CN107085434B - Unmanned aerial vehicle based on bidirectional angle correction and correction control method - Google Patents
Unmanned aerial vehicle based on bidirectional angle correction and correction control method Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
An unmanned aerial vehicle based on bidirectional angle correction and a correction control method thereof comprise a machine body, two machine arms connected with the machine body, a rotor wing corresponding to the machine arms, a power device of the rotor wing, and an angle correction device; the angle correction device comprises a first measuring device, a second measuring device and a calibrator, wherein the first measuring device and the second measuring device are respectively arranged on the two machine arms through connecting rods, and the first measuring device and the second measuring device can be respectively contained in the two machine arms after being contracted; the calibrator is arranged on the machine body through a flexible connecting line and can be accommodated in the machine body, the outer walls of the shells of the first measuring device and the second measuring device are respectively provided with a distance measuring sensor, the calibrator is provided with scales and is provided with an inductor which is used for sensing signals and recording sensing positions in real time; the lower extreme of calibrator is provided with the calibration sensor, can improve measurement accuracy, carries out the angle correction of flight equipment behind the accurate measurement inclination variation trend to improve monitoring efficiency, improve monitoring accuracy.
Description
Technical Field
The invention relates to the field of measurement, in particular to an unmanned aerial vehicle based on bidirectional angle correction and a correction control method.
Background
In recent years, with the development of social economy and scientific technology, the aviation technology has attracted extensive attention in the military and civil fields. Future aeronautical technologies are also an important development trend. With the development of aviation technology, more and more scientific and technological equipment can all be loaded in unmanned aerial vehicle, for example monitoring sensing equipment, communications facilities, positioning device, shooting equipment etc. all extensively are applied to in the aviation technical field.
Wherein, through the equipment of loading in unmanned aerial vehicle, can realize the control to the image on ground, aerial height measurement etc. and different high altitude have different monitoring environment moreover, and unexpected measurement angle (for example slope) can make measured data distortion moreover, for example the dislocation of taking the photo etc. then accurate carry out the measurement become especially important at a certain height. However, when monitoring the ground, the existing unmanned aerial vehicle often cannot accurately shoot at a desired angle by using equipment such as a camera due to the influence of the external environment (such as wind, air pressure, height, and the like). Although the prior art already has a device for measuring an angle by using a measuring device such as a gyroscope to correct the angle, the prior art still cannot meet the requirement of high-precision measurement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the unmanned aerial vehicle based on bidirectional angle correction and the correction control method, which can improve the measurement precision and correct the angle of the unmanned aerial vehicle after accurately measuring the inclination angle change trend, thereby improving the monitoring efficiency and improving the monitoring precision.
The invention provides an unmanned aerial vehicle based on bidirectional angle correction, which comprises a machine body, two machine arms connected with the machine body, a rotor wing corresponding to the machine arms, a power device of the rotor wing, and an angle correction device, wherein the two machine arms are connected with the machine body;
the angle correction device comprises a first measuring device, a second measuring device and a calibrator, wherein the first measuring device and the second measuring device are respectively arranged on the two machine arms through connecting rods, and the first measuring device and the second measuring device can be respectively contained in the two machine arms after being contracted;
the calibrator is arranged on the machine body through a flexible connecting line and can be accommodated in the machine body;
the first measuring device and the second measuring device respectively comprise a shell, a base, a first distance measuring unit and a second distance measuring unit, the upper end of the base is fixedly connected with the lower end of the shell, and the first distance measuring unit and the second distance measuring unit are respectively arranged at the lower end of the base; the signal emission direction of the second distance measuring unit is vertically downward, and the included angle between the signal emission direction of the second distance measuring unit and the signal emission direction of the first distance measuring unit is 5 degrees, the signal emission directions of the first distance measuring unit and the second distance measuring unit are on the same plane, and the first distance measuring units of the first measuring device and the second measuring device are respectively positioned on different sides of the respective second distance measuring units;
the outer walls of the shells of the first measuring device and the second measuring device are respectively provided with a distance measuring sensor, and the arrangement position of the distance measuring sensor is flush with the lower edge of the calibrator in the horizontal direction;
the calibrator is provided with a scale, and an inductor which is used for sensing the signal emitted by the ranging sensor and recording the sensing position in real time is arranged in the scale range; the lower end of the calibrator is provided with a calibration sensor for measuring the vertical distance from the calibrator to the ground.
Wherein the interior cavity of the housing contains the electronic device.
Wherein, the calibration sensor is a height measurement sensor.
The invention also provides a method for carrying out correction control on the unmanned aerial vehicle based on bidirectional angle correction, which sequentially comprises the following steps:
(1) controlling the unmanned aerial vehicle to be located in a flight space, and controlling the measuring device and the calibrator to respectively extend out of an arm and a machine body of the unmanned aerial vehicle to be located at expected positions;
(2) carrying out initialization calibration: transmitting a ranging signal to a calibrator by using ranging sensors of the first measuring device and the second measuring device, sensing a sensing position of the ranging sensor for transmitting the ranging signal in real time by the calibrator, and adjusting a transmitting angle of the ranging sensor for transmitting the ranging signal to enable the transmitting signal to be aligned to a 0 point of the calibrator;
(3) measuring the vertical distance from the calibrator to the ground through the calibrator, and subtracting the distance from the horizontal signal transmitting direction of the ranging sensor to the transmitting and measuring starting point of the second distance measuring unit from the measured vertical distance from the calibrator to the ground to obtain a first distance;
(4) respectively calculating to obtain second distances from the first measuring unit of the first measuring device to the ground in the transmitting direction by using the relation between the first distance and the signal transmitting direction of the first distance measuring unit;
(5) respectively measuring a first measuring distance and a second measuring distance in the corresponding directions by using a first distance measuring unit and a second distance measuring unit of a first measuring device and a second measuring device, respectively comparing the first measuring distance and the second measuring distance with the first distance and the second distance, if the first measuring distance and the second measuring distance are the same with the first distance and the second distance, entering the step (6), and if not, after adjusting the inclination angle of the unmanned aerial vehicle, repeating the steps (2) - (4);
(6) measuring the calibration distance to the 0 point of the calibrator by a ranging sensor;
(7) the first and second distance measuring units and the distance measuring sensor of the first and second measuring devices are used for real-time measurement respectively, and the inclination angle of the unmanned aerial vehicle is adjusted in real time according to the measurement result.
Wherein, adjusting the inclination angle of the unmanned aerial vehicle in real time according to the measurement result in step (7) specifically is:
A. if the first and second distance measuring units of the first measuring device and the second distance measuring unit and the measuring path of the distance measuring sensor of the second measuring device are increased, and the measuring paths of the distance measuring sensor of the first measuring device and the first distance measuring unit of the second measuring device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measuring unit of the second measuring device;
B. if the measurement paths of the second distance measurement unit of the first measurement device, the ranging sensor and the first and second distance measurement units of the second measurement device are increased and the measurement paths of the first distance measurement unit of the first measurement device and the ranging sensor of the second measurement device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measurement unit of the first measurement device;
C. if the first and second distance measuring units of the first and second measuring devices and the measuring path of the distance measuring sensor are not changed, the inclination angle of the unmanned aerial vehicle is not adjusted.
Wherein, the adjustment mode of unmanned aerial vehicle's inclination is for increasing or reducing the power that corresponds rotor and power device thereof.
Wherein, still include step (8): and (4) obtaining the inclination angle through a trigonometric function by using the first distance obtained in the step (3) and the distance measured in real time by the first distance measuring unit in the step (7).
Wherein, still include step (9): and obtaining the inclination angle through the scale position sensed in real time by the sensor by utilizing the relation between the scale corresponding to the path length of the pre-stored calibrated ranging sensor for transmitting the ranging signal and the inclination angle.
The unmanned aerial vehicle based on bidirectional angle correction and the correction control method can realize that:
1) acquiring an inclination angle in real time, and dynamically adjusting the inclination angle;
2) on the basis of the correction after the existing angle measurement, the inclination angle is further and finely measured, so that the measurement precision and the monitoring efficiency can be improved.
