CN107783421A - A kind of unmanned plane adaptive quality compensating control method and system - Google Patents
A kind of unmanned plane adaptive quality compensating control method and system Download PDFInfo
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- CN107783421A CN107783421A CN201710922610.0A CN201710922610A CN107783421A CN 107783421 A CN107783421 A CN 107783421A CN 201710922610 A CN201710922610 A CN 201710922610A CN 107783421 A CN107783421 A CN 107783421A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a kind of unmanned plane adaptive quality compensating control method, methods described includes：The acceleration of unmanned plane and the lift of short transverse are obtained in real time；Establish the kinetics equation of the short transverse of unmanned plane, on the basis of the kinetics equation, measurement input parameter is used as using acceleration of gravity and the lift of short transverse, using the acceleration of the unmanned plane as a variable, set the unmanned plane quality of estimation, by the least square method of recursion with forgetting factor, Dynamic Identification goes out the real-time equivalent gravity of unmanned plane；The real-time equivalent gravity that the Dynamic Identification is gone out into unmanned plane is combined with traditional PID control as compensation term, forms the PD control based on weight compensating.Calculating process of the present invention is simply easily realized, easy to implement, and when meeting the situation of load changing when unmanned plane is in flight or in flight course, the embodiment of the present invention can ensure that unmanned plane continues held stationary state.
Description
Technical field
The present invention relates to unmanned plane field, and specifically, the present invention relates to a kind of compensation of unmanned plane adaptive quality to control
Method and system.
Background technology
Unmanned plane is a kind of not manned aircraft that flight is controlled by program control facility on remote control equipment or machine.Due to its use
Extensively, simple in construction, risk that efficiency-cost ratio is excellent, no one was injured, mobility is good on way, has in present war of crucial importance
Effect, more held out broad prospects in civil area.
However, existing unmanned plane in tasks such as the monitoring applied to military or civilian, explorations, can typically carry accordingly
Load to complete above task, and the quality loaded is different, former traditional control method quickly can not pick out negative in real time
The quality of load, unmanned plane is caused to occur taking off because of pulling force deficiency when taking off jiggly phenomenon and in unmanned plane during flying mistake
The suddenly change loaded in journey causes the unstable phenomenon of unmanned plane during flying.This phenomenon can make user's particularly neophyty operation without
When man-machine, quail with nervous, if now user's misoperation may cause the crash of unmanned plane and very likely prestige
Other people personal safety is coerced, influences Consumer's Experience.
The content of the invention
The shortcomings that present invention is directed to existing way, proposes a kind of unmanned plane adaptive quality compensating control method and system,
To solve following problem existing for prior art：When unmanned plane is in flight or meets load changing in flight course and go out
Now fly situations such as unstable, the problem of so as to cause poor user experience.
According to the first aspect of the invention, there is provided a kind of unmanned plane adaptive quality compensating control method, specific bag
Include following steps：
The acceleration of unmanned plane and the lift of short transverse are obtained in real time；
The kinetics equation of the short transverse of unmanned plane is established, on the basis of the kinetics equation, with acceleration of gravity
Lift with short transverse, using the acceleration of the unmanned plane as a variable, sets estimation as measurement input parameter
Unmanned plane quality, by the least square method of recursion with forgetting factor, Dynamic Identification goes out the real-time equivalent gravity of unmanned plane；
The real-time equivalent gravity that the Dynamic Identification is gone out into unmanned plane is combined, shape as compensation term with traditional PID control
Into the PD control based on weight compensating.
Further, the lift of the acceleration and short transverse for obtaining unmanned plane in real time, refers to：In unmanned plane during flying
When or flight course in increase and decrease load when, in real time obtain unmanned plane acceleration and short transverse lift.
Further, the acceleration of the unmanned plane is melted after filtering by flight control system to the data of inertial sensor
Obtained after conjunction processing.
Further, the lift of the short transverse calculates gained by flight control system.
Further, the real-time equivalent gravity of the unmanned plane recognizes as a unknown parameter.
On the other hand, the invention provides a kind of unmanned plane adaptive quality compensation control system, the system to include number
According to acquisition module, data processing module and pid control module：
The data acquisition module, for obtaining the acceleration of unmanned plane and the lift of short transverse in real time；
The data processing module, the kinetics equation of the short transverse for establishing unmanned plane, in the kinetics equation
On the basis of, using acceleration of gravity and the lift of short transverse as measurement input parameter, the acceleration of the unmanned plane is made
For a variable, the unmanned plane quality of estimation is set, by the least square method of recursion with forgetting factor, Dynamic Identification goes out nothing
Man-machine real-time equivalent gravity；
The pid control module, for the Dynamic Identification to be gone out to the real-time equivalent gravity of unmanned plane as compensation term, with
Traditional PID control is combined, and forms the PD control based on weight compensating.
Further, the data acquisition module obtains the acceleration of unmanned plane and the lift of short transverse in real time, refers to：
Data acquisition module increases and decreases load in unmanned plane during flying or in flight course when, the acceleration and height of unmanned plane are obtained in real time
Spend the lift in direction.
Further, the acceleration of the unmanned plane is melted after filtering by flight control system to the data of inertial sensor
Obtained after conjunction processing.
Further, the lift FZ of the short transverse calculates gained by flight control system.
Further, the real-time equivalent gravity of the unmanned plane recognizes as a unknown parameter.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention passes through the most young waiter in a wineshop or an inn of the recursion with forgetting factor
Multiplication, Dynamic Identification go out the real-time equivalent gravity of unmanned plane, and the Dynamic Identification is gone out to the real-time equivalent gravity work of unmanned plane
For compensation term, it is combined with traditional PID control, forms the PD control based on weight compensating, its calculating process is simple, and mobility
Can be good easy to implement, relatively low is required to landing condition, and it is prominent that load is met when unmanned plane is in flight or in flight course
The situation of change, present invention can ensure that unmanned plane continues held stationary state, it is adapted to carry automatic pilot, aerial camera, waits to throw
Goods and materials etc., put down under winged state, weight compensating control can be carried out with the change of self gravitation.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is a kind of schematic flow diagram of unmanned plane adaptive quality compensating control method of embodiment 1；
Fig. 2 is a kind of structured flowchart of unmanned plane adaptive quality compensation control system of embodiment 2；
Fig. 3 applies the control loop block diagram in unmanned plane for the technology of embodiment 1 and embodiment 2；
Fig. 4 is the control effect figure that unmanned plane carries load take-off process；
Fig. 5 is the control effect figure for the load for increasing unmanned plane suddenly when unmanned plane hovers.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
In some flows of description in description and claims of this specification and above-mentioned accompanying drawing, contain according to
Particular order occur multiple operations, but it should be clearly understood that these operation can not occur herein according to it is suitable
Sequence is performed or performed parallel, the sequence number such as 101,102 etc. of operation, is only used for distinguishing each different operation, sequence number
Any execution sequence is not represented for itself.In addition, these flows can include more or less operations, and these operations can
To perform or perform parallel in order.It should be noted that the description such as " first " herein, " second ", is to be used to distinguish not
Message together, equipment, module etc., do not represent sequencing, it is different types also not limit " first " and " second ".
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other implementation that those skilled in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Existing unmanned plane can typically carry corresponding load in tasks such as the monitoring applied to military or civilian, explorations
To complete above task, but the quality loaded is sometimes what can not be measured immediately.The negative of weight is not estimated for example, having been taken when taking off
Carry；During cruise, fuel oil gradually uses up；When carrying out fixed throw, the situation of unexpected mitigation of load quality, etc. suddenly change, all
The phenomenon for causing unmanned plane during flying unstable is possible to, if misoperation, is likely to the crash that can cause unmanned plane, even
Cause the adverse consequences such as property damage or casualties.In order to solve these problems, the invention provides following examples.
Embodiment 1
The embodiment of the present invention provides a kind of unmanned plane adaptive quality compensating control method, as shown in figure 1, specifically include as
Lower step：
S101：The acceleration a of unmanned plane is obtained in real timezWith the lift F of short transverseZ；
Specifically, when increasing and decreasing load in unmanned plane during flying or in flight course, the acceleration of unmanned plane is obtained in real time
azWith the lift F of short transverseZ。
Specifically, the acceleration a of the unmanned planezThe data of inertial sensor are merged after filtering by flight control system
Obtained after processing.
Because inertial sensor is a kind of sensor in itself, but it mainly detects and measured acceleration, inclination, impacts, shakes
Dynamic, rotation and multifreedom motion, it is the important component for solving navigation, orientation and motion carrier control, is especially suitable for this implementation
The detection of unmanned plane acceleration in example.
And the flight control system of unmanned plane is used for ensureing the stability and control of aircraft, improves the energy of completion task
Power and flight quality, the safety of enhancing flight and mitigation driver's burden, have very important status in the present embodiment.
Under system dynamic noise and measurement noise statistical property known case, using the fusion of multisensor measurement data
The result that algorithm can be more satisfied with, therefore the present embodiment obtains acceleration satisfied when allowing experiment using filtering algorithm
Measurement data.For example, blending algorithm can be Kalman filtering class algorithm, particle filter class algorithm, UKF filtering algorithms etc., this
Embodiment is illustrated but is not limited to the filtering algorithm of above-mentioned classification.
Specifically, the lift F of the short transverseZGained is calculated by flight control system.
