CN205844906U - The Hovering control device of unmanned vehicle - Google Patents

Abstract

A kind of Hovering control device of unmanned vehicle, the Hovering control device of unmanned vehicle includes the position measurement apparatus (1) for scanning unmanned vehicle locus, connect the negative feedback control device (2) of institute's position measurement device (1) and activate the actuation means (3) of unmanned vehicle motion, described negative feedback control device (2) is provided with the signal generator of the comparator comparing the spatial positional information that institute's position measurement device (1) sends and the instruction generating inverse motion compensation, described signal generator sends described instruction to described actuation means (3).

Description

The Hovering control device of unmanned vehicle

Technical field

This utility model belongs to unmanned vehicle control field, particularly relates to the Hovering control dress of a kind of unmanned vehicle Put.

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 this utility model background in the background section, therefore May comprise and not be formed in the information of prior art known to a person of ordinary skill in the art in this country.

Utility model content

This utility model is concerned about problem above, it is proposed that the Hovering control device of a kind of unmanned vehicle.

The purpose of this utility model is to be achieved by the following technical programs.

According to one side of the present utility model, the Hovering control device of a kind of unmanned vehicle includes flying for scanning nobody The position measurement apparatus of row device locus, the negative feedback control device connecting institute's position measurement device and actuating unmanned vehicle The actuation means of motion, described negative feedback control device is provided with the ratio comparing the spatial positional information that institute's position measurement device sends The signal generator of the instruction of relatively device and generation inverse motion compensation, described signal generator sends described instruction to described actuating Device.

Preferably, hovering position and the locus of institute's position measurement device transmission of the unmanned vehicle of setting are compared Described comparator connect the instruction as inverse motion compensation of the difference that generates between described locus and hovering position Signal generator, described actuation means performs described instruction.

Preferably, described actuation means is the flight control system of unmanned vehicle self.

Preferably, the position measurement that institute's position measurement device is made up of satellite positioning module and height sensor sets Standby.

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.

Preferably, the inertia measurement equipment that institute's position measurement device is made up of gyroscope and accelerometer.

Preferably, institute's position measurement device is ultrasonic distance-measuring sensor and/or framing equipment.

Preferably, described negative feedback control device is PID controller, general processor, digital signal processor, special integrated Circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit.

Preferably, institute's position measurement device is provided with rate of scanning actuator.

Preferably, described rate of scanning actuator is provided with the memorizer of storage rate of scanning shaping modes.

Described above is only the general introduction of technical solutions of the utility model, in order to make technological means of the present utility model Clearer, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to Above and other objects, features and advantages of the present utility model can be become apparent, below with of the present utility model specifically Embodiment is illustrated.

Accompanying drawing explanation

By reading the detailed description in hereafter preferred embodiment, this utility model various other advantage and Benefit will be clear from understanding for those of ordinary skill in the art.Figure of description is only used for illustrating the mesh of preferred implementation , and be not considered as restriction of the present utility model.It should be evident that drawings discussed below is the most of the present utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this A little accompanying drawings obtain 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 the unmanned vehicle according to one embodiment of this utility model；

Fig. 2 is the structural representation of the Hovering control device of the unmanned vehicle according to another embodiment of this utility model Figure.

Below in conjunction with drawings and Examples, the utility model is further explained.

Detailed description of the invention

It is more fully described specific embodiment of the utility model below with reference to accompanying drawings.Although accompanying drawing shows this reality With novel specific embodiment, it being understood, however, that may be realized in various forms this utility model and should not illustrated here Embodiment limited.On the contrary, it is provided that these embodiments are able to be best understood from this utility model, and can be by What scope of the present utility model was complete conveys 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 is for implementing better embodiment of the present utility model, right described description It is for the purpose of the rule of description, is not limited to scope of the present utility model.Protection domain of the present utility model When being as the criterion depending on the defined person of claims.

For ease of the understanding to this utility model embodiment, below in conjunction with accompanying drawing do as a example by several specific embodiments into The explanation of one step, and each accompanying drawing is not intended that the restriction to this utility model embodiment.

Fig. 1 is the structural representation of the Hovering control device of the unmanned vehicle of an embodiment of the present utility model, this Utility model embodiment will be specifically described in conjunction with Fig. 1.

As it is shown in figure 1, an embodiment of the present utility model provides the Hovering control device of a kind of unmanned vehicle, nothing For scanning the position measurement apparatus 1 of unmanned vehicle locus, connecting the negative feedback control device of institute's position measurement device 1 2 actuation means 3 moved with actuating unmanned vehicle, described negative feedback control device 2 is provided with and compares institute's position measurement device 1 The signal generator of the instruction of the comparator of the spatial positional information sent and generation inverse motion compensation, described signal generator is sent out Send described instruction 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 this utility model embodiment, preferred unmanned vehicle is many rotor unmanned aircrafts, many rotor unmanned aircrafts It can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.

The unmanned vehicle that technical solutions of the utility model use is primarily referred to as many rotor unmanned aircrafts little, miniature, this Kind unmanned vehicle volume is little, low cost, flight stability preferable, and flight cost is low.The aircraft that this utility model uses, Typical with four axle multi-rotor aerocrafts as representative.

Preferably, described negative feedback control device 2 sets the hovering position of unmanned vehicle to this utility model embodiment, when Described hovering position is deviateed in the locus that position measurement apparatus 1 sends, and negative feedback control device 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 device 2 can be by desired for user sky Meta installs as hovering position, it is also possible to using initial hovering position as the hovering position that will hover, it is also possible to automatically by upper One hovering position is as hovering position.In one embodiment, negative feedback control device is provided with for relatively described locus And the processing unit of the instruction of the comparing unit of the difference between hovering position and generation inverse motion compensation.

This utility model embodiment preferably, when described actuation means 3 be unmanned vehicle self flight control system System or the power injection device being arranged in the multiple directions of unmanned vehicle.In one embodiment, flight controls system System receives and the instruction of execution inverse motion compensation makes the locus of unmanned vehicle be returned to hovering position, i.e. before deviation Locus.In one embodiment, actuation means 3 can be the power injection device set up three dimension sides, Such as vector ejector etc..The instruction of the reception of this power injection device and execution inverse motion compensation makes the sky of unmanned vehicle Meta is put and is returned to hovering position, i.e. locus before deviation.

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, institute's position measurement device 1 is by satellite positioning module and highly sensing to this utility model embodiment The position measurement apparatus for scanning space position of device composition, and/or the inertia measurement being made up of gyroscope and accelerometer Equipment and/or ultrasonic distance-measuring sensor and/or framing equipment.

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 measurement equipment, 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 embodiment of the present utility model, such as a example by GPS pattern, when unmanned vehicle is by ectocine, high When degree has the trend of rising or reduction, negative feedback control device 2 compares the locus that deviate from default hovering position, sends Inverse motion compensation instruction adjusts automatically, i.e. reduces the height of deviation by actuation means 3 or raises deviation Hubei Province height, causing The power of dynamic device scalable motor carries out suitable opposite direction motion compensation；The hovering if unmanned vehicle is laterally blown off by wind Position, position measurement apparatus 1 measures and sends the locus deviateing described hovering position, and negative feedback control device 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, institute's position measurement device 1 The inertia measurement equipment being made up of gyroscope and accelerometer, gesture mode just uses.Rely within unmanned plane IMU inertia measurement equipment, system can identify current flight attitude, carries out autobalance compensation, equally realizes height Locking with horizontal level.Popular says, as long as pass through IMU inertia measurement monitoring of equipment and record, 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 equipment, 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 and set in described IMU inertia measurement equipment Standby accuracy.

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 equipment is optical flow method framing equipment.

In one embodiment, described negative feedback control device 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 device 2 Initial hovering position or a upper hovering position are set as the hovering position of unmanned vehicle.

Fig. 2 is the structural representation of the Hovering control device of the unmanned vehicle of another embodiment of the present utility model, This utility model 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 of the present utility model provides the Hovering control device of a kind of unmanned vehicle, nothing The Hovering control device of people's aircraft includes that the position measurement apparatus 1 for scanning unmanned vehicle locus, connection are described The negative feedback control device 2 of position measurement apparatus 1 and the actuation means 3 of actuating unmanned vehicle motion, described negative feedback control device 2 Deviation change based on described locus generates the instruction of inverse motion compensation and is sent to described actuation means 3, wherein, institute Position measurement device 1 is provided with rate of scanning actuator 4, when within N number of scan period, and wherein N=1,2,3, described The instruction that negative feedback control device 2 generates is less than first threshold, and described rate of scanning actuator 4 reduces institute's position measurement device 1 Rate of scanning, wherein, N number of scan period is continuous or discontinuous.

In one embodiment, when within M detection cycle, wherein M=1,2,3, described negative feedback control device 2 The instruction generated is more than Second Threshold, and described rate of scanning actuator 4 improves the rate of scanning of institute's position measurement device 1, its In, M scan period is continuous or discontinuous.

In one embodiment, described position measuring module is provided with rate of scanning adjustment module, and described rate of scanning regulates Module adjusts the rate of scanning of described position measuring module based on described instruction.Wherein, due to instruction be based on described space bit The deviation change put generates, therefore, instruction reflects the deviation size of locus, such as offset 10 centimetres, instruction The level that is returns 10 centimetres, and 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 described position measuring module Rate of scanning.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, therefore, described scanning Frequency adjustment module such as improves rate of scanning based on described instruction, adjusts the rate of scanning of described position measuring module.It addition, It is also based on the frequency of described instruction generation to adjust the rate of scanning of described position measuring module.The instruction of this Contrary compensation is produced Raw frequency is the highest, also implies that the skew of current flight device occurs the most frequent, now should improve position measuring module Rate of scanning.

This utility model embodiment preferably, is previously set several hovering with different scanning frequency flight Control model, suitable to arrange this hovering flight control mode, at ring based on the environment residing for current unmanned vehicle In the case of border impact is little, use the hovering flight control mode of low frequency, in the case of environmental effect is big, use high frequency Hovering flight control mode.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 environmental effect size condition can based on one or Person continuously/several time cycles discontinuous in, the history deflection performance of unmanned vehicle determines.For example: at 1 In scan period, when position unmanned vehicle being detected is shifted out a predetermined threshold when, it can be determined that for environment Affecting size degree and promote a rank impact greatly, corresponding reduces an order frequencies by hovering flight control mode High；Otherwise, within 1 scan period, when position unmanned vehicle being detected offsets less than a predetermined threshold when, can Little to be judged as that environmental effect size degree reduces a rank impact, corresponding promotes one by hovering flight control mode Individual order frequencies is low.For another example, within continuous 5 scan periods, when position unmanned vehicle being detected is shifted out one in advance The when of determining threshold value, it can be determined that promote a rank for environmental effect size degree, corresponding controls hovering flight Pattern reduces a rank；Otherwise, within continuous 5 scan periods, when position unmanned vehicle being detected offsets less than one The when of individual predetermined threshold, it can be determined that reduce a rank for environmental effect size degree, corresponding flies hovering Control model promotes a rank.For another example, in running up to discrete 5 scan periods, unmanned vehicle is all detected The when that position being shifted out a predetermined threshold, it can be determined that promote a rank for environmental effect size degree, correspondence Hovering flight control mode is reduced a rank；Otherwise, in running up to discrete 5 scan periods, all detect The when that position to unmanned vehicle offseting less than a predetermined threshold, it can be determined that reduce by one for environmental effect size degree Individual rank, corresponding promotes a rank by hovering flight control mode.Further, since currently flight performance performance with Energy-conservation therebetween, user temporarily focuses more on flight expressive ability, it is possible to use different standards to design overhead suspension Stop the lifting of flight control mode and reduce strategy, such as when detecting that 1 position is shifted out the situation of predetermined threshold, i.e. carrying The order frequencies rising aerial hovering flight control model is high, and corresponding working as runs up to, in discrete 5 scan periods, all detect The when that position to unmanned vehicle offseting less than a predetermined threshold, just reduce the rank of hovering flight control mode Frequency is low.

Although embodiment of the present utility model being described above in association with accompanying drawing, but this utility model not limiting to In above-mentioned specific embodiments and applications field, above-mentioned specific embodiments is the most schematic, guiding, and not It is restrictive.Those of ordinary skill in the art is under the enlightenment of this specification and without departing from this utility model claim In the case of the scope protected, it is also possible to make a variety of forms, these belong to the row of this utility model protection.

Claims (10)

1. a Hovering control device for unmanned vehicle, it includes the position measurement for scanning unmanned vehicle locus Equipment (1), the negative feedback control device (2) connecting institute's position measurement device (1) and the actuating dress of actuating unmanned vehicle motion Put (3), it is characterised in that: described negative feedback control device (2) is provided with compares the locus that institute's position measurement device (1) sends The comparator of information and generate the signal generator of instruction of inverse motion compensation, described signal generator send described instruction to Described actuation means (3).

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: institute's position measurement device (1) rate of scanning actuator (4) it is provided with.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: compare setting nobody fly The described comparator of the locus that the hovering position of row device and institute's position measurement device (1) send connects the described space of generation Difference between position and hovering position is held as the signal generator of the instruction of inverse motion compensation, described actuation means (3) The described instruction of row.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: described actuation means (3) The power injection device being arranged in the multiple directions of unmanned vehicle.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: institute's position measurement device (1) position measurement apparatus being made up of satellite positioning module and height sensor.

The Hovering control device of unmanned vehicle the most according to claim 5, 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.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: institute's position measurement device (1) the inertia measurement equipment being made up of gyroscope and accelerometer.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: institute's position measurement device (1) it is ultrasonic distance-measuring sensor and/or framing equipment.

The Hovering control device of unmanned vehicle the most according to claim 1, it is characterised in that: described negative feedback control device (2) it is PID controller, general processor, digital signal processor, application-specific integrated circuit ASIC, field programmable gate array FPGA, analog circuit or digital circuit.

The Hovering control device of unmanned vehicle the most according to claim 2, it is characterised in that: described rate of scanning is adjusted Joint device (4) is provided with the memorizer of storage rate of scanning shaping modes.