CN106406335A - Azimuth adjustment system used for mechatronics unmanned aerial vehicle positioning and adjustment method - Google Patents
Azimuth adjustment system used for mechatronics unmanned aerial vehicle positioning and adjustment method Download PDFInfo
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- CN106406335A CN106406335A CN201611144091.1A CN201611144091A CN106406335A CN 106406335 A CN106406335 A CN 106406335A CN 201611144091 A CN201611144091 A CN 201611144091A CN 106406335 A CN106406335 A CN 106406335A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses an azimuth adjustment system used for mechatronics unmanned aerial vehicle positioning and an adjustment method, which belongs to the technical field of mechatronics. The adjustment system comprises a central processing unit which is electrically and bi-directionally connected with a data acquisition system and a data analysis system. The data acquisition system comprises an environment data acquisition subsystem and an unmanned aerial vehicle flight data acquisition subsystem. The data analysis system comprises an environment data analysis subsystem and a flight data analysis subsystem. The central processing unit is in electrical output connection with a remote control system. According to the azimuth adjustment system used for unmanned aerial vehicle positioning and the adjustment method, an unmanned aerial vehicle always flies according to a scheduled flight plan, and can adjust the attitude and flight according to a ground instruction in time; the unmanned aerial vehicle is prevented from the disturbance of natural environment; the unmanned aerial vehicle can timely adjust to resume normal flight from disturbance; and the unmanned aerial vehicle can stably flies and better work.
Description
Technical field
The present invention relates to technical field of photo-electro-mechanical integration, specially a kind of electromechanical integration unmanned plane positioning orientation is adjusted
Whole system and method for adjustment.
Background technology
UAV referred to as " unmanned plane ", is to be manipulated with the presetting apparatus provided for oneself using radio robot
Not manned aircraft, this is one and widely defines, present unmanned plane refers to by operator on ground mostly in the face of flying
Row device carries out the device of flight operation, and it includes aircraft and ground operating equipment, unmanned plane when outdoor carries out flight, due to
Outdoor environment is more complicated, is easily caused aircraft flight course line and shifts it is impossible to complete normally to work, or even due to
The impact of natural environment causes unmanned plane during flying attitude unstable and the situation of air crash occurs, when being so accomplished by unmanned plane during flying
Carry out positioning adjustment, location technology is one of key technology of unmanned plane during flying, in the air by both tramp-liners or both do not made unmanned plane
Determine attitude flight, unmanned plane steadily hovering (holding relative position is constant under any wind speed) and complete set action etc., all
Too busy to get away location technology, outdoor unmanned plane is positioned with kinds of schemes, including the positioning based on satellite navigations such as GPS, based on certain
The track and localization of particular signal source (such as setting bracelet signal source, realize relatively by the relative position of unmanned machine testing bracelet signal source
Location positioning), for this reason, it is proposed that a kind of electromechanical integration unmanned plane positioning orientation adjustment system and method for adjustment.
Content of the invention
It is an object of the invention to provide a kind of electromechanical integration unmanned plane positioning orientation adjustment system and method for adjustment,
To solve to propose in above-mentioned background technology to keep making unmanned plane to fly by both tramp-liners or set attitude in the air, unmanned
Machine steadily hovering (holding relative position is constant under any wind speed) and the problem completing set action etc..
For achieving the above object, the present invention provides following technical scheme：A kind of electromechanical integration unmanned plane positioning orientation
Adjustment system, including central processing unit, described central processing unit electrically exports respectively and connects alarm unit and display unit, described
Central processing unit is electrically bi-directionally connected data collecting system data analysis system respectively, and described data collecting system includes environment
Data acquisition subsystem and unmanned plane during flying data acquisition subsystem, described data analysis system includes environmental data analysis subsystem
System and flying quality analyzing subsystem, described central processing unit electrically exports connection remote control system, described central processing unit
Electrically input connects input block.
