CN106708088B - 坐标计算方法及装置、飞行控制方法及系统、无人机 - Google Patents
坐标计算方法及装置、飞行控制方法及系统、无人机 Download PDFInfo
- Publication number
- CN106708088B CN106708088B CN201611152279.0A CN201611152279A CN106708088B CN 106708088 B CN106708088 B CN 106708088B CN 201611152279 A CN201611152279 A CN 201611152279A CN 106708088 B CN106708088 B CN 106708088B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- unmanned aerial
- aerial vehicle
- temporary
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 44
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 32
- 230000001133 acceleration Effects 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims description 47
- 238000001514 detection method Methods 0.000 claims description 21
- 238000013507 mapping Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000000873 masking effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- BVKZAKBPKOVXSE-UHFFFAOYSA-M [OH-].COC(C[Hg+])CNC(=O)NC(N)=O Chemical compound [OH-].COC(C[Hg+])CNC(=O)NC(N)=O BVKZAKBPKOVXSE-UHFFFAOYSA-M 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
Description
Claims (18)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610852202 | 2016-09-26 | ||
CN2016108522028 | 2016-09-26 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106708088A CN106708088A (zh) | 2017-05-24 |
CN106708088B true CN106708088B (zh) | 2021-03-05 |
Family
ID=58935891
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611152279.0A Active CN106708088B (zh) | 2016-09-26 | 2016-12-14 | 坐标计算方法及装置、飞行控制方法及系统、无人机 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106708088B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108196570A (zh) * | 2017-12-26 | 2018-06-22 | 深圳市道通智能航空技术有限公司 | 一种无人机航向修正方法、装置和无人机 |
CN110579738B (zh) * | 2018-06-11 | 2021-06-25 | 深圳市优必选科技有限公司 | 运动目标方向角获取方法及终端设备 |
CN109186593A (zh) * | 2018-09-13 | 2019-01-11 | 深圳市吉影科技有限公司 | 一种水下无人机的运动轨迹记录绘制方法 |
CN110568860A (zh) * | 2019-09-17 | 2019-12-13 | 深圳市道通智能航空技术有限公司 | 一种无人飞行器的返航方法、装置及无人飞行器 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8868256B2 (en) * | 2006-05-15 | 2014-10-21 | Honeywell International Inc. | Relative navigation for aerial refueling of an unmanned aerial vehicle |
CN100573387C (zh) * | 2007-12-10 | 2009-12-23 | 华中科技大学 | 机器人自主定位系统 |
CN201345103Y (zh) * | 2008-12-24 | 2009-11-11 | 北京航空航天大学 | 无人共轴直升机自主导航系统半实物仿真技术装置 |
CN102591351A (zh) * | 2011-01-14 | 2012-07-18 | 北京航天慧海系统仿真科技有限公司 | 基于遥感、卫星定位导航和无人机的三维空间碳排放监测系统 |
CN102243315A (zh) * | 2011-04-25 | 2011-11-16 | 惠州Tcl移动通信有限公司 | 具有辅助定位功能的移动终端及方法 |
EP2541198B1 (en) * | 2011-06-30 | 2015-02-25 | Furuno Electric Company Limited | Road map feedback corrections in tightly coupled gps and dead reckoning vehicle navigation |
CN102508492B (zh) * | 2011-11-04 | 2013-11-06 | 西北工业大学 | 一种飞行器在等高航路点间的定高度大圆飞行实现方法 |
US8843314B2 (en) * | 2013-01-04 | 2014-09-23 | General Motors Llc | High fidelity horizontal position error estimation for vehicular GPS/DR navigation |
CN103412493B (zh) * | 2013-07-29 | 2016-01-20 | 北京航空航天大学 | 固液动力巡航飞行器飞行任务规划仿真系统 |
CN104013378B (zh) * | 2014-06-25 | 2016-04-27 | 天津理工大学 | 便携式遥操作无线微管道机器人的控制系统及工作方法 |
CN104503466B (zh) * | 2015-01-05 | 2017-09-12 | 北京健德乾坤导航系统科技有限责任公司 | 一种微小型无人机导航装置 |
CN104502942A (zh) * | 2015-01-06 | 2015-04-08 | 上海华测导航技术有限公司 | 基于卫星导航和航位推测实现农业机械定位的系统及方法 |
CN104864866B (zh) * | 2015-05-15 | 2019-05-10 | 天津远度科技有限公司 | 飞行器飞行误差矫正装置、矫正方法及无人飞行器 |
CN105857340A (zh) * | 2016-04-01 | 2016-08-17 | 郑君伟 | 基于组合导航的轨道检测系统及方法 |
-
2016
- 2016-12-14 CN CN201611152279.0A patent/CN106708088B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN106708088A (zh) | 2017-05-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10788830B2 (en) | Systems and methods for determining a vehicle position | |
Deilamsalehy et al. | Sensor fused three-dimensional localization using IMU, camera and LiDAR | |
CN106708088B (zh) | 坐标计算方法及装置、飞行控制方法及系统、无人机 | |
EP2472225A2 (en) | Method and system for initial quaternion and attitude estimation | |
CN107490803A (zh) | 利用gps和惯导系统对机器人定位定向方法 | |
CN106679657A (zh) | 一种运动载体导航定位方法及装置 | |
CN109143304B (zh) | 用于确定无人驾驶车辆位姿的方法和装置 | |
JP2019078560A (ja) | ジャイロセンサのオフセット補正装置、オフセット補正プログラム、歩行者自律航法装置 | |
CN115164936A (zh) | 高精地图制作中用于点云拼接的全局位姿修正方法及设备 | |
Hidalgo-Carrió et al. | On the design of attitude-heading reference systems using the Allan variance | |
JP7372949B2 (ja) | 速度予測方法、装置、電子機器、記憶媒体及びコンピュータプログラム製品 | |
RU2487318C1 (ru) | Бесплатформенная инерциальная курсовертикаль на чувствительных элементах средней точности | |
US20210116247A1 (en) | Method for harmonising two inertial measurement units with one another and navigation system implementing this method | |
Tang et al. | An attitude estimate method for fixed-wing UAV s using MEMS/GPS data fusion | |
CN113805214B (zh) | 组合导航方法、装置、可行驶设备及计算机存储介质 | |
US11796318B2 (en) | Rotation measurement system using Coriolis and Euler forces | |
Wang et al. | Uav attitude measurement based on enhanced mahony complementary filter | |
CN113218380B (zh) | 一种电子罗盘的校正方法、装置、电子设备及存储介质 | |
CN112649001B (zh) | 一种小型无人机姿态与位置解算方法 | |
CN114636418A (zh) | 一种基于mems测量姿态相对变化的方法、装置及电子设备 | |
Menna et al. | GPS aided strapdown inertial navigation system for autonomous robotics applications | |
CN111964676A (zh) | 航姿解算方法、装置、电子设备及计算机可读存储介质 | |
CN110082805A (zh) | 一种三维定位装置和方法 | |
Ryzhkov | Complementary filter design for attitude determination | |
Lima et al. | Performance evaluation of attitude estimation algorithms in the design of an ahrs for fixed wing uavs |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20190107 Address after: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Applicant after: Tianjin far Technology Co., Ltd. Address before: 401121 No. 19 Yinglong Avenue, Longxing Street, Yubei District, Chongqing Applicant before: Chongqing Zerotech Intelligent Technology Co., Ltd. |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20200810 Address after: 102100 building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing 1916 Applicant after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: No. 309-9, service center, Chen Tong, Hexi District, Dongting Road, Hexi District, Tianjin, Tianjin Applicant before: Tianjin Yuandu Technology Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant |