CN101881971A - Method and device for controlling flight state of micro unmanned rotary wing aircraft - Google Patents
Method and device for controlling flight state of micro unmanned rotary wing aircraft Download PDFInfo
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- CN101881971A CN101881971A CN 201010211491 CN201010211491A CN101881971A CN 101881971 A CN101881971 A CN 101881971A CN 201010211491 CN201010211491 CN 201010211491 CN 201010211491 A CN201010211491 A CN 201010211491A CN 101881971 A CN101881971 A CN 101881971A
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Abstract
The invention relates to a method for controlling the flight state of a micro unmanned rotary wing aircraft, comprising the following steps: obtaining the data of current actual flight state; comparing the data of the current actual flight state with the data of current standard flight state by a data processing unit to obtain a flight state error signal; outputting the flight state error signal to a master control platform; and returning to the starting step. The invention also relates to a device for controlling the flight state of the micro unmanned rotary wing aircraft. The method and the device for implementing the invention has the beneficial effects that the data of the actual flight state is singly obtained, and Karl Mann filtering operation is carried out on the obtained data of the actual flight state by the data processing unit, thus obtaining the error signal without the need of processing the data by the master control platform. Therefore, the data of the flight state and the error signal can be obtained timely and accurately and do not conflict with the operation of the master platform, thus the error signal is more accurate and the operation is easier.
Description
Technical field
The present invention relates to aviation field, more particularly, relate to a kind of state of flight control method and device of micro unmanned rotary wing aircraft.
Background technology
Micro unmanned rotary wing aircraft (helicopter) is paid close attention to the problem of research and development all the time by people, with the fixed-wing aircraft relatively, there are its inherent advantages in it, the landing of for example taking off is simple, pace can be regulated very slowly, it is more accurate or the like highly to control.But the flight design of depopulated helicopter is wanted the many of complexity compared with the design of fixed-wing unmanned plane, and consideration is also more, for example: anti-beam wind ability error, the serious jitter error of fuselage, navigation drift error etc., spot hover error etc.When often these errors exist,, go to overcome according to these data again and repair these errors, just can make aircraft be returned to steady state (SS) if a comparatively accurate data (error amount) can be provided when beginning error takes place.But in the prior art, because control module is simple, discreteness is big, and precision is not high, can not provide comparatively accurate data usually.Simultaneously, the model of micro unmanned rotary wing aircraft is numerous, and its master control platform is also more, causes the operational differences of exploitation bigger easily, brings to fly to control the inaccurate of data.Because data is inaccurate, directly cause the operating personnel of this depopulated helicopter to be difficult to operation, it is operated when deviation is big slightly, because data are inaccurate, the direction that departs from precognition is far away, just may cause air crash.Limited the R﹠D and promotion of unmanned plane greatly, can not satisfy the needs of micro unmanned rotary wing aircraft far away at military, industry and civil area.
Summary of the invention
The technical problem to be solved in the present invention is, defective at prior art above-mentioned can not obtain error information accurately, be difficult to control provides a kind of and can obtain the state of flight control method and the device of error information, maneuverable micro unmanned rotary wing aircraft comparatively accurately.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of state of flight control method of micro unmanned rotary wing aircraft, it is characterized in that, comprise the steps:
A) obtain data of current actual flight state;
B) more described data of current actual flight state of data processing unit and current standard Flight Condition Data obtain the state of flight error signal;
C) the described state of flight error signal of output is to the master control platform;
D) return steps A).
In the state of flight control method of micro unmanned rotary wing aircraft of the present invention, described actual flight state data comprise the actual heading data that obtain separately, actual lateral angle data and actual pitch angle data.
In the state of flight control method of micro unmanned rotary wing aircraft of the present invention, described steps A) further comprise:
A1) obtain parallel described actual lateral angle data and be transported to data processing unit;
A2) obtain parallel described actual pitch angle data and be transported to data processing unit;
A3) obtain the described actual heading data of serial and be transported to data processing unit, described actual heading data comprise three angle values.
In the state of flight control method of micro unmanned rotary wing aircraft of the present invention, described step B) further comprise:
B1) described actual pitch angle data obtains angle of pitch error signal by Kalman filtering algorithm;
B2) described actual lateral angle data obtain the lateral angle error signal by Kalman filtering algorithm;
B3) described actual heading data obtain the course error signal by Kalman filtering algorithm;
B4) form error signal and be transported to the master control platform.