Certainly, under reality, lift may relate to climbing power, resistance etc., still, flight control system reading unit
Lift F required for these data messages can be read according to the related accessory of unmanned plane and generate the present embodimentZ。
S102：Establish the kinetics equation of the short transverse of unmanned plane, on the basis of the kinetics equation, with gravity plus
Speed g and short transverse lift FZAs measurement input parameter, by the acceleration a of the unmanned planezAs a variable, if
Surely the unmanned plane quality estimated, by the least square method of recursion with forgetting factor, Dynamic Identification go out unmanned plane in real time etc.
Imitate gravity m；
In the present embodiment, the kinetics equation of the short transverse of unmanned plane is：
Fztotal=maz
Wherein, FztotalIt is gravity and body rotor the z side under NED coordinate systems of body itself for making a concerted effort for short transverse
To lift sum, i.e., it is as follows：
Fztotal=mg-FZ
In summary formula can obtain：
maz=mg-FZ
Can must finally recognize equation is：
(g-az) m=FZ
Wherein g is acceleration of gravity, acceleration azCan by flight control system to the data of inertial sensor after filtering
Obtained after fusion treatment, FZGained is calculated for flight control system, is known quantity, wherein unmanned plane value equivalent mass m is
Unknown quantity to it, it is necessary to recognize.
The system of least square method is：
Y (k)=- a1y(k-1)-a2y(k-2)-…-any(k-n)+b0u(k)+b1u(k-1)+…+bnu(k-n)
The parameter for wherein needing to recognize is a1,a2…an,b0,b1,…bn, y is system output, and u is the input of system.
Above formula is written as to the form of matrix：
AX=b
Wherein
The principle of least square method of recursion is：
xk+1=xk+Qk[bk-A(k,:)xk], (k=1,2 ..., n)
Pk+1=([I-QkA(k,:)]Pk), (k=1,2 ..., n)
Wherein, P is evaluated error covariance matrix, and Q is transition intensity matrix corresponding to standard transition probability matrix.
Specifically, the real-time equivalent gravity of the unmanned plane recognizes as a unknown parameter.
The parameter m recognized is needed, is represented by the basis of above-mentioned formula：
X=m
A=g-az
B=Fz
It is minimum to employ the recursion with forgetting factor on the basis of above least square method of recursion for the embodiment of the present invention
Square law.
The recursion formula of least square method of recursion with forgetting factor is：
xk+1=xk+Qk[bk-A(k,:)xk], (k=1,2 ..., n)
Pk+1=([I-QkA(k,:)]Pk)/β, (k=1,2 ..., n)
Wherein, β is forgetting factor.
When unmanned plane is recognized, initialization process is as follows：x0=rand (n, 1) is randomly generated, P0=α I ∈ Rn ×n(α is that sufficiently large positive number (typically takes α=106~1010), I ∈ Rn×nIt is unit matrix).
Used in the present embodiment the least square method of recursion with forgetting factor can reach gravity identification speed it is quick and
Accurate purpose, so that obtaining the equivalent gravity of increase quality.
S103：The Dynamic Identification is gone out into the real-time equivalent gravity m of unmanned plane as compensation term, with traditional PID control phase
With reference to forming the PD control based on weight compensating.
Traditional integral PID control device is represented by following equation：
Wherein, u (t) is the controlled quentity controlled variable of controller output, that is, is exported；KPFor proportionality coefficient, e (t) is equal to for deviation signal
The difference of specified rate and output quantity, that is, input；For integral term, wherein TIFor integration time constant,
For differential term, wherein TDFor derivative time constant.In the application, KP、TIAnd TDNeed to debug repeatedly to determine optimum value.
Therefore, in the present embodiment, the real-time equivalent gravity m for the unmanned plane that Dynamic Identification is gone out is as compensation term, with tradition
PID control is combined, and forms the PD control based on weight compensating, specific as follows shown：
In the present embodiment, the K after debugging repeatedlyPAnd TIAfterwards, the differential control in PD control can suppress deviation rapidly,
So as to ensure that control passage will not lag, additionally it is possible to error is completely eliminated within the sufficiently small time, improves system anti-interference kinetic energy
Power, therefore in unmanned plane application, be able to can be effectively ensured in the case where little, the controlled parameter of load variations is without remaining difference
The stability of unmanned plane.
In the present embodiment, compensating the principle controlled is：It is real-time that unmanned plane is obtained according to the quality of unmanned plane Dynamic Identification
Equivalent gravity, the former integral term in traditional PID control is then replaced with the equivalent gravity, as one kind compensate, compensation
Into control loop, to reach the control stable purpose of unmanned plane.As shown in figure 3, applied for the present embodiment in unmanned plane
Control loop block diagram, specifically：Unmanned plane gathers acceleration related data by inertial sensor, then flight control system
To obtaining acceleration a after acceleration related data after filtering fusion treatmentz, and height side is calculated through flight control system
To lift FZ, then by the least square method of recursion with forgetting factor, Dynamic Identification goes out the real-time equivalent heavy of unmanned plane
Power m, then using this, equivalent gravity m as compensation term, is combined with traditional PID control, formed based on weight compensating in real time again
PD control, lift instruction is finally exported to regulate and control to unmanned plane.