Drawings
FIG. 1 is a schematic diagram of an unmanned aerial vehicle structure based on bidirectional angle correction
FIG. 2 is a schematic view of an angle calibration device
FIG. 3 is a schematic diagram of the structure of the calibrator
FIG. 4 is a schematic view of the principle of angle correction
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The invention provides an unmanned aerial vehicle based on bidirectional angle correction and a correction control method, as shown in figures 1 and 2, the unmanned aerial vehicle based on bidirectional angle correction comprises a machine body 10, two machine arms 11 connected with the machine body 10, a rotor wing and a power device 9 thereof, an angle correction device 1, and the structure of the correction device 1 is shown in figure 2.
The angle correction device comprises a first measuring device, a second measuring device and a calibrator 7, wherein the first measuring device and the second measuring device are respectively arranged on the two machine arms 11 through connecting rods, and the first measuring device and the second measuring device can be respectively contained in the two machine arms 11 after being contracted, so that the space can be saved, the efficiency is improved, meanwhile, the measuring devices are protected when not working, the calibrator 7 is arranged on the machine body 10 through a flexible connecting line, and the calibrator 7 can be contained in the machine body 10;
the first measuring device and the second measuring device comprise a shell 2, a base 3, a first distance measuring unit 4 and a second distance measuring unit 5, wherein the upper end of the base 3 is fixedly connected with the lower end of the shell 2, and an inner cavity of the shell 2 can contain electronic devices such as a processing circuit and the like; the first distance measuring unit 4 and the second distance measuring unit 5 are respectively arranged at the lower end of the base 3; the signal emission direction of the second distance measuring unit 5 is vertically downward and forms an angle of 5 ° with the signal emission direction of the first distance measuring unit 4, the signal emission directions of the first and second distance measuring units are on the same plane, and the second distance measuring units of the first and second measuring devices are respectively located on different sides of the respective first distance measuring units 5.
The outer walls of the shells 2 of the first measuring device and the second measuring device are respectively provided with a distance measuring sensor 6, the distance measuring sensor 6 is arranged on the lower edge of the calibrator 7 in the horizontal direction, namely, the lower edge of the calibrator 7 is at the same height with the distance measuring sensor, so that the vertical distance can be measured through the calibrator 7, according to the design size of the measuring device, the vertical distance measured by the calibrator 7 subtracts the distance from the horizontal direction of the distance measuring sensor 6 to the emission measurement starting point of the second distance measuring unit, the vertical distance measured by the second distance measuring unit when no inclination occurs is obtained, and the distance from the first distance measuring unit to the bottom surface is obtained simultaneously through calculation.
When carrying out calibration work, because calibrator 7 receives the effect of gravity, and the flexible connecting wire can not restrict calibrator 7's removal, consequently, when unmanned aerial vehicle slope, calibrator 7 still can receive the effect of gravity, and relative slope can not take place for self, can utilize calibrator 7 to calibrate so. As shown in fig. 3, the calibrator 7 has a scale, a middle 0, an upper positive, and a lower negative, and has a sensor within the range of the scale, so that the signal emitted from the ranging sensor 6 can be sensed and the sensed position can be recorded in real time.
Fig. 4 is a schematic view of the principle of angle correction, and first, initial calibration is performed by the calibrator 7, the ranging sensors 6 of the first and second measuring devices respectively emit ranging signals, and the emitted signals are aligned with the 0 point of the calibrator 7, and during the calibration, if no inclination occurs, the signal emitting direction of the second distance measuring unit 5 is vertically downward, and the signal emitting direction of the first distance measuring unit 4 is at an angle of 5 ° to it. When the unmanned aerial vehicle inclines towards the right side, the transmitting signal path e of the ranging sensor 6 is shortened, the transmitting signal aligns to the negative scale of the calibrator 7, the transmitting signal paths a and b of the first and second distance measuring units are simultaneously enlarged to be a 'and b', then the condition of the inclination angle can be obtained by judging each path, and the angle of the unmanned aerial vehicle can be adjusted.
