CN107289927A - A kind of four rotor wing unmanned aerial vehicle flight position determination methods - Google Patents
A kind of four rotor wing unmanned aerial vehicle flight position determination methods Download PDFInfo
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- CN107289927A CN107289927A CN201710542485.0A CN201710542485A CN107289927A CN 107289927 A CN107289927 A CN 107289927A CN 201710542485 A CN201710542485 A CN 201710542485A CN 107289927 A CN107289927 A CN 107289927A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000630 rising effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
A kind of four rotor wing unmanned aerial vehicles flight position determination methods that the present invention is provided, comprise the following steps：1. initialize：Under no-wind environment, with four motors of any rotor wing unmanned aerial vehicle of power drive four, unmanned plane completed to rise, advanced, retreat, declining four actions, pass through the pressure sensor readings on unmanned aerial vehicle body, power of motor pressure change relation is calculated, is completed when the secondary initialization used；2. record；3. calculating benchmark displacement；4. wind direction is calculated；5. store；6. return path value.The beneficial effects of the present invention are：By way of calculating displacement based on attitude data, power of motor data and stress data, position judgment can be completed on the premise of independent of outer signals, while amount of calculation is smaller, computational efficiency is high, relatively low to the performance requirement of control chip.
Description
Technical field
The present invention relates to a kind of four rotor wing unmanned aerial vehicles flight position determination methods.
Background technology
Position judgment for four rotor wing unmanned aerial vehicles in flight course in the prior art, typically using following three kinds of sides
Formula：1st, unmanned plane position itself is obtained according to the feedback signal on unmanned plane using unmanned plane external signal device；2nd, figure is utilized
As identification technology is judged；3rd, it is identified using height sensor and GPS.In mode 1, external signal installation cost compared with
Height, user is difficult to receive；In mode 2, image recognition technology amount of calculation is excessive, so that needing the higher control of performance
Chip just can ensure that completion is calculated, and often price is high for the higher control chip of performance, and image recognition algorithm R＆D costs
Also high, so necessarily causing overall R＆D costs high, so as to cause product cost high, general user is also difficult to receive；Mode 3
In, GPS is largely dependent upon signal stabilization, for actual conditions, very big because signal reason is offset in many places,
As in tunnel, and for example signal disturbs stronger area, so that can not many times be accurately positioned.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of four rotor wing unmanned aerial vehicles flight position determination methods, this four
Rotor wing unmanned aerial vehicle flight position determination methods pass through the side based on the calculating displacement of attitude data, power of motor data and stress data
Formula, can complete position judgment on the premise of independent of outer signals, while amount of calculation is smaller, computational efficiency is high.
The present invention is achieved by the following technical programs.
A kind of four rotor wing unmanned aerial vehicles flight position determination methods that the present invention is provided, comprise the following steps：
1. initialize：Under no-wind environment, with four motors of any rotor wing unmanned aerial vehicle of power drive four, make unmanned plane complete
Into rising, advance, retreat, declining four actions, by the pressure sensor readings on unmanned aerial vehicle body, calculate power of motor-
Pressure change relation, is completed when the secondary initialization used；
2. record：During use, according to the gyroscope readings change record attitude data in unmanned plane, according to four spiral shells
The motor control value record power of motor data of rotor, stress is recorded according to the pressure sensor of multiple positions on unmanned aerial vehicle body
Data；
3. calculating benchmark displacement：By attitude data and power of motor data, the displacement of unmanned plane under calm condition is calculated
Situation, obtains three dimensions unmanned plane displacement data；
4. wind direction is calculated：By the readings of each pressure sensor in stress data, the displacement deflection value of unmanned plane is calculated, will
Displacement deflection value add to step 3. in three dimensions unmanned plane displacement data in, obtain correct three dimensions unmanned plane displacement number
According to；
5. store：Obtained amendment three dimensions unmanned plane displacement data is stored in memory；
6. return path value：By the amendment three dimensions unmanned plane displacement data in memory and correspondingly obtain it is current
Position is returned.
The pressure sensor is at least respectively provided with one in the top of unmanned plane, bottom, the orientation of front, rear, left and right six respectively
It is individual.
The step 4. in, the displacement deflection value for calculating unmanned plane, first with power of motor-pressure change relation, ginseng
According to posture and the data of power of motor in the current calculating time, the readings to pressure sensor is modified, and calculates exclusion position
The windage value of changing factor is moved, and is used as using the windage value calculating benchmark of displacement deflection value.
The step 2.~5., with one of the following two kinds mode carry out：
(1) calculating in All Time is completed to each step, each step is carried out successively until step is finished；
(2) to each time point, by step 2.~5. calculate, until all time points calculate and finished.
The step is 1. middle to calculate power of motor-pressure change relation, and it is bent to calculate multi head linear equation using linear fit
The mode of line.
The beneficial effects of the present invention are：By calculating displacement based on attitude data, power of motor data and stress data
Mode, position judgment can be completed on the premise of independent of outer signals, while amount of calculation is smaller, computational efficiency is high, right
The performance requirement of control chip is relatively low.
Embodiment
Be described further below technical scheme, but claimed scope be not limited to it is described.
