CN107305393A - Unmanned plane and its control method - Google Patents
Unmanned plane and its control method Download PDFInfo
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- CN107305393A CN107305393A CN201610248442.7A CN201610248442A CN107305393A CN 107305393 A CN107305393 A CN 107305393A CN 201610248442 A CN201610248442 A CN 201610248442A CN 107305393 A CN107305393 A CN 107305393A
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- 230000001133 acceleration Effects 0.000 claims abstract description 35
- 238000001914 filtration Methods 0.000 claims description 13
- 230000004927 fusion Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 239000002775 capsule Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000000116 mitigating effect Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 3
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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
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Abstract
The invention discloses a kind of unmanned plane and its control method, the unmanned plane includes air bag, and the control method comprises the following steps：Detect the gyroscope value and acceleration magnitude of the unmanned plane；The gyroscope value detected and the acceleration magnitude are merged to obtain fused data；Judge whether the fused data is more than the trigger value；When judged result for when being, the control air bag is opened；When judged result is no, the unmanned plane normal flight is assert, continue to detect the gyroscope value and acceleration magnitude of the unmanned plane.So, can accurately judge whether unmanned plane is in air crash state, can airbag opening in time, to greatest extent mitigation unmanned plane the extent of damage.
Description
Technical field
The present invention relates to the control method in unmanned air vehicle technique field, more particularly to a kind of unmanned plane and the unmanned plane.
Background technology
With the development of modern unmanned plane industry, unmanned plane has penetrated into every field, and unmanned plane is distant using radio
Control equipment and the not manned aircraft for the timer manipulation provided for oneself, agricultural, boat are applied to from most coming to use in military affairs till now
Bat field, unmanned plane industry is developed rapidly.
Many unmanned plane fans play model plane, but the risk of the unavoidable aircraft bombing of beginner at present, and aircraft bombing is to distant in model circle
The jargon that aircraft crashes is controlled, money that aircraft bombing is brought, the loss of time are difficult to estimate, more likely involve third party's loss
(for example being damaged to people or article).And sometimes, aircraft bombing not flies hand oneself general idea, but aircraft goes out in itself
Problem, causes out of control, and aircraft is once out of control in the sky, the possibility of aircraft bombing is greatly improved.The reason for occurring out of control has
A lot, wherein non-artificial reason includes, gps signal is lost, air electromagnetic signals interference causes to fly control collapse etc..
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, the present invention is proposed
A kind of control method of unmanned plane, the control method can detect whether unmanned plane is in air crash state, and peace can be opened in time
Full air bag, can mitigate the extent of damage of unmanned plane to greatest extent.
The present invention further proposes a kind of unmanned plane.
According to the control method of the unmanned plane of the present invention, the unmanned plane includes air bag, and the control method includes following
Step：Detect the gyroscope value and acceleration magnitude of the unmanned plane；By the gyroscope value detected and the acceleration magnitude
Merge to obtain fused data；Judge whether the fused data is more than the trigger value；When judged result is to be, control
The air bag is opened；When judged result is no, the unmanned plane normal flight is assert, continue to detect the unmanned plane
Gyroscope value and acceleration magnitude.
According to the control method of the unmanned plane of the present invention, when unmanned plane is in air crash state, unmanned plane can pass through gyroscope
Judge whether to be in air crash state with the fused data of accelerometer, when judging to be in air crash state, unmanned plane can be controlled
Air bag is opened, so as to the speed of falling of effectively reduction unmanned plane, and when unmanned plane makes impact with the ground, safety
Air bag can mitigate the extent of damage of unmanned plane, can preferably protect unmanned plane.
According to the unmanned plane of the present invention, including：Main independent current source；Air bag；Gyroscope, the gyroscope and the master
Independent current source is connected；Accelerometer, the accelerometer is connected with the main independent current source；ECU, the automatically controlled list
Member is connected with the gyroscope and the accelerometer respectively, the gyroscope that receives when the ECU and described adds
The fused data of speedometer opens the air bag when being more than the default trigger value, wherein, the fused data is logical
Cross and high-pass filtering processing is carried out to the gyroscope value that the gyroscope is detected and the acceleration magnitude of the accelerometer is carried out simultaneously
Low-pass filtering treatment come realize fusion obtained by.
According to the unmanned plane of the present invention, ECU can receive fused data and send instruction, when fused data is more than triggering
During value, air bag is opened, so as to reduce the speed of falling of unmanned plane, when can reduce unmanned plane Crater face
Speed, and air bag can also mitigate unmanned plane and the impact strength on ground, so as to protect nobody to greatest extent
Machine, mitigates the extent of damage of unmanned plane.