The invention also provides a method for carrying out correction control on the unmanned aerial vehicle based on bidirectional angle correction, which sequentially comprises the following steps:
(1) controlling the unmanned aerial vehicle to be located in a flight space, and controlling the measuring device and the calibrator to respectively extend out of an arm and a machine body of the unmanned aerial vehicle to be located at expected positions;
(2) carrying out initialization calibration: transmitting a ranging signal to a calibrator by using ranging sensors of the first measuring device and the second measuring device, sensing a sensing position of the ranging sensor for transmitting the ranging signal in real time by the calibrator, and adjusting a transmitting angle of the ranging sensor for transmitting the ranging signal to enable the transmitting signal to be aligned to a 0 point of the calibrator;
(3) measuring the vertical distance from the calibrator to the ground through the calibrator, and subtracting the distance from the horizontal signal transmitting direction of the ranging sensor to the transmitting and measuring starting point of the second distance measuring unit from the measured vertical distance from the calibrator to the ground to obtain a first distance;
(4) respectively calculating to obtain first and second measured second distances from the first measuring unit to the ground in the transmitting direction by utilizing the relation (5-degree included angle) between the first distance and the signal transmitting direction of the first distance measuring unit;
(5) respectively measuring a first measuring distance and a second measuring distance in the corresponding directions by using a first distance measuring unit and a second distance measuring unit of a first measuring device and a second measuring device, respectively comparing the first measuring distance and the second measuring distance with the first measuring distance and the second measuring distance, if the first measuring distance and the second measuring distance are the same with the first measuring distance and the second measuring distance, entering the step (5), and if the first measuring distance and the second measuring distance are not the same with the first measuring distance and the second measuring distance, adjusting the inclination angle of the;
(6) measuring the calibration distance to the 0 point of the calibrator by a ranging sensor;
(7) the first and second distance measuring units and the distance measuring sensor of the first and second measuring devices are used for real-time measurement respectively, and the inclination angle of the unmanned aerial vehicle is adjusted in real time according to the measurement result.
Wherein, adjusting the inclination angle of the unmanned aerial vehicle in real time according to the measurement result in step (7) specifically is:
A. if the first and second distance measuring units of the first measuring device and the second distance measuring unit and the measuring path of the distance measuring sensor of the second measuring device are increased, and the measuring paths of the distance measuring sensor of the first measuring device and the first distance measuring unit of the second measuring device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measuring unit of the second measuring device;
B. if the measurement paths of the second distance measurement unit of the first measurement device, the ranging sensor and the first and second distance measurement units of the second measurement device are increased and the measurement paths of the first distance measurement unit of the first measurement device and the ranging sensor of the second measurement device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measurement unit of the first measurement device;
C. if the first and second distance measuring units of the first and second measuring devices and the measuring path of the distance measuring sensor are not changed, the inclination angle of the unmanned aerial vehicle is not adjusted.
Wherein, the adjustment mode of unmanned aerial vehicle's inclination is for increasing or reducing the power that corresponds rotor and power device thereof.
The inclination angle is obtained through the scale position sensed in real time by the sensor by utilizing the relation between the scale corresponding to the path length of the pre-stored calibrated ranging sensor for transmitting the ranging signal and the inclination angle.
The invention can obtain the parameter part by direct setting and measurement, and other parameters can be obtained by calculation or other known methods in the field, in addition, the invention can carry out precise fine adjustment under the condition of no obvious inclination, and the invention can be completed under reasonable expectation for some technical schemes with larger inclination or inapplicable extreme conditions, and any inapplicable parameters, formulas and schemes can also be excluded.
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.
