CN107346141A - A kind of motion sensing control method - Google Patents
A kind of motion sensing control method Download PDFInfo
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- CN107346141A CN107346141A CN201610299333.8A CN201610299333A CN107346141A CN 107346141 A CN107346141 A CN 107346141A CN 201610299333 A CN201610299333 A CN 201610299333A CN 107346141 A CN107346141 A CN 107346141A
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- 239000011159 matrix material Substances 0.000 claims abstract description 65
- 230000004913 activation Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—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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- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of motion sensing control method, the motion sensing control method includes：S1, when remote control is to body-sensing activation command, obtain the initial matrix DCM of remote control current poseinit；S2, the current matrix DCM of remote control attitudes vibration is obtained in real timecur；S3, according to initial matrix DCMinitWith current matrix DCMcurIntermediary matrix DCM is calculatedrelative；S4, by intermediary matrix DCMrelativeBe converted to final matrix D CMfinal；S5, by final matrix D CMfinalThe controlled quentity controlled variable of UAV Attitude can be controlled by being converted into；S6, remote control and UAV Communication, unmanned plane implement pose adjustment according to the controlled quentity controlled variable.Pass through above-mentioned technical proposal, remote control can control the state of flight of unmanned plane according to the gesture operation of user, so bring more real experience to user, facilitate manipulation of the user to unmanned plane, bring advantage to the user.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to is a kind of motion sensing control method.
Background technology
At present, with the development of remote control, requirement more and more higher of the people to body-sensing remote control, and by body-sensing remote control
Being used in turns into the trend in current unmanned plane field on unmanned plane.
Unmanned unmanned plane referred to as " unmanned plane ", is grasped using radio robot and the presetting apparatus provided for oneself
Vertical not manned unmanned plane, widely apply at present take photo by plane, the measurement of landforms, the industry such as transport.
Unmanned plane has the characteristics that cost is low, easy to use, environmental suitability is strong in use, so just progressively coming into people
Common life, extensively liked and applied by everybody, the winged hand of in general unmanned plane be all directly by remote control control without
Man-machine state of flight, but this control method can not meet the needs of user, user can not be true using remote control
Experience the unmanned plane state of unmanned plane, existing unmanned controller can not increasingly meet the needs of user.
Therefore, how the gesture motion of human body is converted into controlling to the data of unmanned plane during flying, to control flying for unmanned plane
OK, technical problem urgently to be resolved hurrily at present is turned into.
In view of this it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies in the prior art, there is provided a kind of gesture motion by human body
It is converted into controlling the data of unmanned plane during flying, to control the motion sensing control method of the flight of unmanned plane.
In order to solve the above technical problems, the present invention is using the basic conception of technical scheme：
The invention provides a kind of motion sensing control method, step includes：
S1, when remote control is to body-sensing activation command, obtain the initial matrix DCM of remote control current poseinit；
S2, the current matrix DCM of remote control attitudes vibration is obtained in real timecur；
S3, according to initial matrix DCMinitWith current matrix DCMcurIntermediary matrix DCM is calculatedrelative；
S4, by intermediary matrix DCMrelativeBe converted to final matrix D CMfinal；
S5, by final matrix D CMfinalThe controlled quentity controlled variable of UAV Attitude can be controlled by being converted into；
S6, remote control and UAV Communication, unmanned plane implement pose adjustment according to the controlled quentity controlled variable.
Preferably, the step S1 is specifically included：
After body-sensing activation command is received, initial quaternary number q is recordedinit, by initial quaternary number qinitIt is converted into initial
Matrix D CMinit。
Preferably, the step S2 is specifically included：
A current quaternary number q is just recorded at interval of the scheduled timecur, and by current quaternary number qcurIt is converted into current matrix
DCMcur。
Preferably, the scheduled time is 10ms to 20ms.
Preferably, the intermediary matrix DCMrelativeFor：
DCMrelative=DCMinit T*DCMcur。
Preferably, the step S4 is specifically included：
By intermediary matrix DCMrelativeIt is rotated by 90 ° to obtain final matrix D CMfinal。
Preferably, the step S5 is specifically included：
By the final matrix D CMfinalEulerian angles are converted into, and converts to obtain according to the Eulerian angles and can control nobody
The controlled quentity controlled variable of machine posture.
Preferably, remote control is provided with attitude transducer, and three-dimensional coordinate is established by origin of coordinates O of attitude transducer center
System, the Eulerian angles include：
Remote control surrounds X-axis rotational value roll, and remote control surrounds Y-axis rotational value pitch, and remote control surrounds Z axis rotational value
yaw。
Preferably, the remote control is around Y-axis rotational value pitch：
Pitch=arcsin (- DCMfinal[2][0])。
Preferably, roll and yaw value are determined according to pitch size：
WhenWhen, then roll=0,
WhenThen
After adopting the above technical scheme, the present invention has the advantages that compared with prior art.
Remote control can control the state of flight of unmanned plane according to the gesture operation of user, so be brought more to user
Real experience, facilitates manipulation of the user to unmanned plane, brings advantage to the user.
Brief description of the drawings
, below will be in embodiment for the technical scheme in the clearer explanation specific embodiment of the invention
The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 shows the flow chart of the motion sensing control method of one embodiment of the present of invention；
Fig. 2 shows the schematic diagram using attitude transducer center as the origin of coordinates O three-dimensional system of coordinates established of the present invention.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows the flow chart of the motion sensing control method of one embodiment of the present of invention.
As shown in figure 1, the invention provides a kind of motion sensing control method, the motion sensing control method includes：
S1, when remote control is to body-sensing activation command, obtain the initial matrix DCM of remote control current poseinit；
S2, the current matrix DCM of remote control attitudes vibration is obtained in real timecur；
S3, according to initial matrix DCMinitWith current matrix DCMcurIntermediary matrix DCM is calculatedrelative；
S4, by intermediary matrix DCMrelativeBe converted to final matrix D CMfinal；
S5, by final matrix D CMfinalThe controlled quentity controlled variable of UAV Attitude can be controlled by being converted into；
S6, remote control and UAV Communication, unmanned plane implement pose adjustment according to the controlled quentity controlled variable.
In the above-mentioned technical solutions, the body-sensing button on remote control is pressed as user, remote control to body-sensing, which activates, orders
After order, the state of body-sensing remote control now will be obtained, and is initial matrix DCM by the State Transferringinit, then user hold
During body-sensing remote control carries out gesture manipulation, the real-time status of body-sensing remote control will be obtained in real time, and by the real-time status
It is converted into current matrix DCMcur, thus can be by initial matrix DCMinitWith current matrix DCMcurAfter carrying out certain computing
Obtain intermediary matrix DCMrelative；
In addition, the singular point in Eulerian angles can not represent the posture of remote control with Eulerian angles；Eulerian angles are description Rigid Body in Rotation With
Three shaft angles, in order to Eulerian angles to be avoided singular point need to middle matrix D CMrelativeChanged, and determined final
Matrix D CMfinal, finally, it is possible to by final matrix D CMfinalIt is converted into controlling the controlled quentity controlled variable of UAV Attitude, and will
These controlled quentity controlled variables are sent to unmanned plane, and then control the flight of unmanned plane.
Wherein, the controlled quentity controlled variable of UAV Attitude includes：It can be grasped to front, back, left, right, up, down, upper and lower flight, and upset etc.
Control each controlled quentity controlled variable of unmanned plane during flying posture.
Pass through above-mentioned technical proposal, remote control can control the state of flight of unmanned plane according to the gesture operation of user,
More real experience so is brought to user, facilitates manipulation of the user to unmanned plane, brings advantage to the user.
Preferably, the step S1 is specifically included：
After body-sensing activation command is received, initial quaternary number q is recordedinit, by initial quaternary number qinitIt is converted into initial
Matrix D CMinit。
In the above-mentioned technical solutions, first, body-sensing remote control will obtain remote control after body-sensing activation command is received
The initial quaternary number q of device nowinit, wherein, initial quaternary number is qinit=[w, x, y, z], central qinitIt is quaternary number, w,
X, y, z are quaternary number qinit4 parameters, body-sensing remote control is to calculate quaternary number, q with gyroscope and accelerometerinitIn
Each quaternary number be respectively：
W=cos (theta/2)；X=ax*sin (theta/2)；Y=ay*sin (theta/2)；Z=az*sin
(theta/2)；(ax, ay, az) represents the vector of axle, and theta represents the anglec of rotation around this axle
Pass through above-mentioned technical proposal, it can rapidly and accurately calculate quaternary number during body-sensing remote control original state
qinit, and by qinitBe converted to initial matrix DCMinit, it is：
Preferably, the step S2 is specifically included：
A current quaternary number q is just recorded at interval of the scheduled timecur, and by current quaternary number qcurIt is converted into current matrix
DCMcur。
In the above-mentioned technical solutions, current quaternary number q will be recorded once at interval of the scheduled timecur, then by qcurTurn
Change current matrix DCM intocur, current quaternary number qcurWith current matrix DCMcurTransformational relation it is as follows：
qcur=[w, x, y, z]
In the above-mentioned technical solutions, in order to ensure to obtain current quaternary number qcurReal-time, will be set as the scheduled time
10ms to 20ms.