Brief description of the drawings
Fig. 1 is the structural representation of unmanned plane according to embodiments of the present invention；
Fig. 2 is the structural representation of the unmanned plane shown in Fig. 1, and air bag is in open mode；
Fig. 3 is the electrical connection schematic diagram of unmanned plane according to embodiments of the present invention；
Fig. 4 is the control principle drawing of the ECU of unmanned plane according to embodiments of the present invention；
Fig. 5 is the step schematic diagram of the control method of unmanned plane according to embodiments of the present invention.
Reference：
Unmanned plane 100；Air bag 10；Second air bag 11；
Gyroscope 20；Modulus conversion chip 21；Accelerometer 30；ECU 40；
Standby independent current source 50；Rotor 60；Foot stool 70；Speed control unit 80；Main independent current source 90；Barometer 110.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings.Below with reference to accompanying drawing
The embodiment of description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings unmanned plane 100 according to embodiments of the present invention is described in detail.
Unmanned plane 100 according to embodiments of the present invention can include：Main independent current source 90, air bag 10, gyroscope 20,
Accelerometer 30 and ECU 40.Wherein, as shown in figure 3, main independent current source 90 respectively with gyroscope 20, acceleration
The electrical connection of meter 30 thinks that gyroscope 20 and accelerometer 30 are powered.Alternatively, unmanned plane 100 can also include：It is standby only
Vertical power supply 50, standby independent current source 50 respectively with air bag 10, gyroscope 20, accelerometer 30 and ECU 40
It is connected, when main independent current source 90 fails, standby independent current source 50 is air bag 10, gyroscope 20, accelerometer 30
Powered with ECU 40., wherein it is desired to which explanation, the main failure of independent current source 90 refers to that main independent current source 90 is damaged
Situation about can not work, and the not enough power supply of main independent current source 90 can not support unmanned plane 100 to complete situation about making a return voyage.Work as nothing
Man-machine 100 be in runaway condition when, main independent current source 90 is stopped power supply, and standby independent current source 50 can provide electric energy to top
Spiral shell instrument 20, accelerometer 30 and ECU 40, thereby may be ensured that the reliability of unmanned plane 100.
ECU 40 is connected with gyroscope 20 and accelerometer 30 respectively, as shown in figure 4, ECU 40 can divide
Not Jie Shou gyroscope 20 and accelerometer 30 transmission come data, can be electrically connected between gyroscope 20 and ECU 40
There is modulus conversion chip 21, the receivable number of ECU 40 is transmitted to so as to the data-signal that transmits gyroscope 20
According to.
When the gyroscope 20 and the fused data of accelerometer 30 that ECU 40 is received are more than the triggering of ECU 40
Airbag opening 10 during value.Melt it should be noted that the data of gyroscope 20 and accelerometer 30 are formed after fusion
Close data, below content a kind of generation type of optional fused data will be provided.ECU 40 receives the fused data,
It is automatically controlled when fused data is more than trigger value and the trigger value for setting the fused data and ECU 40 is compared
The control air bag 10 of unit 40 is opened, and so as to reduce the speed of falling of unmanned plane 100, can cause unmanned plane 100
Speed when falling ground is smaller, can mitigate the extent of damage of the colliding surface of unmanned plane 100, and air bag 10 enters
Face the shock degree of unmanned plane 100, so as to protect unmanned plane 100 to greatest extent, drop with can reducing to one step
The loss of the low owner of unmanned plane 100.
It should be noted that the structure and operation principle of air bag 10 are the known technology of those skilled in the art, herein
No longer it is described in detail.
Unmanned plane 100 according to embodiments of the present invention, when unmanned plane 100 is in out of control and air crash state, standby independent current source
50 can provide electric energy for gyroscope 20, accelerometer 30 and ECU 40 so that gyroscope 20 and plus
Speedometer 30 is normally carried out detection, and ECU 40 can normally receive fused data and send instruction, when fused data is big
When trigger value, air bag 10 is opened, and so as to reduce the speed of falling of unmanned plane 100, can reduce unmanned plane
Speed during 100 Crater face, and air bag 10 can also mitigate unmanned plane 100 and the impact strength on ground, from
And unmanned plane 100 can be protected to greatest extent, reduce the extent of damage of unmanned plane 100.
According to a preferred embodiment of the present invention, as depicted in figs. 1 and 2, rotor 60 can be provided with unmanned plane 100
With foot stool 70, air bag 10 can include the first air bag and the second air bag 11, and the first air bag is arranged on
Between rotor 60, the second air bag 11 is arranged between foot stool 70.Further, when foot stool 70 is relative to rotor 60
The second air bag 11 is opened at lower section, when foot stool 70 relative to rotor 60 up when open the first air bag.Electricity
Control unit 40 may determine that unmanned plane 100 is to be in the downward state of foot stool 70, or the downward state of rotor 60, work as foot stool
70 it is downward when, ECU 40 control the second air bag 11 open, so as to mitigate between ground and foot stool 70
Shock degree, when rotor 60 is downward, ECU 40 control the first air bag open, so as to mitigate ground and
Shock degree between rotor 60, and then can preferably protect unmanned plane 100.
According to the specific embodiment of the present invention, as shown in figure 4, unmanned plane 100 can also include：Speed control unit
80, ECU 40 is connected with speed control unit 80, and speed control unit 80 is used for the flight speed for controlling unmanned plane 100
Degree, and speed control unit 80 is suitable to the fused data in gyroscope 20 and accelerometer 30 more than ECU 40
The flying speed of unmanned plane 100 is maintained into preset range during trigger value.It is understood that when ECU 40 judges nothing
Man-machine 100 be in air crash state when, ECU 40 control speed control unit 80 adjust unmanned plane 100 speed, from
And can make it that the speed of unmanned plane 100 is maintained within a predetermined range, and then can effectively reduce the speed of falling of unmanned plane 100
Degree, can mitigate the extent of damage of unmanned plane 100.Wherein, technical staff can choose preset range according to experimental data.
According to another specific embodiment of the present invention, unmanned plane 100 can also include：Barometer, ECU 40 is suitable to
The unmanned plane that the trigger value and barometer for being more than ECU 40 in the fused data of gyroscope 20 and accelerometer 30 are detected
Airbag opening 10 when 100 height reach predetermined value.It is understood that when ECU 40 is judged at unmanned plane 100
When air crash state, barometer can detect the place height air pressure of unmanned plane 100 in real time, and ECU 40 can learn nothing
Man-machine 100 place height, so that when unmanned plane 100 falls to predetermined altitude value, ECU 40 can control safety
Air bag 10 is opened, can be to greatest extent so as to reduce speed during 100 Crater face of unmanned plane to greatest extent
Mitigate the extent of damage of unmanned plane 100.
The control method of unmanned plane 100 according to embodiments of the present invention is described below in detail.
The control method of unmanned plane 100 according to embodiments of the present invention comprises the following steps：Detect the gyro of unmanned plane 100
Instrument value and acceleration magnitude, wherein, S1, gyroscope 20 detect the gyroscope value of unmanned plane 100, the detection nothing of accelerometer 30
Man-machine 100 acceleration magnitude.UAV Attitude is retouched by pitching (pitch), driftage (yaw), 3 attitude angles of rolling (roll)
State, UAV Attitude there can be a variety of mathematical expression modes, it can be common that quaternary number, Eulerian angles, moment of torsion and shaft angle.At this
Quaternary number and Eulerian angles are used in unmanned plane 100, the core of Attitude Calculation is to rotate.Quaternary number is used in Attitude Calculation
To preserve UAV Attitude.After quaternary number is obtained, Eulerian angles are converted it into, are then input in gesture stability algorithm.
Quaternary number and the conversion formula of Eulerian angles are as follows：
Pitch=arctan2f (2* (q0*q1+q2*q3), q0q0-q1q1-q2q2+q3q3) * 57.3；
Yaw=asin (- 2* (q1*q3+2*q0*q2) * 57.3；
Roll=atan2 (2* (q1*q2+2*q0*q3), q0q0+q1q1-q2q2-q3q3) * 57.3；
Q0, q1, q2, q3 are the elements of quaternary number in formula, represent estimation direction, and each numerical value is to integrate quaternary digit rate and normal
The parameter of change.
The input parameter of gesture stability algorithm has to be Eulerian angles.Detect that the gyroscope value and acceleration magnitude of unmanned plane 100 can
With including：Detect the gyroscope value of three dimensions of the quaternary number of gyroscope 20 and three dimensions of the quaternary number of accelerometer 30
The acceleration magnitude of degree, and the gyroscope value of three dimensions of quaternary number is converted into three dimensions of Eulerian angles gyroscope value,
The acceleration magnitude of three dimensions of quaternary number is converted into the acceleration magnitude of three dimensions of Eulerian angles.Wherein, three dimensions
The acceleration magnitude of gyroscope value and three dimensions, each value is 16 precision.
S2, by the fusion of the gyroscope value and acceleration magnitude that detect to obtain fused data.Fused data is by Eulerian angles
The acceleration magnitude of the gyroscope value of three dimensions and three dimensions of Eulerian angles is fused into the data of three dimensions of one group of Eulerian angles
Value.
Specifically, the gyroscope value of three dimensions of Eulerian angles can be handled by high-pass filtering method, three dimensions of Eulerian angles
The acceleration magnitude of degree is handled by LPF method.Gyroscope value is handled by high-pass filtering method, can effectively suppress three
The drift of the gyroscope value of individual dimension.By handling acceleration magnitude to LPF method, it can effectively suppress three dimensions
The dynamic error of acceleration magnitude.
Preferably, to three dimensions of Eulerian angles gyroscope value and the acceleration magnitude of three dimensions of Eulerian angles is by band logical
Wave filter is realized.Bandpass filter can carry out high-pass filtering for gyroscope value simultaneously and be carried out for acceleration magnitude low
Pass filter, so as to reduce distortion, can obtain the data value of three dimensions of the Eulerian angles after one group of fusion.With acceleration
The output of angle value can effectively eliminate the drift of gyroscope value, can make it that the Euler's angular estimation finally given is more accurate.
Wherein, can be effective while carrying out high-pass filtering for gyroscope value and carrying out low-pass filtering treatment for acceleration magnitude
Compensate the drift error of gyroscope value and the dynamic error of acceleration magnitude.Airborne High Accuracy Inertial level attitude gyro is chosen as base
Quasi- value, filtering cycle is 80ms, and initial attitude angle is：θ=3.2 °, γ=28.2 °, φ=44.8 ° accelerate
The noise of degree meter 30 is 102~101Between m/s2.If assuming, all evaluated errors are in body when carrier is in horizontal attitude
Axle, now angle of pitch evaluated error is maximum, and its evaluated error is arcsin=0.06 °~0.6 °.
As shown in figure 5, S3, ECU 40 judge whether fused data is more than trigger value.Preferably, fused data can be with
For the driftage in Eulerian angles, trigger value is 90 °, if the driftage in Eulerian angles is less than or equal to 90 °, unmanned plane 100 is in
Regular flight condition；If the driftage in Eulerian angles is more than 90 °, unmanned plane 100 is in air crash state.
S4, when judged result for be when, control air bag 10 open.The opening of air bag 10 can effectively reduce nothing
Man-machine 100 speed of falling, and when unmanned plane 100 makes impact with the ground, air bag 10 can mitigate unmanned plane 100
The extent of damage, can preferably protect unmanned plane 100.
S5, when judged result for it is no when, return to step S1 continue detect.It is understood that when judged result is no,
Illustrate that unmanned plane 100 is in regular flight condition, winged hand can still control unmanned plane 100, need not now open substitute
Capsule 10, so gyroscope 20 and accelerometer 30 continue to detect.
Specifically, when judged result is to be and control peace when the height of unmanned plane 100 that barometer 110 is detected reaches predetermined value
Full air bag 10 is opened.So, it can make it that the opening moment of air bag 10 is suitable, unmanned plane can be caused to drop to ground
The speed in face is smaller, can further mitigate the impact strength between unmanned plane 100 and ground, can subtract to greatest extent
The extent of damage of light unmanned plane 100.
Thus, the control method of unmanned plane 100 according to embodiments of the present invention, when unmanned plane 100 is in air crash state,
ECU 40 can judge that unmanned plane 100 is in air crash state by the fused data of gyroscope 20 and accelerometer 30,
ECU 40 can control air bag 10 to open, so as to the speed of falling of effectively reduction unmanned plane 100, and
When unmanned plane 100 makes impact with the ground, air bag 10 can mitigate the extent of damage of unmanned plane 100, can preferably protect
Protect unmanned plane 100.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure, material or
Feature is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term
Necessarily it is directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be with
Combined in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting, ability
The technical staff in domain can enter the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Row is combined and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary,
It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment
It is changed, changes, replacing and modification.
Claims (13)
1. a kind of control method of unmanned plane, it is characterised in that the unmanned plane includes air bag, the control method bag
Include following steps：
Detect the gyroscope value and acceleration magnitude of the unmanned plane；
The gyroscope value detected and the acceleration magnitude are merged to obtain fused data；
Judge whether the fused data is more than trigger value；
When judged result for when being, the control air bag is opened；
When judged result is no, the unmanned plane normal flight is assert, continue to detect the gyroscope value of the unmanned plane and add
Velocity amplitude.
