CN106843245A - A kind of UAV Attitude control method, device and unmanned plane - Google Patents
A kind of UAV Attitude control method, device and unmanned plane Download PDFInfo
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- CN106843245A CN106843245A CN201611088682.1A CN201611088682A CN106843245A CN 106843245 A CN106843245 A CN 106843245A CN 201611088682 A CN201611088682 A CN 201611088682A CN 106843245 A CN106843245 A CN 106843245A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 40
- 230000006870 function Effects 0.000 claims description 41
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000004044 response Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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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- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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CN201611088682.1A CN106843245B (en) | 2016-12-01 | 2016-12-01 | Unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle |
PCT/CN2017/106341 WO2018099198A1 (en) | 2016-12-01 | 2017-10-16 | Control method and device for attitude of unmanned aerial vehicle, and unmanned aerial vehicle |
Applications Claiming Priority (1)
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CN201611088682.1A CN106843245B (en) | 2016-12-01 | 2016-12-01 | Unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle |
Publications (2)
Publication Number | Publication Date |
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CN106843245A true CN106843245A (en) | 2017-06-13 |
CN106843245B CN106843245B (en) | 2022-02-01 |
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CN201611088682.1A Active CN106843245B (en) | 2016-12-01 | 2016-12-01 | Unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle |
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CN (1) | CN106843245B (en) |
WO (1) | WO2018099198A1 (en) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107894776A (en) * | 2017-11-09 | 2018-04-10 | 酷黑科技(北京)有限公司 | A kind of unmanned plane augmentation control method, apparatus and unmanned plane |
WO2018099198A1 (en) * | 2016-12-01 | 2018-06-07 | 北京京东尚科信息技术有限公司 | Control method and device for attitude of unmanned aerial vehicle, and unmanned aerial vehicle |
CN108700887A (en) * | 2017-11-15 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Data processing method and equipment |
CN110531775A (en) * | 2018-05-24 | 2019-12-03 | 深圳臻迪信息技术有限公司 | A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system |
CN110727283A (en) * | 2019-09-23 | 2020-01-24 | 浙江驭云航空科技有限公司 | Combined type unmanned aerial vehicle flight attitude control device and control method thereof |
CN111026147A (en) * | 2019-12-25 | 2020-04-17 | 北京航空航天大学 | Zero overshoot unmanned aerial vehicle position control method and device based on deep reinforcement learning |
CN111650955A (en) * | 2020-06-19 | 2020-09-11 | 深圳市人工智能与机器人研究院 | Control method of climbing robot and climbing robot |
CN112015195A (en) * | 2020-09-07 | 2020-12-01 | 中国航空工业集团公司成都飞机设计研究所 | Real-time continuous control method for preventing ground hand from separating from rod in flight attitude of unmanned aerial vehicle |
WO2021078166A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Method and apparatus for controlling flight attitudes, unmanned aerial vehicle and storage medium |
CN116225040A (en) * | 2023-03-27 | 2023-06-06 | 成都飞机工业(集团)有限责任公司 | Automatic attitude adjustment method for aircraft based on inertial navigation system |
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CN111813140B (en) * | 2020-07-31 | 2023-07-28 | 中国人民解放军空军工程大学 | Track tracking control method for four-rotor unmanned aerial vehicle with high precision |
CN112034875B (en) * | 2020-09-15 | 2024-04-19 | 西安爱生技术集团公司 | Full-automatic ground-leaving take-off control method for general unmanned aerial vehicle with conventional layout |
CN112306078B (en) * | 2020-11-16 | 2024-01-23 | 广东电网有限责任公司肇庆供电局 | Method and system for automatically avoiding obstacle wires of unmanned aerial vehicle |
CN113110552B (en) * | 2021-04-27 | 2023-01-06 | 北京三快在线科技有限公司 | Attitude control method, device and equipment for aircraft and readable storage medium |
CN114740945B (en) * | 2021-07-09 | 2023-03-10 | 百倍云(浙江)物联科技有限公司 | Intelligent crop planting method |
CN114265422B (en) * | 2021-12-17 | 2024-04-12 | 广州极飞科技股份有限公司 | Radar detection angle control method and device, electronic equipment and readable storage medium |