In the state of flight control method of micro unmanned rotary wing aircraft of the present invention, described step D) also further comprise the steps:
D1) upgrade described master control platform standard Flight Condition Data;
D2) return steps A).
The invention still further relates to a kind of state of flight control device of micro unmanned rotary wing aircraft, comprising:
Data processing unit: be used for acceptance criteria Flight Condition Data and actual flight state data, and described standard Flight Condition Data and virtual condition flying quality are carried out computing, form and output error signal;
The virtual condition data obtain the unit: be used to obtain the actual flight state data of this aircraft, and described data are sent to described control and data processing unit;
Master control platform: be used to receive the error signal of described control and processing unit output, and control the associated components action of this aircraft according to described error signal.
In the state of flight control device of micro unmanned rotary wing aircraft of the present invention, described actual flight state obtains the unit and comprises that module is obtained in the course, lateral angles obtains module and the angle of pitch is obtained module, and described course is obtained module, lateral angles and obtained module and obtain module with the angle of pitch and be connected by different input ends with described data processing unit respectively.
In the state of flight control device of micro unmanned rotary wing aircraft of the present invention, described data processing unit comprises microcontroller, and described lateral angles obtains module and obtains the different input ends that module arrives its detected state formation boat magnetic, angular velocity and acceleration information and parallel transfer described microcontroller respectively with the angle of pitch; Described course obtain module with its data that obtain by described micro controller I
2The C interface serial transfer is to described microcontroller.
In the state of flight control device of micro unmanned rotary wing aircraft of the present invention, described data processing unit comprises three Kalman filtering algorithm modules and poll control module, the output that described poll control module is controlled described Kalman filtering algorithm module respectively is connected with described error signal output, and the input of described three Kalman filtering algorithm modules obtains input end and the I that module input, the angle of pitch are obtained module with described lateral angles respectively
2C interface connects.
In the state of flight control device of micro unmanned rotary wing aircraft of the present invention, described microcontroller also comprises the SPI interface that is used for communicating by letter, receiving with the master control platform standard state data that the master control platform sends here.
Implement the state of flight control method and the device of micro unmanned rotary wing aircraft of the present invention, has following beneficial effect: owing to respectively the Flight Condition Data of reality has been adopted independent adquisitiones, and the above-mentioned Flight Condition Data that obtains is carried out the Kalman filtering computing at data processing unit, thereby obtain its error signal, do not need the above-mentioned data of master control platform processes, therefore, obtaining of above-mentioned Flight Condition Data and error signal is comparatively timely, accurate, can not conflict mutually with the operation of master control platform.So its error signal is comparatively accurate, operation is more or less freely.
Description of drawings
Fig. 1 is the state of flight control method of micro unmanned rotary wing aircraft of the present invention and the method flow diagram among the device embodiment;
Fig. 2 is the logic diagram that installs among the described embodiment;
Fig. 3 is the circuit theory diagrams that install among the described embodiment.
Embodiment
Embodiments of the present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1, in the state of flight control method and device embodiment of micro unmanned rotary wing aircraft of the present invention, the control method of its state of flight comprises the steps:
Step S11 obtains parallel actual lateral angle data: we know that for unmanned plane, the state of flight that it is concrete comprises height, speed, direction and angle of pitch or the like, all are to obtain by the wireless signal that receives the emission of remote control control end; Usually, the operating personnel of remote control control end use the equipment input of rocking bar to wish the flying quality of this unmanned plane, send on the unmanned plane by Wireless transmission mode, and under the ideal situation, the state of flight of unmanned plane should be consistent with above-mentioned data.We wish that with above-mentioned that receive, operating personnel the Flight Condition Data that unmanned plane can reach is called the standard Flight Condition Data, and the flight control signal that produces according to these data is a standard flight control signal.But, because our environment can not be desirable, for example, having crosswind is that aircraft produces horizontal moving, the air-flow that rises may be that the height and the angle of pitch of aircraft produces certain variation or the like, therefore, need learn the current actual Flight Condition Data of aircraft, we are called the actual flight state data, to compare between the identical parameter among actual flight state data and the standard Flight Condition Data, promptly can obtain the difference between the two, the error information that we said just, the flight control signal that this error signal produced is an error flight control signal.Like this, in the environment of reality, error flight control signal just can be controlled current state of flight comparatively exactly, makes it the represented state of flight of conformance with standard Flight Condition Data.Certainly, no matter in the present embodiment still in other embodiments, the error flight control signal of standard flight control signal, error information and the generation thereof of above-mentioned standard Flight Condition Data and generation thereof is all constantly changing, process as described herein be on its time shaft a bit or one section process, in fact, this process constantly repeats.In this step, by one independently the lateral angle data obtain the lateral angle data that module obtains the reality of this micro unmanned rotary wing aircraft, in the present embodiment, these lateral angle data obtain module-specific in obtaining the lateral angle data, and its lateral angle data that obtain directly send the data processing unit that next step carries out data processing to.Above-mentioned lateral angle data comprise boat magnetic, angular velocity and acceleration (being expressed as X-axis, Y-axis and Z axle respectively), and these data are that control and data processing module are arrived in parallel transfer.
Step S12 obtains parallel actual pitch angle data: in this step, by one independently pitch angle data obtain the pitch angle data that module obtains the reality of this micro unmanned rotary wing aircraft, in the present embodiment, this pitch angle data is obtained module-specific in obtaining pitch angle data, and its pitch angle data of obtaining directly sends the data processing unit that next step carries out data processing to.Above-mentioned pitch angle data comprises boat magnetic, angular velocity and acceleration (being expressed as X-axis, Y-axis and Z axle respectively), and these data are that control and data processing module are arrived in parallel transfer.
Step S13 obtains the actual heading data of serial: in this step, by one independently course data obtain the course data that module obtains the reality of this micro unmanned rotary wing aircraft, in the present embodiment, this course data obtains module-specific in obtaining course data, and its course data that obtains sends the data processing unit that next step carries out data processing to by serial line interface.Because above-mentioned course data comprises boat magnetic, angular velocity and acceleration (being expressed as X-axis, Y-axis and Z axle respectively), and above-mentioned course data is serial transfer, therefore, obtaining in the module in course data, is the data that obtain above-mentioned boat magnetic, angular velocity and acceleration in a certain order successively, but it exports fixed port really, make these data be converted to the data of serial like this, simultaneously, above-mentioned and the string transfer process in, make signal meet I
2The standard of C interface, these data are passed through I
2C interface is sent to data processing module.
Above-mentioned steps S11 is to S13 a kind of example of obtaining the actual flight state data of having demonstrated, in other embodiments, also can obtain these data not according to said sequence, the order that for example obtains these data also can be S13, S12 and S11, but, this is that processing sequence in control and data processing unit also will be made corresponding change, otherwise, thereby the long not high problem of data accuracy of bringing of stand-by period still can appear.
The actual lateral angle data of step S14 are done the Kalman filtering computing and are obtained the lateral angle error signal: in this step, actual lateral angle data that data processing unit will obtain and the standard lateral angular data in the standard Flight Condition Data are carried out the Kalman filtering computing, obtain the lateral angle error signal.
The actual pitch angle data of step S15 is done the Kalman filtering computing and is obtained angle of pitch error signal: in this step, actual pitch angle data that data processing unit will obtain and the standard pitch angle data in the standard Flight Condition Data carry out the Kalman filtering computing, obtain angle of pitch error signal.
Step S16 actual heading data are done the Kalman filtering computing and are obtained the course error signal: in this step, data processing unit carries out the Kalman filtering computing with the actual heading data that obtain and the Normal Course data in the standard Flight Condition Data, obtains the course error signal.In the present embodiment, because the actual heading data of input are serials, therefore, need before to its computing, be converted into parallel data.
Step S17 obtains and output error signal: steps such as up to this step, above-mentioned each data obtain, data processing all realize in data processing unit, rather than in traditional above-mentioned realization of master control platform.That is to say, in the present invention, with the data of current state of flight obtain, step such as processing peels off from the master control platform, make that the signal that enters the master control platform is the error signal of having handled well, thereby save the processing time of master control platform, make control signal press close to the state of current flight device more.Doing to increase a data processing unit like this is cost, exchanges the processing time of master control platform for; Simultaneously, under the situation of numerous aircraft master control platforms, the another one benefit that data processing is branched away separately is characteristics of having desalinated the master control platform, no matter which kind of master control platform, can plug-in above-mentioned data processing unit, make the exploitation of master control platform only become and to be absorbed in control, reduced the development difficulty of master control platform.In fact, the principle of deal with data and method in above-mentioned data processing unit still exist certain similar to the traditional data processing on the master control platform.In this step, to obtain total error signal and export this error signal after above-mentioned each error signal combination to the master control platform, the master control platform is controlled this aircraft according to the control waveform of this error signal generation controlling aircraft rudder face or engine or other governor motions.
What deserves to be mentioned is that above-mentioned steps S14 is not what be on the complete meaning according to said sequence to step S17, in fact, the generation of error signal still has certain hour, therefore, can not produce a complete error signal by the time in output.In actual applications, error signal produces at the beginning and just begins output.So when step S17 master control platform had begun to export the lateral angle control waveform, above-mentioned steps S15 or step S16 may also carry out, in a word, above-mentioned steps is continual, and the output waveform of its master control platform also is continual.
Step S18 is the new standard Flight Condition Data more: in this step, the master control platform is after obtaining above-mentioned error signal, produce control waveform, the while is the new standard flying quality more, and this standard flying quality is as the benchmark of current flight control, compare with the above-mentioned actual lateral angle that obtains, the actual angle of pitch, actual heading data next time, draw error signal once more, therefore, this standard Flight Condition Data will be transported to above-mentioned data processing unit, carry out after this step, return step S11.
Described in front, above-mentioned steps S11-S18 constantly repeats, and simultaneously, the standard Flight Condition Data also is continual, by being wirelessly transmitted to the master control platform, the master control platform sends it to above-mentioned data processing unit to these standard Flight Condition Data again by the remote control end.In the present embodiment, no matter whether this standard Flight Condition Data changes, its transmission all can be carried out, therefore, above-mentioned renewal also can constantly be carried out, and like this, constantly the standard Flight Condition Data of conversion adds the actual flight state data that constantly obtain, constantly change, make operating personnel can control the state of flight of this micro unmanned rotary wing aircraft continuously, exactly, thereby reach purpose of the present invention.
Present embodiment also relates to a kind of device of controlling state of flight, as shown in Figure 2, this device comprises that data processing unit 3, virtual condition data obtain unit 20 and master control platform 10, wherein, data processing unit 3 is used for acceptance criteria Flight Condition Data and actual flight state data, and with standard Flight Condition Data and virtual condition flying quality by computing, form and output error signal; The virtual condition data obtain the actual flight state data that unit 20 is used to obtain this aircraft, and these data are sent to data processing unit 3; Master control platform 10 is used to receive the error signal of data processing unit 3 outputs, and controls the associated components action of this aircraft according to these error signals.In the present embodiment, master control platform 10 receives the standard Flight Condition Data of its transmission by remote control end (not shown), and these data are sent to above-mentioned data processing unit 3; Simultaneously, master control platform 10 produces control waveform according to its error signal that receives, the state adjusting gear of controlling aircraft, and for example, actions such as rudder face, engine are to regulate the aircraft state.
As shown in Figure 2, in the present embodiment, above-mentioned virtual condition data obtain unit 20 and comprise that actual heading is obtained module 1, the actual angle of pitch obtains module 22 and actual lateral angle obtains module 5, and wherein the course is obtained module 1, lateral angles and obtained module 5 and obtain module 22 with the angle of pitch and be connected with the different input ends of data processing unit 3 by data processing unit 3 respectively.Because in the present embodiment, data processing module 3 is a microcontroller, therefore, lateral angles obtains module 5 and the angle of pitch and obtains module 22 and is connected with the different input end of this microcontroller is parallel, and lateral angles obtains module 5 and the angle of pitch and obtains module 22 and respectively the data of its its lateral angles of detected expression and luffing angle are formed the different input ends that this microcontroller is arrived in boat magnetic, angular velocity and acceleration information and parallel transfer; The course is obtained data that module 1 then obtains it and is formed and meet I
2The serial signal of C interface standard passes through micro controller I
2The C interface serial transfer is to microcontroller.