2. the control method of unmanned plane according to claim 1, it is characterised in that the top of the detection unmanned plane
Spiral shell instrument value and acceleration magnitude, including：
Detect three dimensions of the gyroscope value of three dimensions of the quaternary number of the gyroscope and the quaternary number of the accelerometer
Acceleration magnitude, and the gyroscope value of three dimensions of the quaternary number is converted into three dimensions of Eulerian angles gyroscope value,
The acceleration magnitude of three dimensions of the quaternary number is converted into the acceleration magnitude of three dimensions of Eulerian angles, wherein, described three
Individual dimension is respectively pitching, driftage and rolling.
3. the control method of unmanned plane according to claim 2, it is characterised in that three dimensions of the Eulerian angles
Gyroscope value is handled by high-pass filtering method, the acceleration magnitudes of three dimensions of the Eulerian angles by LPF method at
Reason.
4. the control method of unmanned plane according to claim 3, it is characterised in that three dimensions of the Eulerian angles
The acceleration magnitude of three dimensions of gyroscope value and the Eulerian angles realizes fusion by bandpass filter to obtain the fusion
Data.
5. the control method of unmanned plane according to claim 3, it is characterised in that the fused data is the Euler
The driftage in angle, the trigger value is 90 °,
If the driftage in the Eulerian angles is less than or equal to 90 °, the unmanned plane is in regular flight condition；If Europe
The driftage in angle is drawn to be more than 90 °, the unmanned plane is in air crash state.
6. the control method of unmanned plane according to claim 1, it is characterised in that described man-machine also to include：Barometer,
When judged result is to be and control the air bag to beat when the unmanned plane that the barometer is detected highly reaches predetermined value
Open.
7. a kind of unmanned plane, it is characterised in that including：
Main independent current source；
Air bag；
Gyroscope, the gyroscope is connected with the main independent current source；
Accelerometer, the accelerometer is connected with the main independent current source；
ECU, the ECU is connected with the gyroscope and the accelerometer respectively, when the ECU connects
The gyroscope and the fused data of the accelerometer received opens the substitute when being more than the default trigger value
Capsule, wherein,
The fused data is to carry out high-pass filtering processing by the gyroscope value detected to the gyroscope and add simultaneously to described
The acceleration magnitude of speedometer carries out low-pass filtering treatment come obtained by realizing fusion.
8. the unmanned plane according to claim 7, it is characterised in that also include：Standby independent current source, it is described standby only
Vertical power supply is connected with the air bag, the gyroscope, the accelerometer and the ECU respectively, as the master
The standby independent current source is the air bag, the gyroscope, the accelerometer and the electricity when independent current source fails
Control unit is powered.
9. unmanned plane according to claim 7, it is characterised in that the unmanned plane is provided with multiple rotors and multiple pin
Frame,
The air bag includes the first air bag and the second air bag, and first air bag is arranged on multiple described
Between rotor, second air bag is arranged between multiple foot stools.
10. unmanned plane according to claim 9, it is characterised in that under the foot stool is located at relative to the rotor
Second air bag is opened when square,
First air bag is opened when the foot stool is above relative to the rotor.
11. unmanned plane according to claim 7, it is characterised in that also include：Speed control unit, it is described automatically controlled
Unit is connected with the speed control unit, and the speed control unit is used to control the flying speed of the unmanned plane and is suitable to
The flying speed of the unmanned plane is maintained into preset range when the fused data is more than the default trigger value.
12. unmanned plane according to claim 7, it is characterised in that also include：Barometer, the ECU is fitted
It is predetermined in highly being reached more than the unmanned plane that the default trigger value and the barometer are detected in the fused data
The air bag is opened during value.
13. unmanned plane according to claim 7, it is characterised in that the fused data is using bandpass filter to institute
State gyroscope value carry out high-pass filtering processing and to the acceleration magnitude carry out low-pass filtering treatment come realize fusion obtained by.
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| CN109683164A (en) * | 2019-01-25 | 2019-04-26 | 西南科技大学 | A kind of unmanned plane based on flying quality falls Activity recognition method |
| CN111038709A (en) * | 2019-10-11 | 2020-04-21 | 湖北航天化学技术研究所 | Helicopter safety airbag triggering method and device |
| CN111221347A (en) * | 2020-04-21 | 2020-06-02 | 广东英诺威盛科技有限公司 | Acceleration compensation method and system in attitude estimation of vertical take-off and landing fixed wing unmanned aerial vehicle |
| WO2020107465A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method, unmanned aerial vehicle and computer-readable storage medium |
| CN112666961A (en) * | 2020-12-14 | 2021-04-16 | 广东电网有限责任公司佛山供电局 | Unmanned aerial vehicle crash detection method, system and device, unmanned aerial vehicle and storage medium |
| CN113137982A (en) * | 2021-04-29 | 2021-07-20 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle falling judgment method and device, unmanned aerial vehicle and storage medium |
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