CN107203215A - A kind of gesture and Voice command quadrotor method - Google Patents

A kind of gesture and Voice command quadrotor method Download PDF

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Publication number
CN107203215A
CN107203215A CN201710309254.5A CN201710309254A CN107203215A CN 107203215 A CN107203215 A CN 107203215A CN 201710309254 A CN201710309254 A CN 201710309254A CN 107203215 A CN107203215 A CN 107203215A
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msub
mrow
mover
mtd
msubsup
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袁广民
程宇威
何洋
薛宇
孙旭阳
苏靖然
郗经纬
苑伟政
常洪龙
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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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
    • 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

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The present invention relates to a kind of by gesture and the method for Voice command quadrotor, belong to the control field of quadrotor.Its control end uses accelerometer 1, minisize gyroscopes 2, magnetometer 3, and barometer 4 to constitute ten axle posture detecting units；Data processing and transmission unit are constituted using microprocessor 5 and radio frequency chip 6；Speech detection unit is constituted using voice recognition chip 7 and miaow first 8.This method collection sensing data carries out attitude algorithm, and solution obtains hand gestures data, is translated into controlled quentity controlled variable, is sent by control signal and is transferred to quadrotor, voice then by the way of down trigger, is translated into controlled quentity controlled variable, is transmitted.Control end of the invention by being worn on hand, realizes control of the singlehanded gesture of operator to the quadrotor direction of motion, control of the phonetic order to quadrotor working condition, flexible four rotors control method is that operator brings brand-new operating experience.

Description

A kind of gesture and Voice command quadrotor method
Technical field
The present invention relates to a kind of by gesture and the method for Voice command quadrotor, belong to quadrotor Control field.
Background technology
Quadrotor is widely used in taking photo by plane due to can freely hover with VTOL, inspection, and monitoring etc. is multiple Aspect.According to control mode, quadrotor can be divided into autonomous type, semi-autonomous formula, distance type.Wherein, fly for distance type Row device, operator generally controls taking off for quadrotor using double rocking lever, and all around motion and landing etc., double to shake Bar is promoted up and down, realizes the control moved to quadrotor.
Operated however, this control mode generally requires both hands, remote control mode fixed single, operator generally requires Can stability contorting quadrotor after certain exercise.
The content of the invention
For the operating experience of further lifting quadrotor, the remote control difficulty of operator is reduced, the present invention is proposed A kind of method of gesture and the rotor of Voice command four, can be achieved one hand and is operated, and make the remote control of four rotors more flexibly, simply With it is convenient.
Method proposed by the present invention is different from traditional both hands rocking bar and controlled, but control end is worn on into hand, controls End detects the inertial data of hand, i.e. 3-axis acceleration using inertance element, and three axis angular rates, three axis magnetometer is solved and obtained The angle of pitch, roll angle and yaw angle.Control end detects phonetic order, obtained phonetic order and hand by voice recognition unit Quadrotor is passed to after portion's inertial data fusion, with reference to Fig. 4.
A kind of gesture and Voice command quadrotor method, specific rate-determining steps are as follows：
Step 1：Hand initial attitude is determined.Using 3-axis acceleration data, arcsine computing is carried out to acceleration of gravity Solution obtains hand initial pitch angleRoll angleSo as to obtain posture battle arrayWith attitude quaternion Q (t0), specifically ask Solution formula is as follows：
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity.
If Q (tk)=[q0 q1 q2 q3]T, Q (t0) can be determined by formula below：
Wherein TijRepresentIn the i-th row jth arrange element.
Step 2：Phonetic order is set.Using lists of keywords identification technology (ASR), with reference to Fig. 2.The pass of identification will be needed Keyword is converted into pinyin character.Pinyin character after conversion is write into nonspecific voice recognition chip.To different phonetic words Symbol defines different identification output characteristics:
Wherein TH be four rotor fuel gate value, △ h be hand high variable quantity, θ, γ, ψ be hand gestures Eulerian angles.
