in the art is under the enlightenment of this specification and in the scope protected without departing from the claims in the present invention
In the case of, it is also possible to making a variety of forms, these belong to the row of present invention protection.
Claims (10)
1. a Hovering control device for unmanned vehicle, it includes the position measurement for scanning unmanned vehicle locus
Module (1), the negative feedback control module (2) connecting described position measuring module (1) and the actuating of actuating unmanned vehicle motion
Device (3), it is characterised in that: described negative feedback control module (2) deviation based on described locus change generates reversely fortune
Move the instruction compensated and be sent to described actuation means (3).
The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: described position measuring module
(1) being provided with rate of scanning adjustment module (4), described rate of scanning adjustment module (4) adjusts described position based on described instruction and surveys
The rate of scanning of amount module (1).
The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: described negative feedback control mould
Block (2) sets the hovering position of unmanned vehicle, when described hovering position is deviateed in the locus that position measuring module (1) sends
Putting, negative feedback control module (2) generates the finger as inverse motion compensation of the difference between described locus and hovering position
Making and be sent to described actuation means (3), described actuation means (3) performs described instruction and makes unmanned vehicle compensate described difference
Value.
The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: described position measuring module
(1) position measuring module for scanning space position being made up of satellite positioning module and height sensor, and/or by top
Spiral shell instrument and the inertia measuring module of accelerometer composition and/or ultrasonic distance-measuring sensor and/or framing module.
The Hovering control device of unmanned vehicle the most according to claim 4, it is characterised in that: described satellite positioning module
Being GPS locating module or Big Dipper locating module, described height sensor is altimeter or ultrasonic distance-measuring sensor, described image
Locating module is optical flow method framing module.
The Hovering control device of unmanned vehicle the most according to claim 2, it is characterised in that: described negative feedback control mould
Block (2) is PID controller, general processor, digital signal processor, application-specific integrated circuit ASIC, field programmable gate array
FPGA, analog circuit or digital circuit, initial hovering position or a upper hovering position are set by described negative feedback control module (2)
It is set to the hovering position of unmanned vehicle.
The Hovering control device of unmanned vehicle the most according to claim 2, it is characterised in that: when in N number of scan period
In, wherein N=1,2,3, the instruction that described negative feedback control module (2) generates is less than first threshold, described scanning frequency
Rate adjustment module (4) reduces the rate of scanning of described position measuring module (1), and wherein, N number of scan period is continuous print or does not connects
Continue, when within M detection cycle, wherein M=1,2,3, the instruction that described negative feedback control module (2) generates is more than
Second Threshold, described rate of scanning adjustment module (4) is improved the rate of scanning of described position measuring module (1), wherein, is swept for M
The cycle of retouching is continuous or discontinuous.
The Hovering control device of unmanned vehicle the most according to claim 2, it is characterised in that: when O scan period
In, wherein O=1,2,3, described negative feedback control module (2) generates the frequency of instruction more than the 3rd threshold value, described in sweep
Retouch frequency adjustment module (4) and improve the rate of scanning of described position measuring module (1), wherein, O scan period be continuous print or
Discontinuous, when within P detection cycle, wherein P=1,2,3, described negative feedback control module (2) generates instruction
Frequency is less than the 4th threshold value, and described rate of scanning adjustment module (4) reduces the rate of scanning of described position measuring module (1), its
In, P scan period is continuous or discontinuous.
9. the Hovering control using the Hovering control device according to the unmanned vehicle according to any one of claim 1-8
Method, it comprises the following steps:
In first step (S1), position measuring module (1) scanning unmanned vehicle locus；
In second step (S2), connect the negative feedback control module (2) of described position measuring module (1) based on described locus
Deviation change generate the instruction of inverse motion compensation and be sent to described actuation means (3)；
In third step (S3), described actuation means (3) performs described instruction and makes unmanned vehicle compensate deviation.
Hovering control method the most according to claim 9, it is characterised in that:
In second step (S2), described position measuring module (1) is provided with rate of scanning adjustment module (4), when in N number of scan period
In, wherein N=1,2,3, the instruction that described negative feedback control module (2) generates is less than first threshold, described scanning frequency
Rate adjustment module (4) reduces the rate of scanning of described position measuring module (1), and wherein, N number of scan period is continuous print or does not connects
Continue；When within M scan period, wherein M=1,2,3, the instruction that described negative feedback control module (2) generates is more than
Second Threshold, described rate of scanning adjustment module (4) is improved the rate of scanning of described position measuring module (1), wherein, is swept for M
The cycle of retouching is continuous or discontinuous.
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