Preferably, described environmental data collecting subsystem includes data acquisition unit, described data acquisition unit electricity respectively
Property output connect temperature sensor, humidity sensor, atmosphere pressure sensor and wind sensor, described data acquisition unit is electrical
Output connects processor, and described processor electrically exports connection filter unit, and described filter unit electrically exports connection A/D conversion
Unit, described A/D converting unit electrically exports JA(junction ambient) data storage cell.
Preferably, described unmanned plane during flying data acquisition subsystem includes information acquisition unit, described information collecting unit
Electrically input connects GPS unit, attitude transducer, velocity sensor and three axle magnetic course transmitters respectively, and described information gathers
The electrical output connecting microprocessor of unit, described microprocessor electrically exports connection induced signal amplifying unit, described sensing letter
Number amplifying unit electrically exports connection induced signal detector unit, and described induced signal detector unit electrically exports connection flight number
According to memory element.
Preferably, described environmental data analysis subsystem includes data extracting unit, and described data extracting unit is electrically defeated
Go out to connect data analysis unit, described data analysis unit electrically exports connection controller, described controller electrically exports connection
Comparison unit, described comparison unit electrically exports connection judgment reasoning element, and described judging and deducing unit electrically exports connection letter
Breath feedback unit.
Preferably, described flying quality analyzing subsystem includes data screening unit, and described data screening unit is electrically defeated
Go out to connect data processing unit, described data processing unit electrically exports connection server, described server electrically exports connection
Data feedback unit, described server electrically exports connection mathematical operation unit.
Preferably, described tele-control system includes control information input block, and described control information input block is electrical
Output connects wireless data processing unit, and described wireless data processing unit electrically exports connection wireless data transmission unit, institute
State wireless data transmission unit and electrically export connection wireless data receiving unit, the described wireless data receiving unit electrically company of output
Connect UAS chip.
Preferably, described attitude transducer is mutually isostructural three groups, and attitude transducer is infrared posture sensor.
Preferably, described display unit includes unmanned plane during flying analog simulation platform.
Preferably, should be comprised the steps based on unmanned plane positioning orientation adjustment method：
S1：Data acquisition：By data collecting system to residing environmental data during unmanned plane during flying and unmanned plane during flying
When position and drift angle information, and the data that collection is come stored；
S2：Data analysiss：By data analysis system to data acquisition system Lai data carry out data analysiss and
Arrange；
S3：Adjustment unmanned plane position：By the positional information of data analysiss and the unmanned plane arranging gained, then by long-range
Remote control systems, to carry out the position of unmanned plane is adjusted, make unmanned plane be flown in specified height and position；
S4：Adjustment unmanned plane pitch angle：By the flexion-extension angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system is carrying out the pitch angle of unmanned plane is adjusted；
S5：Adjustment unmanned machine rolling angle：By the rolling angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system is carrying out the roll angle of unmanned plane is adjusted；
S6：Adjustment unmanned plane yaw angle：By the driftage angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system is carrying out the yaw angle of unmanned plane is adjusted.
Preferably, described step S2 analysis and the data processing gained at least include longitude and the dimension of unmanned plane during flying position
Roll angle when pitch angle when angle of drift when degree, unmanned plane during flying, unmanned plane during flying, unmanned plane during flying.
Compared with prior art, the invention has the beneficial effects as follows：The unmanned plane positioning of the present invention with orientation adjustment system and
Method of adjustment can be very good to keep unmanned plane to fly according to predetermined flight plan, and can adjust appearance in time according to surface instruction
State and flight, have anti-interference to natural environment to the disturbance of unmanned plane, can adjust in time and recover normally to fly from disturbance
OK, so that unmanned plane during flying more steady, preferably go to execute work.
Brief description
Fig. 1 is principle of the invention block diagram；
Fig. 2 is environmental data collecting subsystem theory diagram of the present invention；
Fig. 3 is unmanned plane during flying data acquisition subsystem theory diagram of the present invention；
Fig. 4 is environmental data analysis subsystem theory diagram of the present invention；
Fig. 5 is flying quality analyzing subsystem theory diagram of the present invention；
Fig. 6 is remote control system theory diagram of the present invention；
Fig. 7 is unmanned plane during flying method of adjustment flow chart of the present invention；
Fig. 8 is attitude transducer structural representation of the present invention.
