CN105469579A - Somatosensory remote control and somatosensory remote control flying system and method - Google Patents
Somatosensory remote control and somatosensory remote control flying system and method Download PDFInfo
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- CN105469579A CN105469579A CN201511032422.8A CN201511032422A CN105469579A CN 105469579 A CN105469579 A CN 105469579A CN 201511032422 A CN201511032422 A CN 201511032422A CN 105469579 A CN105469579 A CN 105469579A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003238 somatosensory effect Effects 0.000 title abstract 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 239000011159 matrix material Substances 0.000 claims description 40
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 18
- 239000012190 activator Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 241000222712 Kinetoplastida Species 0.000 description 3
- 238000004891 communication Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the technical field of electronic equipment, in particular to a somatosensory remote control and a somatosensory remote control flying system and method. The somatosensory remote control comprises a posture sensor, a controller, a first wireless data transmission module and a remote control body, wherein the posture sensor, the first wireless data transmission module and the controller are all arranged on the remote control body, the posture sensor and the first wireless data transmission module are both electrically connected with the controller, the posture sensor is used for acquiring the initial state information of the current position of the remote control body and the moving information of the remote control body and transmitting the information to the controller, the controller is used for acquiring a flying instruction according to the initial state information and the moving information, and the flying instruction is sent out through the first wireless data transmission module. Due to the fact that any position can serve as the center point of the somatosensory remote control, the requirement for the technical skill of an operator is reduced, and operation is facilitated for the operator.
Description
Technical field
The present invention relates to technical field of electronic equipment, especially relate to a kind of body sense telepilot, body sense remote control distributor system and method.
Background technology
Unmanned spacecraft is called for short " unmanned plane ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Without driving cabin on machine, but the equipment such as robot pilot, presetting apparatus is installed.On ground, naval vessels or machine tool remote-controlled station personnel by equipment such as radars, it is followed the tracks of, locates, remote control, remote measurement and digital transmission.Can take off as conventional airplane under wireless remote control or launch with booster rocket, also can be taken to by machine tool and throw in flight in the air.During recovery, the available mode automatic Landing the same with conventional airplane landing mission, also reclaims by remote control parachute or block.Can use repeatedly by repetitiousness.Be widely used in aerial reconnaissance, supervision, communication, antisubmarine, electronic interferences etc.And operating unmanned plane in order to convenient operation person more, people devise body sense telepilot.
Body sense telepilot of the prior art, comprise remote controller body and be arranged on sensor and the controller of remote controller body, sensor is electrically connected with controller, sensor is utilized to obtain the moving direction of remote controller body, and passing to controller, controller controls the flight of unmanned plane according to moving direction.
But, body sense telepilot of the prior art in use, need on remote controller body centering position, this centre bit is positioned on a fixed position, operator must make the position of body sense telepilot be positioned on centre bit, and body sense telepilot can be utilized to manipulate unmanned plane, so, body sense telepilot of the prior art requires very high for the technical merit of manipulator, is not easy to manipulator's manipulation.
Summary of the invention
The object of the present invention is to provide by a kind of body sense telepilot, body sense remote control distributor system and method, to solve in prior art the technical matters being not easy to manipulator's manipulation.
A kind of body sense telepilot provided by the invention, comprising: attitude sensor, controller and the first wireless data transmission module, and remote controller body; Attitude sensor, the first wireless data transmission module and controller are all arranged on remote controller body, and attitude sensor and the first wireless data transmission module are all electrically connected with controller; Attitude sensor is for obtaining the initial state information of the current location of remote controller body, and the mobile message of remote controller body movement, and passes to controller; Controller is used for according to initial state information and mobile message, obtains flight directive, and is sent by flight directive by the first wireless data transmission module.
Further, remote controller body is also provided with body sense activator button; Body sense activator button is electrically connected with controller, and the current location for remote position controlled device body is initial position, and utilizes attitude sensor to obtain initial state information.
Further, controller is also provided with precision adjustment module, precision adjustment module is for regulating flight directive along unmanned plane coordinate system Y-axis half-twist, and to make remote controller body when initial position, unmanned plane keeps horizontality.
Further, initial state information comprises angular velocity and the acceleration of initial position; Mobile message comprises angular velocity and the acceleration that remote controller body moves to predeterminated position.
Further, attitude sensor comprises gyroscope and accelerometer; Gyroscope and accelerometer are arranged on remote controller body, and are electrically connected with controller; Gyroscope and accelerometer are respectively used to angular velocity and the acceleration of the initial position obtaining remote controller body, and remote controller body moves to angular velocity and the acceleration of predeterminated position; Controller is according to the angular velocity of initial position and acceleration, and remote controller body moves to angular velocity and the acceleration of predeterminated position, obtains flight directive, and flight directive is passed to aircraft mounted control system, the heading of onboard flight Systematical control unmanned plane.
Further, remote controller body is also provided with GPS locator and the button that makes a return voyage; GPS locator and the button that makes a return voyage all are electrically connected with controller, make a return voyage for manipulating unmanned plane;
And/or remote controller body is also provided with landing button, and landing button is electrically connected with controller, for manipulating unmanned plane landing;
And/or remote controller body is also provided with shoot button, and shoot button is electrically connected with controller;
And/or remote controller body is also provided with shooting button, and shooting button is electrically connected with controller;
And/or task that remote controller body is also provided with starts or pause button and task stop key, task starts or pause button and task stop key all is electrically connected with controller.
Further, also battery is provided with in remote controller body; Remote controller body is also provided with power switch, and battery is electrically connected with controller by power switch; Remote controller body is also provided with the first LED and power source charges manager, the first LED is electrically connected with battery by power source charges manager, and the first LED is for showing the charged state of battery; Remote controller body is also provided with USB interface, and USB interface is electrically connected with controller, for firmware upgrade or charge the battery;
And/or remote controller body is also provided with vibrating motor and active buzzer, and vibrating motor and active buzzer are all electrically connected with controller;
And/or remote controller body is also provided with the second LED, and the second LED is electrically connected with controller, to show the state of flight of unmanned plane.
The embodiment of the present invention additionally provides a kind of body sense remote control distributor system, comprises airborne flight control system and above-mentioned body sense telepilot; Airborne flight control system is provided with the second wireless data transmission module, the second digital transmission module is connected with the first digital transmission module wireless telecommunications; Airborne flight control system is used for controlling unmanned plane during flying according to flight directive.
Further, airborne flight control system also comprises locating module, attitude heading reference system and barometer module and microprocessor; Microprocessor is used for the flight information being obtained unmanned plane by locating module, attitude heading reference system and barometer module, and by the second wireless data transmission module, flight information is passed to body sense telepilot.
The embodiment of the present invention additionally provides a kind of body sense remote control distributor method, specifically comprises the steps:
When detecting that body sense remote control distributor pattern is activated, the current location of remote position controlled device body is initial position, and utilizes attitude sensor to obtain the initial state information of remote controller body, and passes to controller;
When remote controller body moves, attitude sensor obtains the mobile message of remote controller body, and passes to controller;
Controller, according to initial state information and mobile message, obtains flight directive;
Flight directive is passed to airborne flight control system by controller, and airborne flight control system controls unmanned plane during flying.
Further, controller, according to initial state information and mobile message, obtains, in the step of flight directive, specifically comprising the steps:
Calculate the volume coordinate of initial position according to initial state information, and record the volume coordinate of described initial position;
Calculate the volume coordinate of predeterminated position according to mobile message, and record the volume coordinate of predeterminated position;
Flight directive is obtained according to the volume coordinate of initial position and the volume coordinate of predeterminated position.
Further, according to the volume coordinate of initial position and the volume coordinate of predeterminated position, obtain, in the step of flight directive, specifically comprising the steps:
Record the hypercomplex number that the volume coordinate of initial position is corresponding, and calculate inceptive direction cosine matrix corresponding to this hypercomplex number;
Record the hypercomplex number that the volume coordinate of predeterminated position is corresponding, and calculate current direction cosine matrix corresponding to this hypercomplex number;
The transposed matrix of inceptive direction cosine matrix is multiplied with current direction cosine matrix, obtains the moving direction cosine matrix of current direction cosine matrix relative to inceptive direction cosine matrix;
Moving direction cosine matrix is utilized to calculate the Eulerian angle of current remotes body relative to initial position;
Eulerian angle are utilized to obtain flight directive.
Further, described Eulerian angle are utilized to obtain, in the step of flight directive, specifically also comprising the steps:
By the y-axis half-twist of moving direction cosine matrix around body axis system corresponding to inceptive direction cosine matrix, obtain final direction cosine matrix;
Final direction cosine matrix is utilized to obtain the angle of pitch of unmanned plane and the flight directive of roll angle.
Body sense telepilot provided by the invention, it utilizes attitude sensor to obtain the initial state information of remote controller body current location, and remote controller body moves to the mobile message of predeterminated position, controller obtains flight directive according to initial state information and mobile message.When operator is when using body sense telepilot manipulation unmanned plane, attitude sensor can obtain the initial state information of the current location of telepilot, and this current location is centre bit.When operator is at mobile remote control device body, being with initial state information is benchmark, and obtains flight directive in conjunction with mobile message.Due to the body sense telepilot in the present invention, manipulator's manipulation as the centre bit of body sense telepilot, so operator has not needed at the centre bit looking for body sense telepilot, reduces the requirement of the technical merit to manipulator, can be convenient in any one position.
Accompanying drawing explanation
In order to be illustrated more clearly in the specific embodiment of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the body sense telepilot that Fig. 1 provides for one embodiment of the invention;
The structural representation of the body sense telepilot that Fig. 2 provides for another embodiment of the present invention;
The structural representation of the body sense remote control distributor system that Fig. 3 provides for the embodiment of the present invention;
The process flow diagram of the body sense remote control distributor method that Fig. 4 provides for one embodiment of the invention;
The process flow diagram of the body sense remote control distributor method that Fig. 5 provides for another embodiment of the present invention;
The process flow diagram of the body sense remote control distributor method that Fig. 6 provides for further embodiment of this invention;
The process flow diagram of the body sense remote control distributor method that Fig. 7 provides for yet another embodiment of the invention;
The general flow chart of the body sense remote control distributor method that Fig. 8 provides for the embodiment of the present invention.
Reference numeral:
1-controller; 2-first wireless data transmission module; 3-remote controller body;
4-attitude sensor; 5-GPS steady arm; The grateful button of living of 6-body;
7-makes a video recording button; 8-shoot button; 9-task starts or pause button;
10-task stops key; 11-second LED; 12-active buzzer;
13-vibrating motor; 14-power switch; 15-USB interface
16-battery; 17-power source charges manager; 18-first LED;
19-makes a return voyage button; 20-landing button; The airborne flight control system of 21-;
22-second wireless data transmission module; 23-microprocessor; 24-attitude heading reference system;
25-locating module; 26-barometer module; 27-unmanned plane.
Embodiment
Be clearly and completely described technical scheme of the present invention below in conjunction with accompanying drawing, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The structural representation of the body sense telepilot that Fig. 1 provides for one embodiment of the invention.As shown in Figure 1, a kind of body sense telepilot that the present embodiment provides, comprising: attitude sensor 4, controller 1 and the first wireless data transmission module 2, and remote controller body 3; Attitude sensor 4, first wireless data transmission module 2 and controller 1 are all arranged on remote controller body 3, and attitude sensor 4 and the first wireless data transmission module 2 are all electrically connected with controller 1; Attitude sensor 4 is for obtaining the initial state information of the current location of remote controller body 3, and the mobile message of remote controller body 3 movement, and passes to controller 1; Controller 1, for according to initial state information and mobile message, obtains flight directive, and is sent by flight directive by the first wireless data transmission module 2.