Claims (1)
1. A method for carrying out correction control on an unmanned aerial vehicle based on bidirectional angle correction is characterized in that: the unmanned aerial vehicle based on bidirectional angle correction comprises a machine body, two machine arms connected with the machine body, a rotor wing corresponding to the machine arms, a power device of the rotor wing, and an angle correction device;
the angle correction device comprises a first measuring device, a second measuring device and a calibrator, wherein the first measuring device and the second measuring device are respectively arranged on the two machine arms through connecting rods, and the first measuring device and the second measuring device can be respectively contained in the two machine arms after being contracted; the calibrator is arranged on the machine body through a flexible connecting line and can be accommodated in the machine body;
the first measuring device and the second measuring device respectively comprise a shell, a base, a first distance measuring unit and a second distance measuring unit, the upper end of the base is fixedly connected with the lower end of the shell, and the first distance measuring unit and the second distance measuring unit are respectively arranged at the lower end of the base; the signal emission direction of the second distance measuring unit is vertically downward, and the included angle between the signal emission direction of the second distance measuring unit and the signal emission direction of the first distance measuring unit is 5 degrees, the signal emission directions of the first distance measuring unit and the second distance measuring unit are on the same plane, and the first distance measuring units of the first measuring device and the second measuring device are respectively positioned on different sides of the respective second distance measuring units;
the outer walls of the shells of the first measuring device and the second measuring device are respectively provided with a distance measuring sensor, and the arrangement position of the distance measuring sensor is flush with the lower edge of the calibrator in the horizontal direction;
the calibrator is provided with a scale, and an inductor which is used for sensing the signal emitted by the ranging sensor and recording the sensing position in real time is arranged in the scale range; the lower end of the calibrator is provided with a calibration sensor for measuring the vertical distance from the calibrator to the ground;
the method comprises the following steps in sequence:
(1) controlling the unmanned aerial vehicle to be located in a flight space, and controlling the measuring device and the calibrator to respectively extend out of an arm and a machine body of the unmanned aerial vehicle to be located at expected positions;
(2) carrying out initialization calibration: transmitting a ranging signal to a calibrator by using ranging sensors of the first measuring device and the second measuring device, sensing a sensing position of the ranging sensor for transmitting the ranging signal in real time by the calibrator, and adjusting a transmitting angle of the ranging sensor for transmitting the ranging signal to enable the transmitting signal to be aligned to a 0 point of the calibrator;
(3) measuring the vertical distance from the calibrator to the ground through the calibration sensor, and subtracting the distance from the horizontal signal transmitting direction of the ranging sensor to the transmitting and measuring starting point of the second distance measuring unit from the measured vertical distance from the calibrator to the ground to obtain a second distance;
(4) respectively calculating to obtain first distances from the first measuring unit of the first measuring device to the ground in the transmitting direction by using the first distance and the signal transmitting direction relation of the first distance measuring unit;
(5) respectively measuring a first measuring distance and a second measuring distance in the corresponding directions by using a first distance measuring unit and a second distance measuring unit of a first measuring device and a second measuring device, respectively comparing the first measuring distance and the second measuring distance with the first distance and the second distance, if the first measuring distance and the second measuring distance are the same with the first distance and the second distance, entering the step (6), and if not, after adjusting the inclination angle of the unmanned aerial vehicle, repeating the steps (2) - (4);
(6) measuring the calibration distance to the 0 point of the calibrator by a ranging sensor;
(7) the first and second distance measuring units of the first and second measuring devices and the distance measuring sensor are used for real-time measurement respectively, and the inclination angle of the unmanned aerial vehicle is adjusted in real time according to the measurement result;
wherein, adjusting the inclination angle of the unmanned aerial vehicle in real time according to the measurement result in step (7) specifically is:
A. if the first and second distance measuring units of the first measuring device and the second distance measuring unit and the measuring path of the distance measuring sensor of the second measuring device are increased, and the measuring paths of the distance measuring sensor of the first measuring device and the first distance measuring unit of the second measuring device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measuring unit of the second measuring device;
B. if the measurement paths of the second distance measurement unit of the first measurement device, the ranging sensor and the first and second distance measurement units of the second measurement device are increased and the measurement paths of the first distance measurement unit of the first measurement device and the ranging sensor of the second measurement device are decreased, the inclination angle of the unmanned aerial vehicle is adjusted to one side of the first distance measurement unit of the first measurement device;
C. if the first and second distance measuring units of the first and second measuring devices and the measuring path of the distance measuring sensor are not changed, the inclination angle of the unmanned aerial vehicle is not adjusted.
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| CN104670666B (en) * | 2015-02-27 | 2016-10-05 | 中国民航大学 | A kind of aircraft landing attitude warning system and warning control method |
| CN105091858A (en) * | 2015-08-02 | 2015-11-25 | 上海砺晟光电技术有限公司 | Two-dimension inclination angle non-contact measurement method and system based on absolute distance measurement |
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