In figure：1 central processing unit, 2 alarm units, 3 display units, 4 data collecting systems, 41 environmental data collecting subsystems
System, 411 data acquisition units, 412 temperature sensors, 413 humidity sensors, 414 atmosphere pressure sensors, 415 wind sensors,
416 processors, 417 filter units, 418 A/D converting units, 419 environmental data memory element, 42 unmanned plane during flying data are adopted
Subsystem, 421 information acquisition units, 422 GPS unit, 423 attitude transducers, 424 velocity sensors, 425 3 axle magnetic boats
To sensor, 426 microprocessors, 427 induced signal amplifying units, 428 induced signal detector units, 429 flying quality storages
Unit, 5 data analysis systems, 51 environmental data analysis subsystems, 511 data extracting unit, 512 data analysis unit, 513 controls
Device processed, 514 comparison units, 515 judging and deducing units, 516 information feedback unit, 52 flying quality analyzing subsystems, 521 data
Screening unit, 522 data processing units, 523 servers, 524 data feedback units, 526 mathematical operation units, 6 Remotes
System, 61 control information input blocks, 62 wireless data processing units, 63 wireless data transmission units, 64 wireless datas receive
Unit, 65 UAS chips, 7 input blocks.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1-8, the present invention provides a kind of technical scheme：A kind of electromechanical integration unmanned plane positioning orientation adjustment
System, including central processing unit 1, central processing unit 1 electrically exports respectively and connects alarm unit 2 and display unit 3, and central authorities are processed
Device 1 is electrically bi-directionally connected data collecting system 4 data analysis system 5 respectively, and data collecting system 4 includes environmental data collecting
Subsystem 41 and unmanned plane during flying data acquisition subsystem 42, state data analysis system 5 and include environmental data analysis subsystem 51
With flying quality analyzing subsystem 52, central processing unit 1 electrically exports connection remote control system 6, and central processing unit 6 is electrically defeated
Enter to connect input block 7, data collecting system 4 passes through environmental data collecting subsystem 41 and unmanned plane during flying data acquisition subsystem
System 42 environmental data to present position during unmanned plane during flying and position and drift angle information during unmanned plane during flying respectively,
The data that data analysis system 5 comes to collection is analyzed, and data analysis system 5 passes through environmental data analysis subsystem 51 to ring
The data that border data acquisition subsystem 41 collection comes is analyzed, and flying quality analyzing subsystem 52 is adopted to unmanned plane during flying data
The data that subsystem 42 collection comes carries out data analysiss, the data that data analysis system 5 analysis obtains and feedback of the information in
Central processor 1, central processing unit 1 control display unit 3 by analyze after data exhibiting out, if unmanned plane run occur different
Often, alarm unit 2 can send alarm signal, and operator are reminded, and staff passes through remote control system 6 to unmanned
The course of machine flight, highly, attitude is adjusted, by the required reference value of input block 7 input data contrast.
Wherein, environmental data collecting subsystem 41 includes data acquisition unit 411, and data acquisition unit 411 is respectively electrically
Output connects temperature sensor 412, humidity sensor 413, atmosphere pressure sensor 414 and wind sensor 415, data acquisition list
The electrical output of unit 411 connects processor 416, and processor 416 electrically exports connection filter unit 417, and filter unit 417 is electrically defeated
Go out to connect A/D converting unit 418, A/D converting unit 418 electrically exports JA(junction ambient) data storage cell 419, temperature sensor
412nd, humidity sensor 413, atmosphere pressure sensor 414 and wind sensor 415 are respectively to surrounding during unmanned plane during flying
Temperature, humidity, atmospheric pressure and wind speed are sensed, and data acquisition unit 411 is respectively to temperature sensor 412, humidity sensor
413rd, the data of atmosphere pressure sensor 414 and wind sensor 415 sensing is acquired, and the data after collection passes through processor
416 pass to filter unit 417 is filtered processing so that the data that collection comes has more accuracy, and filtered data is passed through
A/D converting unit 418 carries out data conversion so that the data of collection is converted into the data mode being easy to store and transmit；
Unmanned plane during flying data acquisition subsystem 42 includes information acquisition unit 421, and information acquisition unit 421 is respectively electrically
Input connects GPS unit 422, attitude transducer 423, velocity sensor 425 and three axle magnetic course transmitters 425, information gathering
The electrical output connecting microprocessor 426 of unit 421, microprocessor 426 electrically exports connection induced signal amplifying unit 427, sense
Induction signal amplifying unit 427 electrically exports connection induced signal detector unit 428, and induced signal detector unit 428 electrically exports
Connect flying quality memory element 429, GPS unit 422, attitude transducer 423, velocity sensor 425 and three axle magnetic heading pass
Sensor 425 senses to the smart latitude of position during unmanned plane during flying, attitude, speed and course respectively, information acquisition unit
421 sense to GPS unit 422, attitude transducer 423, velocity sensor 425 and three axle magnetic course transmitters 425 respectively
Data is acquired, and the data after collection passes to induced signal amplifying unit 427 by microprocessor 426 and carries out signal amplification
Process, be easy to the screening to data for the later stage, the data after amplification carries out induced signal inspection by induced signal detector unit 428
Survey so that the accuracy of the next data of collection is relatively reliable, data collection come finally by flying quality memory element 429
Stored；
Environmental data analysis subsystem 51 includes data extracting unit 511, and data extracting unit 511 electrically exports connection number
According to analytic unit 512, data analysis unit 512 electrically exports connection controller 513, and controller 513 electrically exports connection contrast
Unit 514, comparison unit 514 electrically exports connection judgment reasoning element 515, and judging and deducing unit 515 electrically exports connection letter
Breath feedback unit 516, the data that data extracting unit 511 is come to environmental data collecting subsystem 41 collection is extracted, and extracts
The data come carries out data analysiss by data analysis unit 512, and the mode of data analysiss is the peak value extracting in data, that is, count
According in maximum and minima, obtain peak value carry out subsequent data analysis work, the data after analysis is passed by controller 513
Pass comparison unit 514 to be contrasted, comparison unit 514 will be unmanned with input respectively to the maximum and minima of analyzing gained
During machine flight, the maximum of data base value scope of normal flight environment of vehicle and minima are contrasted；
Flying quality analyzing subsystem 52 includes data screening unit 521, and data screening unit 521 electrically exports connection number
According to processing unit 522, data processing unit 522 electrically exports connection server 523, and server 523 electrically exports connection data
Feedback unit 524, server 523 electrically exports connection mathematical operation unit 525, and data screening unit 521 is to unmanned plane during flying
The data that data acquisition subsystem 42 collection comes is screened, and the data of screening gained enters line number by data processing unit 522
According to process, the mode of data processing is that the data carrying out multi collect carries out meansigma methodss computing, obtains its meansigma methods and carries out subsequently
Data analysiss work, and the data after process is performed mathematical calculations by server 523 mathematics of control arithmetic element 525, will gather
The data come carries out calculation process with the data base value of input, thus calculating angle of drift, roll angle, pitch angle, calculates
The data going out feeds back to central processing unit 1 by data feedback unit 524 and carries out subsequent treatment；
Tele-control system 6 includes control information input block 61, and control information input block 61 electrically exports connection no
Line data processing unit 62, wireless data processing unit 62 electrically exports connection wireless data transmission unit 63, and wireless data is sent out
Penetrate unit 63 and electrically export connection wireless data receiving unit 64, wireless data receiving unit 64 electrically exports connection unmanned plane system