Wherein, initial state information comprises angular velocity and the acceleration of initial position; Mobile message comprises angular velocity and the acceleration that remote controller body 3 moves to predeterminated position.
The kind of attitude sensor 4 can be multiple, and preferably, attitude sensor 4 comprises gyroscope and accelerometer; Gyroscope and accelerometer are arranged on remote controller body 3, and are electrically connected with controller 1; Gyroscope and accelerometer are respectively used to angular velocity and the acceleration of the initial position obtaining remote controller body 3, and remote controller body 3 moves to angular velocity and the acceleration of predeterminated position; Controller 1 is according to the angular velocity of initial position and acceleration, and remote controller body 3 moves to angular velocity and the acceleration of predeterminated position, obtain flight directive, and flight directive is passed to aircraft mounted control system, the heading of onboard flight Systematical control unmanned plane 27.More preferably, attitude sensor 4 is MPU6050.
The kind of the first wireless data transmission module 2 can be multiple, and such as: bluetooth, WiFi or infrared ray etc., preferably, wireless transport module is the one in 915MHz wireless transport module and 5.8GHz wireless transport module.
The body sense telepilot that the present embodiment provides, it utilizes attitude sensor 4 to obtain the initial state information of remote controller body 3 current location, and remote controller body 3 moves to the mobile message of predeterminated position, controller 1 obtains flight directive according to initial state information and mobile message.When operator is when using body sense telepilot manipulation unmanned plane 27, attitude sensor 4 can obtain the initial state information of the current location of telepilot, and this current location is centre bit.
When operator is at mobile remote control device body 3, being with initial state information is benchmark, and obtains flight directive in conjunction with mobile message.Such as: on the basis of initial position, when body sense telepilot is toward top rake, can control unmanned plane 27 forward or head upwards bow; When body sense telepilot is toward rear-inclined, can control unmanned plane 27 backward or afterbody to layback; When body sense telepilot is toward left bank, unmanned plane 27 can be controlled or roll left left; When raising telepilot is toward right bank, unmanned plane 27 can be controlled or roll etc. to the right to the right.
Due to the body sense telepilot in the present embodiment, manipulator's manipulation as the centre bit of body sense telepilot, so operator has not needed at the centre bit looking for body sense telepilot, reduces the requirement of the technical merit to manipulator, can be convenient in any one position.
The structural representation of the body sense telepilot that Fig. 2 provides for another embodiment of the present invention.As depicted in figs. 1 and 2, on the basis of above-described embodiment, further, remote controller body 3 is also provided with body sense activator button 6; Body sense activator button 6 is electrically connected with controller 1, and the current location for remote position controlled device body 3 is initial position, and utilizes attitude sensor 4 to obtain initial state information.
When operator is in the manipulation of use body sense telepilot, press the grateful button 6 of living of kinetoplast, active controller 1, attitude sensor 4 records the initial state information of now remote controller body 3 position, and using this position as centre bit.Like this, operator is after pressing the grateful button 6 of living of kinetoplast, then moving body sense remote controller body 3, can manipulate unmanned plane 27, thus reduce the possibility of maloperation.In addition, after also convenient operation person finds oneself operative orientation applicable, then unmanned plane 27 is manipulated.
On the basis of above-described embodiment, in order to avoid attitude sensor 4 cannot detect that the situation of remote controller body 3 rotation direction occurs, further, controller 1 is also provided with precision adjustment module, precision adjustment module is for regulating flight directive along unmanned plane 27 coordinate system Y-axis half-twist, to make remote controller body 3 when initial position, unmanned plane 27 keeps horizontality.
When operator presses kinetoplast gratitude work button 6, now, controller 1 can control unmanned plane 27 and be in equilibrium state, the operation blind spot of body sense telepilot is so just made to be positioned on initial position, namely be positioned near centre bit, thus avoid operator at operation blind spot place operation unmanned plane 27, make manipulation sensitiveer.
As shown in Figure 2, on the basis of above-described embodiment, further, remote controller body 3 is also provided with GPS locator 5 and the button 19 that makes a return voyage; GPS locator 5 and the button 19 that makes a return voyage all are electrically connected with controller 1, make a return voyage for manipulating unmanned plane 27.
Remote controller body 3 is also provided with landing button 20, and landing button 20 is electrically connected with controller 1, for manipulating unmanned plane 27 landing.
Remote controller body 3 is also provided with shoot button 8, and shoot button 8 is electrically connected with controller 1.
Remote controller body 3 is also provided with shooting button 7, shooting button is electrically connected with controller 1.
Task that remote controller body 3 is also provided with starts or pause button and task stop key, and task starts or pause button 6 and task stop key 10 is all electrically connected with controller 1.Operator can be started or pause button by task, and task stop key 10 open or closure body sense telepilot to the manipulation of unmanned plane 27.
Certainly, in the present embodiment, power switch 14, forward key and Reverse keys can also be provided with on remote controller body 3, and turbo etc.
As shown in Figure 2, on the basis of above-described embodiment, further, battery 16 is also provided with in remote controller body 3; Remote controller body 3 is also provided with power switch 14, and battery 16 is electrically connected with controller 1 by power switch 14; Remote controller body 3 is also provided with the first LED 18 and power source charges manager 17, first LED 18 is electrically connected with battery 16 by power source charges manager 17, the first LED 18 is for showing the charged state of battery 16; Remote controller body 3 is also provided with usb 15, and usb 15 is electrically connected with controller 1, charges for firmware upgrade or to battery 16.
As shown in Figure 2, on the basis of above-described embodiment, further, remote controller body 3 is also provided with vibrating motor 13 and active buzzer 12, vibrating motor 13 and active buzzer 12 are all electrically connected with controller 1.Vibrating motor 13 and active buzzer 12, can be combined with GPS locator 5, when unmanned plane 27 departs from pre-set flight track, or arrives and preset destination etc. and can remind operator.Certainly, also can the action of compounding practice person, to increase the manipulation pleasant sensation of manipulator, such as: when manipulator often does an action, vibrating motor 13 vibrates, or active buzzer 12 can be sounded.
As shown in Figure 2, on the basis of above-described embodiment, further, remote controller body 3 is also provided with the second LED 11, second LED 11 to be electrically connected with controller 1, to show the state of flight of unmanned plane 27.
The structural representation of the body sense remote control distributor system that Fig. 3 provides for the embodiment of the present invention.As shown in Figure 3, one embodiment of the invention additionally provides a kind of body sense remote control distributor system, comprises airborne flight control system 21 and above-mentioned body sense telepilot; Airborne flight control system 21 is provided with the second wireless data transmission module 22, second digital transmission module to be connected with the first digital transmission module wireless telecommunications; Airborne flight control system 21 is flown for controlling unmanned plane 27 according to flight directive.
Wherein, airborne flight control system 21 also comprises locating module 25, attitude heading reference system 24 and barometer module 26 and microprocessor 23; Flight information for being obtained the flight information of unmanned plane 27 by locating module 25, attitude heading reference system 24 and barometer module 26, and is passed to body sense telepilot by the second wireless data transmission module 22 by microprocessor 23.
In the present embodiment, flight information is passed to body sense telepilot by airborne flight control system 21, and body sense telepilot can adjust the flight attitude of unmanned plane 27 according to flight information, can over the horizon fly to make unmanned plane 27.
The process flow diagram of the body sense remote control distributor method that Fig. 4 provides for one embodiment of the invention.As shown in Figure 4, the embodiment of the present invention additionally provides a kind of body sense remote control distributor method, specifically comprises the steps:
Step 100, when detecting that body sense remote control distributor pattern is activated, the current location of remote position controlled device body 3 is initial position, and utilizes attitude sensor 4 to obtain the initial state information of remote controller body 3, and passes to controller 1;
Step 200, when remote controller body 3 moves, attitude sensor 4 obtains the mobile message of remote controller body 3, and passes to controller 1;
Step 300, controller 1, according to initial state information and mobile message, obtains flight directive;
Step 400, flight directive is passed to airborne flight control system 21 by controller 1, and airborne flight control system 21 controls unmanned plane 27 and flies.
The body sense remote control distributor method of the present embodiment, it utilizes attitude sensor 4 to obtain the initial state information of remote controller body 3 current location, and remote controller body 3 moves to the mobile message of predeterminated position, controller 1 obtains flight directive according to initial state information and mobile message.When operator is when using body sense telepilot manipulation unmanned plane 27, attitude sensor 4 can obtain the initial state information of the current location of telepilot, and this current location is centre bit.When operator is at mobile remote control device body 3, being with initial state information is benchmark, and obtains flight directive in conjunction with mobile message.Like this, remote controller body 3 as the centre bit of body sense telepilot, so operator, without the need to looking for the centre bit of body sense telepilot, reduces the requirement of the technical merit to manipulator, can be convenient to manipulator's manipulation using any one position.
The process flow diagram of the body sense remote control distributor method that Fig. 5 provides for another embodiment of the present invention.As shown in Figure 5, on the basis of above-described embodiment, further, step 300, controller 1, according to initial state information and mobile message, obtains, in flight directive, specifically comprising the steps:
Step 310, calculates the volume coordinate of initial position according to initial state information, and records the volume coordinate of described initial position;
Step 320, calculates the volume coordinate of predeterminated position according to mobile message, and records the volume coordinate of predeterminated position;
Step 330, obtains flight directive according to the volume coordinate of initial position and the volume coordinate of predeterminated position.
In the present embodiment, controller 1 calculates body sense telepilot at initial position according to the initial state information obtained, the i.e. volume coordinate of centre bit, then, the volume coordinate of predeterminated position is being calculated according to mobile message, by the movement of remote controller body 3 in volume coordinate, thus the accurate motion track obtaining remote controller body 3 and fasten in volume coordinate, thus realize the accurate control to unmanned plane 27.
The process flow diagram of the body sense remote control distributor method that Fig. 6 provides for further embodiment of this invention.As shown in Figure 6, on the basis of above-described embodiment, further, step 330, according to the volume coordinate of initial position and the volume coordinate of predeterminated position, obtains, in flight directive, specifically comprising the steps:
Step 331, records the hypercomplex number that the volume coordinate of initial position is corresponding, and calculates inceptive direction cosine matrix corresponding to this hypercomplex number;
Step 332, records the hypercomplex number that the volume coordinate of predeterminated position is corresponding, and calculates current direction cosine matrix corresponding to this hypercomplex number;
Step 333, is multiplied the transposed matrix of inceptive direction cosine matrix with current direction cosine matrix, obtains the moving direction cosine matrix of current direction cosine matrix relative to inceptive direction cosine matrix;
Step 334, utilizes moving direction cosine matrix to calculate the Eulerian angle of current remotes body 3 relative to initial position;
Step 335, utilizes Eulerian angle to obtain flight directive.
Wherein, hypercomplex number is hypercomplex number is the mathematical concept found in 1843 by Irish mathematician William Lu Yun Hamiltonian.The multiplication of hypercomplex number does not meet law of commutation.In particular, hypercomplex number is the not commutative extension of plural number.As the set of hypercomplex number is considered to multidimensional real number space, hypercomplex number just represents a four-dimentional space, is two-dimensional space relative to plural number.
In the present embodiment, utilizing hypercomplex number can calculate remote controller body 3 fast take initial position as benchmark, variable quantity in space coordinates, the i.e. Eulerian angle of remote controller body 3 rotation, reduce operand, improve the work efficiency of controller 1, manipulation precision can also be improved further simultaneously.
The process flow diagram of the body sense remote control distributor method that Fig. 7 provides for yet another embodiment of the invention; The general flow chart of the body sense remote control distributor method that Fig. 8 provides for the embodiment of the present invention.As shown in Figure 7 and Figure 8, on the basis of above-described embodiment, further, step 335, utilizes described Eulerian angle to obtain, in flight directive, specifically also comprising the steps:
Step 3351, by the y-axis half-twist of moving direction cosine matrix around body axis system corresponding to inceptive direction cosine matrix, obtains final direction cosine matrix;
Step 3352, utilizes final direction cosine matrix to obtain the angle of pitch of unmanned plane 27 and the flight directive of roll angle.
Because pitch range is when 90 ° and about-90 °, there is singular point in Eulerian angle, in order to hide Eulerian angle singular position, making manipulation sensitiveer, needing the singular position by becoming Eulerian angle near the centre bit of body sense telepilot.So, the angle of pitch corresponding for moving direction cosine matrix is increased by 90 °.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (13)
1. a body sense telepilot, is characterized in that, comprising: attitude sensor, controller and the first wireless data transmission module, and remote controller body;
Described attitude sensor, described first wireless data transmission module and described controller are all arranged on described remote controller body, and described attitude sensor and described first wireless data transmission module are all electrically connected with described controller;
Described attitude sensor is for obtaining the initial state information of the current location of described remote controller body, and the mobile message of described remote controller body movement, and passes to described controller;
Described controller is used for according to described initial state information and mobile message, obtains flight directive, and is sent by flight directive by described first wireless data transmission module.
2. body sense telepilot according to claim 1, is characterized in that, described remote controller body is also provided with body sense activator button; Described body sense activator button is electrically connected with described controller, is initial position for locating the current location of described remote controller body, and utilizes described attitude sensor to obtain described initial state information.
3. body sense telepilot according to claim 2, it is characterized in that, described controller is also provided with precision adjustment module, described precision adjustment module is for regulating described flight directive along unmanned plane coordinate system Y-axis half-twist, to make described remote controller body when described initial position, unmanned plane keeps horizontality.
4. body sense telepilot according to claim 2, is characterized in that, described initial state information comprises angular velocity and the acceleration of initial position;
Described mobile message comprises angular velocity and the acceleration that described remote controller body moves to predeterminated position.
5. body sense telepilot according to claim 4, it is characterized in that, described attitude sensor comprises gyroscope and accelerometer;
Described gyroscope and accelerometer are arranged on described remote controller body, and are electrically connected with described controller; Described gyroscope and described accelerometer are respectively used to angular velocity and the acceleration of the initial position obtaining described remote controller body, and remote controller body moves to angular velocity and the acceleration of predeterminated position;
Described controller is according to the angular velocity of described initial position and acceleration, and remote controller body moves to angular velocity and the acceleration of predeterminated position, obtain flight directive, and described flight directive is passed to aircraft mounted control system, the heading of onboard flight Systematical control unmanned plane.
6. the body sense telepilot according to any one of claim 1-5, is characterized in that, described remote controller body is also provided with GPS locator and the button that makes a return voyage; Described GPS locator and the described button that makes a return voyage all are electrically connected with described controller, make a return voyage for manipulating unmanned plane;
And/or described remote controller body is also provided with landing button, and described landing button is electrically connected with described controller, for manipulating unmanned plane landing;
And/or described remote controller body is also provided with shoot button, and described shoot button is electrically connected with described controller;
And/or described remote controller body is also provided with shooting button, and described shooting button is electrically connected with described controller;
And/or task that described remote controller body is also provided with starts or pause button and task stop key, described task starts or pause button and described task stop key all is electrically connected with described controller.
7. the body sense telepilot according to any one of claim 1-5, is characterized in that, be also provided with battery in described remote controller body; Described remote controller body is also provided with power switch, and described battery is electrically connected with described controller by described power switch;
Described remote controller body is also provided with the first LED and power source charges manager, described first LED is electrically connected with described battery by described power source charges manager, and described first LED is for showing the charged state of described battery;
Described remote controller body is also provided with USB interface, and described USB interface is electrically connected with described controller, for firmware upgrade or to described battery charging;
And/or described remote controller body is also provided with vibrating motor and active buzzer, and described vibrating motor and described active buzzer are all electrically connected with described controller;
And/or described remote controller body is also provided with the second LED, and described second LED is electrically connected with described controller, to show the state of flight of unmanned plane.
8. a body sense remote control distributor system, is characterized in that, comprises airborne flight control system and the body sense telepilot as described in any one of claim 1-7;
Described airborne flight control system is provided with the second wireless data transmission module, and described second wireless data transmission module is connected with described first wireless data transmission module wireless telecommunications; Described airborne flight control system is used for controlling described unmanned plane during flying according to flight directive.
9. body sense remote control distributor system according to claim 8, it is characterized in that, described airborne flight control system also comprises locating module, attitude heading reference system and barometer module and microprocessor;
Described microprocessor is used for the flight information being obtained unmanned plane by described locating module, described attitude heading reference system and described barometer module, and by described second wireless data transmission module, described flight information is passed to described body sense telepilot.
10. a body sense remote control distributor method, is characterized in that, specifically comprise the steps:
When detecting that body sense remote control distributor pattern is activated, the current location of remote position controlled device body is initial position, and utilizes attitude sensor to obtain the initial state information of remote controller body, and passes to controller;
When remote controller body moves, attitude sensor obtains the mobile message of remote controller body, and passes to controller;
Controller, according to initial state information and mobile message, obtains flight directive;
Flight directive is passed to airborne flight control system by described controller, and airborne flight control system controls unmanned plane during flying.
11. body sense remote control distributor methods according to claim 10, it is characterized in that, described controller, according to initial state information and mobile message, obtains, in the step of flight directive, specifically comprising the steps:
Calculate the volume coordinate of initial position according to described initial state information, and record the volume coordinate of described initial position;
Calculate the volume coordinate of predeterminated position according to mobile message, and record the volume coordinate of predeterminated position;
Flight directive is obtained according to the volume coordinate of initial position and the volume coordinate of predeterminated position.
12. body sense remote control distributor methods according to claim 11, is characterized in that, according to the volume coordinate of initial position and the volume coordinate of predeterminated position, obtain, in the step of flight directive, specifically comprising the steps:
Record the hypercomplex number that the volume coordinate of initial position is corresponding, and calculate inceptive direction cosine matrix corresponding to this hypercomplex number;
Record the hypercomplex number that the volume coordinate of predeterminated position is corresponding, and calculate current direction cosine matrix corresponding to this hypercomplex number;
The transposed matrix of inceptive direction cosine matrix is multiplied with current direction cosine matrix, obtains the moving direction cosine matrix of current direction cosine matrix relative to inceptive direction cosine matrix;
Moving direction cosine matrix is utilized to calculate the Eulerian angle of current remotes body relative to initial position;
Eulerian angle are utilized to obtain flight directive.
13. body sense remote control distributor methods according to claim 12, is characterized in that, the described Eulerian angle that utilize obtain, in the step of flight directive, specifically also comprising the steps:
By the y-axis half-twist of moving direction cosine matrix around body axis system corresponding to inceptive direction cosine matrix, obtain final direction cosine matrix;
Final direction cosine matrix is utilized to obtain the angle of pitch of unmanned plane and the flight directive of roll angle.
Priority Applications (4)
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| CN201511032422.8A CN105469579B (en) | 2015-12-31 | 2015-12-31 | Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method |
| PCT/CN2016/086473 WO2017113648A1 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method |
| EP16880456.5A EP3399380B1 (en) | 2015-12-31 | 2016-06-20 | Headless control method |
| US16/067,557 US11327477B2 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and head-less control method |
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