Step 3：Gyroscope is sampled.Three axis angular rates are acquired according to cycle T, angular velocity signal is obtained
Step 4：Gyroscope posture renewal.Utilize the initial value Q (t of quaternary number0) and gyro output angle rate signal, Using the increment optimized algorithm of equivalent rotating vector three, recursion resolves attitude quaternion Q (tk) and three attitude angle instantaneous value ψk、θk、 γk；
If time interval [tk-1,tk] in, Δ θi(i=1,2,3) it is top in posture renewal cycle h trisection time interval The angle increment output of spiral shellThen optimize three increment rotating vector algorithm formula as follows：
By Q (tk) obtain successivelyWith attitude angle ψk、θk、γk：
Step 5：Accelerometer is sampled.3-axis acceleration is gathered according to cycle T, by formula (10) (11), θ ' is obtained, γ’。
θ '=arcsin (ax/g) (11)
γ '=arcsin (ay/g) (12)
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity.
Step 6：Magnetometer is sampled.To three axis magnetometer according to periodic sampling, instantaneous value is obtained Calculating obtains ψk；
If current magnetic declination is αk, according to ψ '=ψk+αkObtain the instantaneous value ψ ' of yaw angle；
Step 7：Calculation error.Error delta θ, △ γ, the △ ψ for three Eulerian angles that computing gyroscope is exported with accelerometer：
Step 8：Mutually fusion.By PI controllers, using formula (15), final θ, γ, ψ are obtained：That is operator's hand three Individual Eulerian angles：The angle of pitch (pitch), roll angle (roll), yaw angle (yaw).Such as Fig. 1.
Wherein T is collection period, and kp is proportioner coefficient, and ki is integrator coefficient.
Step 9：Voice flow is collected by miaow head, matched with the voice lists of keywords set by step 2, if matching Success, then carry out matching assignment according to formula (5), and directly performs step 11, if it fails to match, performs step 10.
Step 10：Hand gestures data assignment.When quadrotor smooth flight, it expects the angle of pitch and roll Angle is 0, when flight before and after quadrotor, and it expects that the angle of pitch is not 0, is set to θtar, the hand angle of pitch is above to obtain The θ arrived, obtains transitive relation：
According to the transitive relation of (16) formula, the angle of pitch of hand gestures is entered as to the expectation pitching of quadrotor Angle, realizes moving forward and backward for quadrotor.
When quadrotor or so flight, it expects that roll angle is not 0, is set to γtar, before the hand angle of pitch is The γ that face is obtained, obtains transitive relation：
According to the transitive relation of (17) formula, the roll angle of hand gestures is entered as to the expectation roll of quadrotor Angle, realizes the side-to-side movement of quadrotor.
Four rotors expect yaw angle ψtarIt is directly corresponding with hand gestures yaw angle ψ, i.e.,：
ψtar=ψ (18)
Control end gathers hand elevation information simultaneously, if the variable quantity of hand height is △ h, quadrotor highly becomes Change amount is △ H, then meets：
△ H=△ h*10 (19)
According to formula 19, by the height change of hand, the motion on quadrotor vertical direction is realized.
Step 11：Control instruction is sent.Wirelessly, by obtained expectation Eulerian angles θtar,γtar,ψtar, with And hand high variable quantity △ h pass to quadrotor.
Control method proposed by the invention, by hand gestures and voice messaging, can be achieved quadrotor complete The control of process.
The present invention hardware configuration be：Control end hardware is made up of three parts, miniature using accelerometer 1 with reference to Fig. 3 Gyroscope 2, magnetometer 3, and barometer 4 constitute ten axle posture detecting units；Using microprocessor 5 and radio frequency chip 6 Constitute data processing and transmission unit；Speech detection unit is constituted using voice recognition chip 7 and miaow first 8.
The present invention software configuration be：Peripheral hardware initialization is carried out first, followed by the collection of sensing data, to adopting The data of collection carry out attitude algorithm, and solution obtains hand gestures data, is translated into controlled quentity controlled variable, is sent and passed by control signal Quadrotor is defeated by, voice then by the way of down trigger, is translated into controlled quentity controlled variable, is transmitted.Specific algorithm Flow refers to Fig. 4.
Present invention has the advantages that the control end by being worn on hand, realizes the singlehanded gesture of operator to four rotor flyings The control of the device direction of motion, control of the phonetic order to quadrotor working condition, flexible four rotors control method is Operator brings brand-new operating experience.
The present invention will be further described with example below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is that control end wears explanation
Fig. 2 is speech recognition technology theory diagram.
Fig. 3 is the system pie graph of control end.
Fig. 4 is control method block diagram.
Fig. 5 is the system pie graph that representative instance is applied.
In Fig. 3,1,2,3,4 constitutes ten axle posture detecting units；5,6 constitute data processing and transmission unit；7,8 constitute language Sound detection unit.
Embodiment
Control end hardware circuit of the present invention is made up of three parts, and with reference to Fig. 5, wherein posture detecting unit is selected MPU6050 3-axis accelerations and angular-rate sensor, HMC5883 magnetometers, MS5611 barometers；Data processing and transmission unit From STM32F103RCT6 single-chip microcomputers, radio frequency chip selects NRF24L01；Voice recognition unit carries out voice using miaow head Collection, LD3320 chips carry out speech processes.Control end is originated using lithium battery as energy, is supplied by LDO voltage stabilizings to 3.3V Give equipment work.
Specific rate-determining steps are as follows：
Step 1：Hand initial attitude is determined.Using 3-axis acceleration data, arcsine computing is carried out to acceleration of gravity Solution obtains hand initial pitch angleRoll angleSo as to obtain posture battle arrayWith attitude quaternion Q (t0), specifically ask Solution formula is as follows：
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity.
If Q (tk)=[q0 q1 q2 q3]T, Q (t0) can be determined by formula below：
Wherein TijRepresentIn the i-th row jth arrange element.
Step 2：Phonetic order is set.Using lists of keywords identification technology (ASR), with reference to Fig. 2.The pass of identification will be needed Keyword " takes off ", and " hovering ", " landing ", " closing " is converted into pinyin character, i.e.,：" qifei ", " xuanting ", " jiangluo ", " guanbi ".Pinyin character after conversion is write into nonspecific voice recognition chip.To different phonetic words Symbol defines different identification output characteristics:
Wherein TH be four rotor fuel gate value, △ h be hand high variable quantity, θ, γ, ψ be hand gestures Eulerian angles.
Step 3：Gyroscope is sampled.Three axis angular rates are acquired according to cycle T=10ms, angular velocity signal is obtained
Step 4：Gyroscope posture renewal.Utilize the initial value Q (t of quaternary number0) and gyro output angle rate signal, Using the increment optimized algorithm of equivalent rotating vector three, recursion resolves attitude quaternion Q (tk) and three attitude angle instantaneous value ψk、θk、 γk；
If time interval [tk-1,tk] in, Δ θi(i=1,2,3) it is top in posture renewal cycle h trisection time interval The angle increment output of spiral shellThen optimize three increment rotating vector algorithm formula as follows：
By Q (tk) obtain successivelyWith attitude angle ψk、θk、γk：
Step 5：Accelerometer is sampled.3-axis acceleration is gathered according to cycle T=10ms, by formula (10) (11), Obtain θ ', γ '.
θ '=arcsin (ax/g) (30)
γ '=arcsin (ay/g) (31)
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity.
Step 6：Magnetometer is sampled.Three axis magnetometer is sampled according to cycle T=10ms, instantaneous value is obtainedCalculating obtains ψk；
If current magnetic declination is αk, according to ψ '=ψk+αkObtain the instantaneous value ψ ' of yaw angle；
Step 7：Calculation error.Error delta θ, the △ γ, △ for three Eulerian angles that computing gyroscope is exported with accelerometer ψ：
Step 8：Mutually fusion.By PI controllers, using formula (34), final θ, γ, ψ are obtained：That is operator's hand three Individual Eulerian angles：The angle of pitch (pitch), roll angle (roll), yaw angle (yaw).Such as Fig. 1.
Wherein T=10ms, kp=1.0, ki=0.02.
Step 9：Voice flow is collected by miaow head, matched with the voice lists of keywords set by step 2, if matching Success, then carry out matching assignment according to formula (24), and directly performs step 11, if it fails to match, performs step 10.
Step 10：When quadrotor smooth flight, it expects that the angle of pitch and roll angle are 0, when four rotors fly Before and after row device during flight, it expects that the angle of pitch is not 0, is set to θtar, the hand angle of pitch is the θ being previously obtained, and obtains transmission and closes System：
According to the transitive relation of (16) formula, the angle of pitch of hand gestures is entered as to the expectation pitching of quadrotor Angle, realizes moving forward and backward for quadrotor.
When quadrotor or so flight, it expects that roll angle is not 0, is set to γtar, before the hand angle of pitch is The γ that face is obtained, obtains transitive relation：
According to the transitive relation of (36) formula, the roll angle of hand gestures is entered as to the expectation roll of quadrotor Angle, realizes the side-to-side movement of quadrotor.
Four rotors expect yaw angle ψtarIt is directly corresponding with hand gestures yaw angle ψ, i.e.,：
ψtar=ψ (37)
Control end gathers hand elevation information simultaneously, if the variable quantity of hand height is △ h, quadrotor highly becomes Change amount is △ H, then meets：
△ H=△ h*10 (38)
According to formula 38, by the height change of hand, the motion on quadrotor vertical direction is realized.
Step 11：Control instruction is sent.Wirelessly, by obtained expectation Eulerian angles θtar,γtar,ψtar, with And hand high variable quantity △ h pass to quadrotor.
In summary, the present invention proposes a kind of control mode of new quadrotor, can pass through gesture posture The control to quadrotor is realized with elevation information and voice command, is that operator brings four new rotor flying remote controls Mode, reduces manipulation difficulty.

Claims (1)

1. a kind of gesture and Voice command quadrotor method, specific rate-determining steps are as follows：
Step 1：Hand initial attitude is determined；Using 3-axis acceleration data, arcsine computing solution is carried out to acceleration of gravity Obtain hand initial pitch angleRoll angleSo as to obtain posture battle arrayWith attitude quaternion Q (t0), it is specific to solve public affairs Formula is as follows：
<mrow> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>a</mi> <mi>x</mi> <mo>/</mo> <mi>g</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>a</mi> <mi>y</mi> <mo>/</mo> <mi>g</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity；
<mrow> <msubsup> <mi>C</mi> <mi>b</mi> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>+</mo> <mi>sin</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>-</mo> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>+</mo> <mi>sin</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mo>-</mo> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>sin</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> <mi>cos</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
If Q (tk)=[q0 q1 q2 q3]T, Q (t0) can be determined by formula below：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>q</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msqrt> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mn>11</mn> </msub> <mo>+</mo> <msub> <mi>T</mi> <mn>22</mn> </msub> <mo>+</mo> <msub> <mi>T</mi> <mn>33</mn> </msub> </mrow> </msqrt> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mi>s</mi> <mi>i</mi> <mi>g</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mn>32</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>23</mn> </msub> <mo>)</mo> </mrow> <msqrt> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mn>11</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>22</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>33</mn> </msub> </mrow> </msqrt> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mi>s</mi> <mi>i</mi> <mi>g</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mn>13</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>31</mn> </msub> <mo>)</mo> </mrow> <msqrt> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>T</mi> <mn>11</mn> </msub> <mo>+</mo> <msub> <mi>T</mi> <mn>22</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>33</mn> </msub> </mrow> </msqrt> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mi>s</mi> <mi>i</mi> <mi>g</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mn>21</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>12</mn> </msub> <mo>)</mo> </mrow> <msqrt> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>T</mi> <mn>11</mn> </msub> <mo>-</mo> <msub> <mi>T</mi> <mn>22</mn> </msub> <mo>+</mo> <msub> <mi>T</mi> <mn>33</mn> </msub> </mrow> </msqrt> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
Wherein TijRepresentIn the i-th row jth arrange element；
Step 2：Phonetic order is set；Using lists of keywords identification technology (ASR)；The keyword for needing to recognize is converted into spelling Sound character；Pinyin character after conversion is write into nonspecific voice recognition chip；Different pinyin characters is defined different Recognize output characteristics:
Wherein TH be four rotor fuel gate value, △ h be hand high variable quantity, θ, γ, ψ be hand gestures Eulerian angles；
Step 3：Gyroscope is sampled；Three axis angular rates are acquired according to cycle T, angular velocity signal is obtained
Step 4：Gyroscope posture renewal；Utilize the initial value Q (t of quaternary number0) and gyro output angle rate signal, use The increment optimized algorithm of equivalent rotating vector three, recursion resolves attitude quaternion Q (tk) and three attitude angle instantaneous value ψk、θk、γk；
If time interval [tk-1,tk] in, Δ θi(i=1,2,3) it is gyro in posture renewal cycle h trisection time interval Angle increment is exportedThen optimize three increment rotating vector algorithm formula as follows：
<mrow> <mi>&amp;Phi;</mi> <mrow> <mo>(</mo> <mi>h</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>3</mn> </msub> <mo>+</mo> <mfrac> <mn>9</mn> <mn>20</mn> </mfrac> <mrow> <mo>(</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>1</mn> </msub> <mo>&amp;times;</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>27</mn> <mn>40</mn> </mfrac> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>2</mn> </msub> <mo>&amp;times;</mo> <mrow> <mo>(</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>&amp;Delta;&amp;theta;</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mi>q</mi> <mrow> <mo>(</mo> <mi>h</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>|</mo> <mi>&amp;Phi;</mi> <mo>|</mo> </mrow> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mi>&amp;Phi;</mi> <mrow> <mo>|</mo> <mi>&amp;Phi;</mi> <mo>|</mo> </mrow> </mfrac> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>|</mo> <mi>&amp;Phi;</mi> <mo>|</mo> </mrow> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mi>Q</mi> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <mi>Q</mi> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CircleTimes;</mo> <mi>q</mi> <mrow> <mo>(</mo> <mi>h</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
By Q (tk) obtain successivelyWith attitude angle ψk、θk、γk：
<mrow> <msubsup> <mi>C</mi> <mi>b</mi> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mrow> <mo>&amp;lsqb;</mo> <msub> <mi>T</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>&amp;rsqb;</mo> </mrow> <mrow> <mn>3</mn> <mo>&amp;times;</mo> <mn>3</mn> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;theta;</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mn>32</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;gamma;</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mo>-</mo> <mfrac> <msub> <mi>T</mi> <mn>31</mn> </msub> <msub> <mi>T</mi> <mn>33</mn> </msub> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;psi;</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <msub> <mi>T</mi> <mn>12</mn> </msub> <msub> <mi>T</mi> <mn>22</mn> </msub> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
Step 5：Accelerometer is sampled；3-axis acceleration is gathered according to cycle T, by formula (10) (11), θ ', γ ' is obtained；
θ '=arcsin (ax/g) (11)
γ '=arcsin (ay/g) (12)
Wherein, ax is x-axis directional acceleration, and ay is y directional accelerations, and g is acceleration of gravity；
Step 6：Magnetometer is sampled；To three axis magnetometer according to periodic sampling, instantaneous value is obtained Calculating obtains ψk；
<mrow> <msub> <mi>&amp;psi;</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mo>-</mo> <mfrac> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mi>x</mi> <mo>,</mo> <mi>k</mi> </mrow> <mi>b</mi> </msubsup> <mo>+</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mi>z</mi> <mo>,</mo> <mi>k</mi> </mrow> <mi>b</mi> </msubsup> </mrow> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mi>x</mi> <mo>,</mo> <mi>k</mi> </mrow> <mi>b</mi> </msubsup> <mo>+</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mi>y</mi> <mo>,</mo> <mi>k</mi> </mrow> <mi>b</mi> </msubsup> <mo>-</mo> <mi>cos</mi> <msub> <mover> <mi>&amp;gamma;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <msub> <mover> <mi>&amp;theta;</mi> <mo>~</mo> </mover> <mi>k</mi> </msub> <mo>&amp;CenterDot;</mo> <msubsup> <mi>H</mi> <mrow> <mi>z</mi> <mo>,</mo> <mi>k</mi> </mrow> <mi>b</mi> </msubsup> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>13</mn> <mo>)</mo> </mrow> </mrow>
If current magnetic declination is αk, according to ψ '=ψk+αkObtain the instantaneous value ψ ' of yaw angle；
Step 7：Calculation error；Error delta θ, △ γ, the △ ψ for three Eulerian angles that computing gyroscope is exported with accelerometer：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>&amp;theta;</mi> <mo>=</mo> <msub> <mi>&amp;theta;</mi> <mi>k</mi> </msub> <mo>-</mo> <msup> <mi>&amp;theta;</mi> <mo>&amp;prime;</mo> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>&amp;gamma;</mi> <mo>=</mo> <msub> <mi>&amp;gamma;</mi> <mi>k</mi> </msub> <mo>-</mo> <msup> <mi>&amp;gamma;</mi> <mo>&amp;prime;</mo> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>&amp;psi;</mi> <mo>=</mo> <msub> <mi>&amp;psi;</mi> <mi>k</mi> </msub> <mo>-</mo> <msup> <mi>&amp;psi;</mi> <mo>&amp;prime;</mo> </msup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>14</mn> <mo>)</mo> </mrow> </mrow>
Step 8：Mutually fusion.By PI controllers, using formula (15), final θ, γ, ψ are obtained：That is three Europe of operator's hand Draw angle：The angle of pitch (pitch), roll angle (roll), yaw angle (yaw)；
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>&amp;theta;</mi> <mi>=</mi> <msub> <mi>&amp;theta;</mi> <mi>k</mi> </msub> <mo>+</mo> <mi>k</mi> <mi>p</mi> <mo>*</mo> <mi>&amp;Delta;</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>k</mi> <mi>i</mi> <mo>*</mo> <mfrac> <mn>1</mn> <mi>T</mi> </mfrac> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mi>&amp;Delta;</mi> <mi>&amp;theta;</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;gamma;</mi> <mi>=</mi> <msub> <mi>&amp;gamma;</mi> <mi>k</mi> </msub> <mo>+</mo> <mi>k</mi> <mi>p</mi> <mo>*</mo> <mi>&amp;Delta;</mi> <mi>&amp;gamma;</mi> <mo>+</mo> <mi>k</mi> <mi>i</mi> <mo>*</mo> <mfrac> <mn>1</mn> <mi>T</mi> </mfrac> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mi>&amp;Delta;</mi> <mi>&amp;gamma;</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;psi;</mi> <mi>=</mi> <msub> <mi>&amp;psi;</mi> <mi>k</mi> </msub> <mo>+</mo> <mi>k</mi> <mi>p</mi> <mo>*</mo> <mi>&amp;Delta;</mi> <mi>&amp;psi;</mi> <mo>+</mo> <mi>k</mi> <mi>i</mi> <mo>*</mo> <mfrac> <mn>1</mn> <mi>T</mi> </mfrac> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mi>&amp;Delta;</mi> <mi>&amp;psi;</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>15</mn> <mo>)</mo> </mrow> </mrow>
Wherein T is collection period, and kp is proportioner coefficient, and ki is integrator coefficient；
Step 9：Voice flow is collected by miaow head, matched with the voice lists of keywords set by step 2, if matching into Work(, then carry out matching assignment according to formula (5), and directly performs step 11, if it fails to match, performs step 10；
Step 10：Hand gestures data assignment；When quadrotor smooth flight, it expects that the angle of pitch and roll angle are 0, when flight before and after quadrotor, it expects that the angle of pitch is not 0, is set to θtar, the hand angle of pitch is what is be previously obtained θ, obtains transitive relation：
According to the transitive relation of (16) formula, the angle of pitch of hand gestures is entered as to the expectation angle of pitch of quadrotor, it is real Show moving forward and backward for quadrotor；
When quadrotor or so flight, it expects that roll angle is not 0, is set to γtar, the hand angle of pitch is above to obtain The γ arrived, obtains transitive relation：
According to the transitive relation of (17) formula, the roll angle of hand gestures is entered as to the expectation roll angle of quadrotor, it is real The side-to-side movement of existing quadrotor；
Four rotors expect yaw angle ψtarIt is directly corresponding with hand gestures yaw angle ψ, i.e.,：
ψtar=ψ (18)
Control end gathers hand elevation information simultaneously, if the variable quantity of hand height is △ h, quadrotor high variable quantity For △ H, then meet：
△ H=△ h*10 (19)
According to formula 19, by the height change of hand, the motion on quadrotor vertical direction is realized；
Step 11：Control instruction is sent；Wirelessly, by obtained expectation Eulerian angles θtar,γtar,ψtar, and hand Portion high variable quantity △ h pass to quadrotor.
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Application publication date: 20170926