CN114610059B (en) * | 2022-03-03 | 2023-06-02 | 广东汇天航空航天科技有限公司 | Yaw control method and device, rotary wing aircraft and storage medium |
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CN102192741A (en) * | 2010-01-29 | 2011-09-21 | 尤洛考普特公司 | Stabilised estimation of the pitch angles of an aircraft |
CN102414635A (en) * | 2009-04-28 | 2012-04-11 | 三菱电机株式会社 | Command generation device |
CN104062976A (en) * | 2014-06-10 | 2014-09-24 | 北京控制工程研究所 | Fast aircraft attitude maneuvering method based on fact that angular acceleration derivatives are in sine curve |
CN106054908A (en) * | 2016-06-17 | 2016-10-26 | 上海惠盛科技有限公司 | Unmanned aerial vehicle (UAV) attitude adjusting device and method |
JP6026695B1 (en) * | 2016-06-14 | 2016-11-16 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | Control device, moving body, control method, and program |
Family Cites Families (3)
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---|---|---|---|---|
JP3846829B2 (en) * | 1998-10-19 | 2006-11-15 | 住友重機械工業株式会社 | Steering angle control device for moving body |
JP2007041733A (en) * | 2005-08-01 | 2007-02-15 | Toyota Motor Corp | Attitude angle detection device for motion object |
CN106843245B (en) * | 2016-12-01 | 2022-02-01 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle |
-
2016
- 2016-12-01 CN CN201611088682.1A patent/CN106843245B/en active Active
-
2017
- 2017-10-16 WO PCT/CN2017/106341 patent/WO2018099198A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102414635A (en) * | 2009-04-28 | 2012-04-11 | 三菱电机株式会社 | Command generation device |
CN102192741A (en) * | 2010-01-29 | 2011-09-21 | 尤洛考普特公司 | Stabilised estimation of the pitch angles of an aircraft |
CN104062976A (en) * | 2014-06-10 | 2014-09-24 | 北京控制工程研究所 | Fast aircraft attitude maneuvering method based on fact that angular acceleration derivatives are in sine curve |
JP6026695B1 (en) * | 2016-06-14 | 2016-11-16 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | Control device, moving body, control method, and program |
CN106054908A (en) * | 2016-06-17 | 2016-10-26 | 上海惠盛科技有限公司 | Unmanned aerial vehicle (UAV) attitude adjusting device and method |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018099198A1 (en) * | 2016-12-01 | 2018-06-07 | 北京京东尚科信息技术有限公司 | Control method and device for attitude of unmanned aerial vehicle, and unmanned aerial vehicle |
CN107894776A (en) * | 2017-11-09 | 2018-04-10 | 酷黑科技(北京)有限公司 | A kind of unmanned plane augmentation control method, apparatus and unmanned plane |
CN108700887A (en) * | 2017-11-15 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Data processing method and equipment |
WO2019095139A1 (en) * | 2017-11-15 | 2019-05-23 | 深圳市大疆创新科技有限公司 | Data processing method and device |
CN110531775A (en) * | 2018-05-24 | 2019-12-03 | 深圳臻迪信息技术有限公司 | A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system |
CN110727283A (en) * | 2019-09-23 | 2020-01-24 | 浙江驭云航空科技有限公司 | Combined type unmanned aerial vehicle flight attitude control device and control method thereof |
WO2021078166A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Method and apparatus for controlling flight attitudes, unmanned aerial vehicle and storage medium |
CN111026147A (en) * | 2019-12-25 | 2020-04-17 | 北京航空航天大学 | Zero overshoot unmanned aerial vehicle position control method and device based on deep reinforcement learning |
CN111026147B (en) * | 2019-12-25 | 2021-01-08 | 北京航空航天大学 | Zero overshoot unmanned aerial vehicle position control method and device based on deep reinforcement learning |
CN111650955A (en) * | 2020-06-19 | 2020-09-11 | 深圳市人工智能与机器人研究院 | Control method of climbing robot and climbing robot |
CN111650955B (en) * | 2020-06-19 | 2023-07-25 | 深圳市人工智能与机器人研究院 | Control method of climbing robot and climbing robot |
CN112015195A (en) * | 2020-09-07 | 2020-12-01 | 中国航空工业集团公司成都飞机设计研究所 | Real-time continuous control method for preventing ground hand from separating from rod in flight attitude of unmanned aerial vehicle |
CN116225040A (en) * | 2023-03-27 | 2023-06-06 | 成都飞机工业(集团)有限责任公司 | Automatic attitude adjustment method for aircraft based on inertial navigation system |
Also Published As
Publication number | Publication date |
---|---|
WO2018099198A1 (en) | 2018-06-07 |
CN106843245B (en) | 2022-02-01 |
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