Preferably, the intermediary matrix DCMrelativeFor：
DCMrelative=DCMinit T*DCMcur。
Preferably, the step S4 is specifically included：
By intermediary matrix DCMrelativeIt is rotated by 90 ° to obtain final matrix D CMfinal。
In the above-mentioned technical solutions, Eulerian angles be describe Rigid Body in Rotation With three shaft angles, due to Eulerian angles singular point without
Method represents the posture of remote control with Eulerian angles, therefore in order to avoid the singular point of Eulerian angles, it is necessary to by intermediary matrix DCMrelativeRotation
It turn 90 degrees to obtain final matrix D CMfinal, rotation mode is as follows：
Pass through above-mentioned technical proposal, avoid DCMrelativeThe angle of rotation direction can not be determined in the singular point of Eulerian angles
Problem, and then provide guarantee for the normal flight of unmanned plane.
Preferably, the step S5 is specifically included：
By the final matrix D CMfinalEulerian angles are converted into, and converts to obtain according to the Eulerian angles and can control nobody
The controlled quentity controlled variable of machine posture.
In the above-mentioned technical solutions, in order to according to the gesture operation of user control unmanned plane flight attitude, it is necessary to
By final matrix D CMfinalEulerian angles are converted into, and corresponding Eulerian angles are converted into controlling to the control of unmanned plane during flying posture
Amount processed, and these controlled quentity controlled variables are sent on unmanned plane, and then control the flight attitude of unmanned plane.
Preferably, remote control is provided with attitude transducer, as shown in Fig. 2 being built by origin of coordinates O of attitude transducer center
Vertical three-dimensional system of coordinate, the Eulerian angles include：
Remote control surrounds X-axis rotational value roll, and remote control surrounds Y-axis rotational value pitch, and remote control surrounds Z axis rotational value
yaw。
In the above-mentioned technical solutions, it is corresponding dynamic in order to which unmanned plane preferably can be completed according to the gesture motion of user
To make, remote control is provided with attitude transducer, it is necessary to establish the coordinate system using attitude transducer center as origin of coordinates O, and respectively
With pitch, roll and yaw, represent around X-axis rotational value, around Y-axis rotational value and around Z axis rotational value, thus can be straight
Connect and the gesture motion of user is converted into corresponding Eulerian angles, and then be converted into corresponding Eulerian angles to control unmanned plane again
Controlled quentity controlled variable, and by corresponding controlled quentity controlled variable be converted to control electric signal send to unmanned plane, control the flight of unmanned plane.
Preferably, the remote control is around Y-axis rotational value pitch：
Pitch=arcsin (- DCMfinal[2][0])。
Preferably, roll and yaw value are determined according to pitch size：
WhenWhen, then roll=0,
WhenWhen, then
In the above-mentioned technical solutions, first according to DCMfinalShow that unmanned plane surrounds X-axis rotational value roll, and judgeWhether it is less than 0.001, is 0 if less than Y-axis rotational value pitch is then surrounded, around Z axis rotational value
Pass through above-mentioned technical proposal, can be by final matrix D CMfinalBe converted to the Three dimensions control amount of unmanned plane during flying posture
Pitch, roll and yaw, pitch, roll and yaw concrete numerical value are converted to the controlled quentity controlled variable that can be sent to unmanned plane, entered
And the flight attitude of unmanned plane is controlled, complete user and want the action that unmanned plane is completed.
Embodiment in above-described embodiment can be further combined or replace, and embodiment is only to the present invention's
Preferred embodiment is described, and not the spirit and scope of the present invention are defined, and is not departing from design philosophy of the present invention
Under the premise of, various changes and modifications that professional and technical personnel in the art make to technical scheme belong to this hair
Bright protection domain.
Claims (10)
1. a kind of motion sensing control method, it is characterised in that step includes：
S1, when remote control is to body-sensing activation command, obtain the initial matrix DCM of remote control current poseinit；
S2, the current matrix DCM of remote control attitudes vibration is obtained in real timecur；
S3, according to initial matrix DCMinitWith current matrix DCMcurIntermediary matrix DCM is calculatedrelative；
S4, by intermediary matrix DCMrelativeBe converted to final matrix D CMfinal；
S5, by final matrix D CMfinalThe controlled quentity controlled variable of UAV Attitude can be controlled by being converted into；
S6, remote control and UAV Communication, unmanned plane implement pose adjustment according to the controlled quentity controlled variable.
2. motion sensing control method according to claim 1, it is characterised in that the step S1 is specifically included：
After body-sensing activation command is received, initial quaternary number q is recordedinit, by initial quaternary number qinitIt is converted into initial matrix
DCMinit。
3. motion sensing control method according to claim 2, it is characterised in that the step S2 is specifically included：
A current quaternary number q is just recorded at interval of the scheduled timecur, and by current quaternary number qcurIt is converted into current matrix
DCMcur。
4. motion sensing control method according to claim 3, it is characterised in that the scheduled time is 10ms to 20ms.
5. motion sensing control method according to claim 1, it is characterised in that the intermediary matrix DCMrelativeFor：
DCMrelative=DCMinit T*DCMcur。
6. motion sensing control method according to claim 1, it is characterised in that the step S4 is specifically included：
By intermediary matrix DCMrelativeIt is rotated by 90 ° to obtain final matrix D CMfinal。
7. motion sensing control method according to claim 1, it is characterised in that the step S5 is specifically included：
By the final matrix D CMfinalEulerian angles are converted into, and converts to obtain according to the Eulerian angles and can control unmanned plane appearance
The controlled quentity controlled variable of state.
8. motion sensing control method according to claim 7, it is characterised in that remote control is provided with attitude transducer with posture
Center sensor is that origin of coordinates O establishes three-dimensional system of coordinate, and the Eulerian angles include：
Remote control surrounds X-axis rotational value roll, and remote control surrounds Y-axis rotational value pitch, and remote control surrounds Z axis rotational value yaw.
9. motion sensing control method according to claim 8, it is characterised in that the remote control surrounds Y-axis rotational value pitch
For：
Pitch=arcsin (- DCMfinal[2][0])。
10. motion sensing control method according to claim 9, it is characterised in that according to pitch size determine roll and
Yaw value：
WhenWhen, then roll=0,
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Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610299333.8A CN107346141A (en) | 2016-05-06 | 2016-05-06 | A kind of motion sensing control method |
| EP16880456.5A EP3399380B1 (en) | 2015-12-31 | 2016-06-20 | Headless control method |
| US16/067,557 US11327477B2 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and head-less control method |
| PCT/CN2016/086473 WO2017113648A1 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method |
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| CN201610299333.8A CN107346141A (en) | 2016-05-06 | 2016-05-06 | A kind of motion sensing control method |
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| CN107346141A true CN107346141A (en) | 2017-11-14 |
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| CN201610299333.8A Pending CN107346141A (en) | 2015-12-31 | 2016-05-06 | A kind of motion sensing control method |
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| CN108769531A (en) * | 2018-06-21 | 2018-11-06 | 深圳市道通智能航空技术有限公司 | Control method, control device and the wearable device of the shooting angle of filming apparatus |
| CN108885493A (en) * | 2017-12-22 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Method, holder, motion sensing control device and the system of motion sensing control device control holder |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831791A (en) * | 2017-11-17 | 2018-03-23 | 南方科技大学 | Unmanned aerial vehicle control method and device, control equipment and storage medium |
| CN107831791B (en) * | 2017-11-17 | 2020-12-15 | 深圳意动航空科技有限公司 | Unmanned aerial vehicle control method and device, control equipment and storage medium |
| CN108885493A (en) * | 2017-12-22 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Method, holder, motion sensing control device and the system of motion sensing control device control holder |
| US11662817B2 (en) | 2017-12-22 | 2023-05-30 | SZ DJI Technology Co., Ltd. | Method for controlling gimbal by somatosensory controller, gimbal, somatosensory controller, and system |
| CN108268059A (en) * | 2018-01-18 | 2018-07-10 | 桂林智神信息技术有限公司 | A kind of method of work of stabilizer body-sensing remote control system |
| CN108769531A (en) * | 2018-06-21 | 2018-11-06 | 深圳市道通智能航空技术有限公司 | Control method, control device and the wearable device of the shooting angle of filming apparatus |
| CN108769531B (en) * | 2018-06-21 | 2020-10-23 | 深圳市道通智能航空技术有限公司 | Method for controlling shooting angle of shooting device, control device and remote controller |
| WO2021144016A1 (en) | 2020-01-15 | 2021-07-22 | Vetter Gmbh | Mobile safety device |
| WO2022193153A1 (en) * | 2021-03-16 | 2022-09-22 | 深圳市大疆创新科技有限公司 | Control method and apparatus based on somatosensory remote controller, and storage medium |
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