System chip 65, inputs the information that unmanned plane is adjusted with control by control information input block 61, and the adjustment of input controls
Information carries out data processing by wireless data processing unit 62, and the mode of process is that the information inputting is changed and signal
Strengthen so that the data message of input becomes to easily facilitate and is wirelessly transferred, the data after process passes through wireless data transmission unit
63 are transmitted, and the wireless data receiving unit 64 on unmanned plane receives to the data sending, and passes it to
UAS chip 65 is adjusted processing；
Attitude transducer 423 is mutually isostructural three groups, and attitude transducer 423 is infrared posture sensor, due to sky
The empty temperature difference and the earth between, their infrared radiation wavelength has difference, and the infrared sensor that system adopts is to 8～15 mu m wavebands
Sensitive for infrared radiation, the general heat radiation wavelength of this exactly sky and the earth, therefore sensor will not be by overheated (as the sun)
Or the object contributions of mistake low temperature, amplified through amplifier by the backward voltage of a pair of thermoelectric pile generation, then through analog digital conversion,
Can be shown as representing the numerical value of unmanned plane a direction attitude angle, typically adopt three to infrared sensor, wherein vertical direction
The effect of sensor is the temperature difference of initialization sky and the earth, to determine the calculating ratio of horizontal direction sensor, horizontal direction
Then there are laterally and radially two pairs of sensors, calculate rolling and luffing angle respectively；
Display unit 3 includes unmanned plane during flying analog simulation platform, the position of flight simulation platform real-time monitored aircraft,
The information such as the angle of pitch, roll angle, yaw angle, platform is responsible for in-flight carrying out real-time control and monitoring to unmanned plane；
A kind of electromechanical integration unmanned plane positioning uses orientation adjustment method, should use orientation adjustment method based on unmanned plane positioning
Comprise the steps：
S1：Data acquisition：By data collecting system 4 to residing environmental data during unmanned plane during flying and unmanned plane during flying
When position and drift angle information, and the data that collection is come stored；
S2：Data analysiss：Data analysiss are carried out by the data that data analysis system 5 comes to data collecting system 4 collection
And arrangement, the data of the analysis of step S2 and process gained at least includes the longitude of unmanned plane during flying position and dimension, unmanned plane fly
Roll angle when pitch angle when angle of drift during row, unmanned plane during flying, unmanned plane during flying；
S3：Adjustment unmanned plane position：By the positional information of data analysiss and the unmanned plane arranging gained, then by long-range
Remote control systems 6, to carry out the position of unmanned plane is adjusted, make unmanned plane be flown in specified height and position；
S4：Adjustment unmanned plane pitch angle：By the flexion-extension angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system 6 is carrying out the pitch angle of unmanned plane is adjusted；
S5：Adjustment unmanned machine rolling angle：By the rolling angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system 6 is carrying out the roll angle of unmanned plane is adjusted；
S6：Adjustment unmanned plane yaw angle：By the driftage angle information of data analysiss and the unmanned plane arranging gained, then pass through
Remote control system 6 is carrying out the yaw angle of unmanned plane is adjusted.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and can carry out multiple changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (10)
1. a kind of electromechanical integration unmanned plane positioning uses orientation adjustment system, including central processing unit (1) it is characterised in that：Institute
State central processing unit (1) and electrically export respectively and connect alarm unit (2) and display unit (3), described central processing unit (1) is respectively
Electrically it is bi-directionally connected data collecting system (4) data analysis system (5), described data collecting system (4) includes environmental data
Acquisition subsystem (41) and unmanned plane during flying data acquisition subsystem (42), described data analysis system (5) includes environmental data
Analyzing subsystem (51) and flying quality analyzing subsystem (52), electrically output connects Remote to described central processing unit (1)
System (6), electrically input connects input block (7) to described central processing unit (6).
2. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State environmental data collecting subsystem (41) and include data acquisition unit (411), described data acquisition unit (411) is electrically defeated respectively
Go out to connect temperature sensor (412), humidity sensor (413), atmosphere pressure sensor (414) and wind sensor (415), described
Electrically output connects processor (416) to data acquisition unit (411), and electrically output connects filter unit to described processor (416)
(417), described filter unit (417) electrically output connection A/D converting unit (418), described A/D converting unit (418) is electrically
Output JA(junction ambient) data storage cell (419).
3. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State unmanned plane during flying data acquisition subsystem (42) and include information acquisition unit (421), described information collecting unit (421) is respectively
Electrically input connects GPS unit (422), attitude transducer (423), velocity sensor (425) and three axle magnetic course transmitters
(425), described information collecting unit (421) electrically output connecting microprocessor (426), described microprocessor (426) is electrically defeated
Go out to connect induced signal amplifying unit (427), electrically output connects induced signal detection to described induced signal amplifying unit (427)
Unit (428), electrically output connects flying quality memory element (429) to described induced signal detector unit (428).
4. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State environmental data analysis subsystem (51) and include data extracting unit (511), electrically output connects described data extracting unit (511)
Connect data analysis unit (512), electrically output connects controller (513), described controller to described data analysis unit (512)
(513) electrically output connects comparison unit (514), and described comparison unit (514) electrically exports connection judgment reasoning element
(515), described judging and deducing unit (515) electrically exports link information feedback unit (516).
5. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State flying quality analyzing subsystem (52) and include data screening unit (521), electrically output connects described data screening unit (521)
Connect data processing unit (522), described data processing unit (522) electrically exports connection server (523), described server
(523) electrically output connects data feedback unit (524), and electrically output connects mathematical operation unit to described server (523)
(525).
6. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State tele-control system (6) and include control information input block (61), electrically output connects described control information input block (61)
Connect wireless data processing unit (62), electrically output connects wireless data transmission unit to described wireless data processing unit (62)
(63), described wireless data transmission unit (63) electrically output connection wireless data receiving unit (64), described wireless data connects
Electrically output connects UAS chip (65) to receive unit (64).
7. a kind of electromechanical integration unmanned plane positioning according to claim 3 with orientation adjustment system it is characterised in that：Institute
State attitude transducer (423) and be mutually isostructural three groups, and attitude transducer (423) is infrared posture sensor.
8. a kind of electromechanical integration unmanned plane positioning according to claim 1 with orientation adjustment system it is characterised in that：Institute
State display unit (3) and include unmanned plane during flying analog simulation platform.
9. a kind of electromechanical integration unmanned plane positioning with orientation adjustment method it is characterised in that：Unmanned plane positioning side should be based on
Position method of adjustment comprises the steps：
S1：Data acquisition：During by data collecting system (4) to residing environmental data during unmanned plane during flying and unmanned plane during flying
Position and drift angle information, and the next data of collection is stored；
S2：Data analysiss：Data analysiss are carried out by the data that data analysis system (5) comes to data collecting system (4) collection
And arrangement；
S3：Adjustment unmanned plane position：By the positional information of data analysiss and the unmanned plane arranging gained, then pass through Remote
System (6), to carry out the position of unmanned plane is adjusted, makes unmanned plane be flown in specified height and position；
S4：Adjustment unmanned plane pitch angle：By the flexion-extension angle information of data analysiss and the unmanned plane arranging gained, then by long-range
Remote control systems (6) are carrying out the pitch angle of unmanned plane is adjusted；
S5：Adjustment unmanned machine rolling angle：By the rolling angle information of data analysiss and the unmanned plane arranging gained, then by long-range
Remote control systems (6) are carrying out the roll angle of unmanned plane is adjusted；
S6：Adjustment unmanned plane yaw angle：By the driftage angle information of data analysiss and the unmanned plane arranging gained, then by long-range
Remote control systems (6) are carrying out the yaw angle of unmanned plane is adjusted.
10. a kind of electromechanical integration unmanned plane positioning according to claim 9 with orientation adjustment method it is characterised in that：
When the data of described step S2 analysis and process gained at least includes longitude and dimension, the unmanned plane during flying of unmanned plane during flying position
Angle of drift, unmanned plane during flying when pitch angle, unmanned plane during flying when roll angle.
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| CN114623861A (en) * | 2020-12-12 | 2022-06-14 | 四川格瑞良云科技有限公司 | Grain depot photovoltaic storehouse top heat preservation unmanned aerial vehicle patrols integration system |
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