The invention provides a kind of four rotor wing unmanned aerial vehicles flight position determination methods, comprise the following steps：
1. initialize：Under no-wind environment, with four motors of any rotor wing unmanned aerial vehicle of power drive four, make unmanned plane complete
Into rising, advance, retreat, declining four actions, by the pressure sensor readings on unmanned aerial vehicle body, calculate power of motor-
Pressure change relation, is completed when the secondary initialization used；
2. record：During use, according to the gyroscope readings change record attitude data in unmanned plane, according to four spiral shells
The motor control value record power of motor data of rotor, stress is recorded according to the pressure sensor of multiple positions on unmanned aerial vehicle body
Data；
3. calculating benchmark displacement：By attitude data and power of motor data, the displacement of unmanned plane under calm condition is calculated
Situation, obtains three dimensions unmanned plane displacement data；
4. wind direction is calculated：By the readings of each pressure sensor in stress data, the displacement deflection value of unmanned plane is calculated, will
Displacement deflection value add to step 3. in three dimensions unmanned plane displacement data in, obtain correct three dimensions unmanned plane displacement number
According to；
5. store：Obtained amendment three dimensions unmanned plane displacement data is stored in memory；
6. return path value：By the amendment three dimensions unmanned plane displacement data in memory and correspondingly obtain it is current
Position is returned.
As the set-up mode of pressure sensor bottom line, the pressure sensor at least respectively the top of unmanned plane,
Bottom, the orientation of front, rear, left and right six are respectively provided with one.
Further, the step 4. in, the displacement deflection value for calculating unmanned plane is first become with power of motor-pressure
Change relation, with reference to posture and the data of power of motor in the current calculating time, the readings to pressure sensor is modified, and is calculated
Go out to exclude the windage value of change in displacement factor, and be used as using the windage value calculating benchmark of displacement deflection value.
The step 2.~5., with one of the following two kinds mode carry out：
(1) calculating in All Time is completed to each step, each step is carried out successively until step is finished；
(2) to each time point, by step 2.~5. calculate, until all time points calculate and finished.
Above two mode difference is essentially consisted in when implementing, and traversal mode is different, and should spirit according to real needs
Adjustment living, is usually set to both of which, is selected by user.
Specifically, the step is 1. middle calculates power of motor-pressure change relation, and polynary one is calculated using linear fit
The mode of equation of n th order n curve.
Claims (5)
1. a kind of four rotor wing unmanned aerial vehicles flight position determination methods, it is characterised in that：Comprise the following steps：
1. initialize：Under no-wind environment, with four motors of any rotor wing unmanned aerial vehicle of power drive four, complete unmanned plane
Rise, advance, retreating, declining four actions, by the pressure sensor readings on unmanned aerial vehicle body, calculating power of motor-pressure
Variation relation, is completed when the secondary initialization used；
2. record：During use, according to the gyroscope readings change record attitude data in unmanned plane, according to four screw wings
Motor control value record power of motor data, according on unmanned aerial vehicle body multiple positions pressure sensor record stress number
According to；
3. calculating benchmark displacement：By attitude data and power of motor data, the misalignment of unmanned plane under calm condition is calculated,
Obtain three dimensions unmanned plane displacement data；
4. wind direction is calculated：By the readings of each pressure sensor in stress data, the displacement deflection value of unmanned plane is calculated, by displacement
Tilt value add to step 3. in three dimensions unmanned plane displacement data in, obtain correct three dimensions unmanned plane displacement data；
5. store：Obtained amendment three dimensions unmanned plane displacement data is stored in memory；
6. return path value：By the amendment three dimensions unmanned plane displacement data in memory and the current location correspondingly obtained
Return.
2. four rotor wing unmanned aerial vehicles flight position determination methods as claimed in claim 1, it is characterised in that：The pressure sensor
At least respectively it is provided with one in the top of unmanned plane, bottom, the orientation of front, rear, left and right six respectively.
3. four rotor wing unmanned aerial vehicles flight position determination methods as claimed in claim 1, it is characterised in that：The step 4. in,
Displacement deflection value for calculating unmanned plane, first with power of motor-pressure change relation, with reference to posture in the current calculating time and
The data of power of motor, the readings to pressure sensor is modified, and calculates the windage value for excluding change in displacement factor,
And the calculating benchmark of displacement deflection value is used as using the windage value.
4. four rotor wing unmanned aerial vehicles flight position determination methods as claimed in claim 1, it is characterised in that：The step 2.~
5., carried out in one of the following two kinds mode：
(1) calculating in All Time is completed to each step, each step is carried out successively until step is finished；
(2) to each time point, by step 2.~5. calculate, until all time points calculate and finished.
5. four rotor wing unmanned aerial vehicles flight position determination methods as claimed in claim 1, it is characterised in that：1. the step falls into a trap
Power of motor-pressure change relation is calculated, by the way of linear fit calculates multi head linear equation curve.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113303306A (en) * | 2021-05-20 | 2021-08-27 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium |
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Application publication date: 20171024 Assignee: Reverse Expansion Technology (Liaoning) Co.,Ltd. Assignor: NANNING University Contract record no.: X2023980053202 Denomination of invention: A method for determining the flight position of quadcopter unmanned aerial vehicles Granted publication date: 20200721 License type: Common License Record date: 20231222 |
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