In the present embodiment, data processing module 3 comprises three Kalman filtering algorithm modules and poll control module (all not shown among the figure), the output that the poll control module is controlled described Kalman filtering algorithm module respectively is connected with described error signal output, and the input of three Kalman filtering algorithm modules obtains input end and the I that module input, the angle of pitch are obtained module with described lateral angles respectively
2C interface connects.Certainly also can make the error signal of output terminal output of each Kalman filtering algorithm module be combined as single error signal output in other embodiments in other way.
In the present embodiment, microcontroller (being data processing module 3) also has the SPI interface of communicating by letter, receive the standard Flight Condition Data that master control platform 10 sends here with master control platform 10.Master control platform 10 constantly is sent to data processing module 3 by the standard Flight Condition Data that Digiplex receives by above-mentioned SPI interface with it.
Fig. 3 is a control state of flight manipulated or operated apparatus in the present embodiment, and PIN20, the PIN1 (I of the drift angle data of module 1 from IC1 obtained in the course among the figure
2C interface) input, debugging interface 2 is convenient to programming; Data processing module 3 is ARM CPU, is responsible for handling 9 axis data of expression actual flight state; SPI communication interface 4 can make things convenient for external system or master control platform and communicate by letter the acceptance criteria Flight Condition Data; It is a gyroscope that actual lateral angle obtains module 5; The Starting mode interface 6 of ARM CPU is used to select its Starting mode; RS-232 communication interface 7 is used to transmit error signal in certain embodiments; Quartz crystal 8 is used to produce waveform, offers above-mentioned ARM CPU; USB interface 9 is used in present embodiment and the above-mentioned error signal of some embodiment transmission; The existing description above the effect of master control platform 10; Simultaneously, also comprise LDO voltage regulator 11 in the system, the RESET chip IC12 or the like that resets.
After system IC3 powered on, system searching configuration J2 dragged down R1, IC3 internal system FLASH guiding, initial configuration system outside port.IC2 powers on and obtains voltage, and IC2 is at static or mobile status pin 1B, and IC has output voltage, this output voltage amount correspondence be an angle value, calculate by formula and can obtain this value, magnitude of voltage is delivered to the IC3 of system pin 14,15,20, A/D conversion again, this system has adopted the Kalman filtering algorithm processing, output does not have the course information of drift, shake, come stable control roll, these information are passed through high USB, or the output of the standard of RS232 serial communication.IC5 powers on and obtains voltage, and IC5 is in static or mobile status pin PIN10,8,12 all have output voltage, this output voltage amount correspondence be an angle value, calculate by formula and can obtain this value, magnitude of voltage is delivered to the IC3 of system pin 21,22,23, A/D conversion again, this system has adopted the Kalman filtering algorithm processing, and output does not have the course information of drift, shake, comes stable control pitching, these information are passed through high USB, or the output of the standard of RS232 serial communication.IC1 powers on and obtains voltage, IC1 is at static or mobile status pin PIN 20,1, I2C has data output, this system has adopted the Kalman filtering algorithm processing, and output does not have the course information of drift, shake, comes stable control course information, these information are passed through high USB, or the output of the standard of RS232 serial communication.IC1 is equipped with inside a sensing device, there is a multiplexer device inside, this multiplexer is connected between sensor and the amplifier, amplifier connects adc circuit, this multiplexer can be in several microseconds the piece number measure the value of three sensors, amplifier obtains the XYZ sensor output voltage, and ADC connects the FPGA (Field Programmable Gate Array) output data.These I2C serial data transmission systems IC3 PIN57,58 carry out next does not handle.In a word, this magnetic boat can accurately be measured the earth magnetism magnetic direction, rotates by it to produce an angle amount and repair course data.Because 9 sensings adopt unified algorithm process, at output terminal one high-precision data are arranged.
In the present embodiment, the big characteristics that also have of this device are exactly: the metal shell material has adopted 4 millimeters thick aluminum alloy materials that the entire circuit plate is sealed in the box, screw all adopts brass screws, prevents that extraneous high-intensity magnetic field from interfering with this device, causes the deviation of data.It possesses the communication port that compatible various processors are arranged, and satisfies different interface needs.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. the state of flight control method of a micro unmanned rotary wing aircraft is characterized in that, comprises the steps:
A) obtain data of current actual flight state;
B) more described data of current actual flight state of data processing unit and current standard Flight Condition Data obtain the state of flight error signal;
C) the described state of flight error signal of output is to the master control platform;
D) return steps A).
2. state of flight control method according to claim 1 is characterized in that, described actual flight state data comprise the actual heading data that obtain separately, actual lateral angle data and actual pitch angle data.
3. state of flight control method according to claim 2 is characterized in that, described steps A) further comprise:
A1) obtain parallel described actual lateral angle data and be transported to data processing unit;
A2) obtain parallel described actual pitch angle data and be transported to data processing unit;
A3) obtain the described actual heading data of serial and be transported to data processing unit, described actual heading data comprise three angle values.
4. state of flight control method according to claim 3 is characterized in that, described step B) further comprise:
B1) described actual pitch angle data obtains angle of pitch error signal by Kalman filtering algorithm;
B2) described actual lateral angle data obtain the lateral angle error signal by Kalman filtering algorithm;
B3) described actual heading data obtain the course error signal by Kalman filtering algorithm;
B4) form error signal and be transported to the master control platform.
5. according to any described state of flight control method of claim 1-4, it is characterized in that described step D) also further comprise the steps:
D1) the standard Flight Condition Data of the described master control platform of renewal;
D2) return steps A).
6. the state of flight control device of a micro unmanned rotary wing aircraft is characterized in that, comprising:
Data processing unit: be used for acceptance criteria Flight Condition Data and actual flight state data, and described standard Flight Condition Data and virtual condition flying quality are carried out computing, form and output error signal;
The virtual condition data obtain the unit: be used to obtain the actual flight state data of this aircraft, and described data are sent to described control and data processing unit;
Master control platform: be used to receive the error signal of described control and processing unit output, and control the associated components action of this aircraft according to described error signal.
7. the state of flight control device of micro unmanned rotary wing aircraft according to claim 6, it is characterized in that, described actual flight state obtains the unit and comprises that module is obtained in the course, lateral angles obtains module and the angle of pitch is obtained module, and described course is obtained module, lateral angles and obtained module and obtain module with the angle of pitch and be connected by different input ends with described data processing unit respectively.
8. the state of flight control device of micro unmanned rotary wing aircraft according to claim 7, it is characterized in that, described data processing unit comprises microcontroller, and described lateral angles obtains module and obtains the different input ends that module arrives its detected state formation boat magnetic, angular velocity and acceleration information and parallel transfer described microcontroller respectively with the angle of pitch; Described course obtain module with its data that obtain by described micro controller I
2The C interface serial transfer is to described microcontroller.
9. the state of flight control device of micro unmanned rotary wing aircraft according to claim 8, it is characterized in that, described data processing unit comprises three Kalman filtering algorithm modules and poll control module, the output that described poll control module is controlled described Kalman filtering algorithm module respectively is connected with described error signal output, and the input of described three Kalman filtering algorithm modules obtains input end and the I that module input, the angle of pitch are obtained module with described lateral angles respectively
2C interface connects.
10. the state of flight control device of micro unmanned rotary wing aircraft according to claim 9 is characterized in that, described microcontroller also comprises the SPI interface that is used for communicating by letter, receiving with the master control platform standard state data that the master control platform sends here.
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| CN104977936A (en) * | 2014-04-09 | 2015-10-14 | 上海九鹰电子科技有限公司 | Remote signal sending/receiving method and device, remote controller and remote control model |
| CN105388901A (en) * | 2014-08-26 | 2016-03-09 | 鹦鹉股份有限公司 | Method of dynamic control of a rotary- wing drone in throw start |
| CN104932523A (en) * | 2015-05-27 | 2015-09-23 | 深圳市高巨创新科技开发有限公司 | Positioning method and apparatus for unmanned aerial vehicle |
| CN108319292A (en) * | 2017-12-29 | 2018-07-24 | 深圳创动科技有限公司 | A kind of control method of unmanned vehicle, console, aircraft and control system |
| CN109445418A (en) * | 2018-12-05 | 2019-03-08 | 智灵飞（北京）科技有限公司 | A kind of long-range flight control data attitude detecting method |
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