The Actual Control Effect of Strong difference of the present embodiment is as shown in Figure 4 and Figure 5.
Fig. 4 is the control effect figure of the take-off process of unmanned plane, wherein, solid line represents default value, and dotted line represents real
Border flight measurement value, because the identification speed of equivalent gravity is fast and accurate, unmanned plane steadily takes off when taking off, and reaches and set
Definite value.
Fig. 5 is the control effect figure for the load for increasing unmanned plane suddenly when unmanned plane hovers, wherein, solid line represents system
System setting value, dotted line represent practical flight measured value, and in increase unmanned plane load suddenly, aircraft has certain decline but meeting
Original position is returned at once, because what least square method of recursion can be quickly recognizes the equivalent gravity of increase quality.
Analysis the result shows that the present embodiment has validity and feasibility to the unmanned aerial vehicle (UAV) control of variable mass above.
Embodiment 2
The invention provides a kind of unmanned plane adaptive quality compensation control system, as shown in Fig. 2 the system includes
A201 data acquisition modules, A202 data processing modules and A203PID control modules：
A201 data acquisition modules, for obtaining the acceleration of unmanned plane and the lift of short transverse in real time；
The data acquisition module comprise at least the correlation function device such as flight controller, Power Component, airborne collector with
Related data acquisition is carried out for unmanned plane.
Specifically, data acquisition module increases and decreases load in unmanned plane during flying or in flight course when, nothing is obtained in real time
Man-machine acceleration and the lift of short transverse.
Data acquisition module can obtain the flight control parameter of unmanned machine equipment by airborne collector, Power Component is joined
The parameters such as number adjust flight attitude in real time for unmanned plane, need to specifically be configured according to the task of unmanned plane, configuration mode
Can be that write-in unmanned plane correlation module or the instruction by receiving Remote, the example above are not limited to its of unmanned plane in advance
His accessory or equipment, module or unit etc..
When more, according to current demand, it is also necessary to which placement sensor collection is related in the associated component of unmanned plane
Data more accurately adjust flight attitude for unmanned plane, for example, arrangement inertial sensor gathers the data related to acceleration.
Because inertial sensor is a kind of sensor in itself, but its mainly detect and measurement acceleration, inclination, impact,
Vibration, rotation and multifreedom motion, it is the important component for solving navigation, orientation and motion carrier control, is especially suitable for this reality
Apply the detection of unmanned plane acceleration in example.
Specifically, the acceleration of the unmanned plane is by data after filtering fusion of the flight control system to inertial sensor
Obtained after reason.
And the flight control system of unmanned plane is used for ensureing the stability and control of aircraft, improves the energy of completion task
Power and flight quality, the safety of enhancing flight and mitigation driver's burden, have very important status in the present embodiment.
Under system dynamic noise and measurement noise statistical property known case, using the fusion of multisensor measurement data
The result that algorithm can be more satisfied with, therefore the present embodiment obtains acceleration satisfied when allowing experiment using filtering algorithm
Measurement data.For example, blending algorithm can be Kalman filtering class algorithm, particle filter class algorithm, UKF filtering algorithms etc., this
Embodiment is illustrated but is not limited to the filtering algorithm of above-mentioned classification.
Specifically, the lift F of the short transverseZGained is calculated by flight control system.
Certainly, under reality, lift may relate to climbing power, resistance etc., still, flight control system reading unit
Lift F required for these data messages can be read according to the related accessory of unmanned plane and generate the present embodimentZ。
A202 data processing modules, the kinetics equation of the short transverse for establishing unmanned plane, in the kinetics equation
On the basis of, using acceleration of gravity and the lift of short transverse as measurement input parameter, the acceleration of the unmanned plane is made
For a variable, the unmanned plane quality of estimation is set, by the least square method of recursion with forgetting factor, Dynamic Identification goes out nothing
Man-machine real-time equivalent gravity；
Further, the real-time equivalent gravity of the unmanned plane recognizes as a unknown parameter.
The specific data processing of data processing module can refer to the step S102 in embodiment one.
A203PID control modules, for the Dynamic Identification to be gone out to the real-time equivalent gravity of unmanned plane as compensation term, with
Traditional PID control is combined, and forms the PD control based on weight compensating.
The specific data processing of pid control module module can refer to the step S102 in embodiment one.
The Actual Control Effect of Strong difference of the present embodiment is as shown in Figure 4 and Figure 5.
Fig. 4 is the control effect figure that unmanned plane carries load take-off process, wherein, solid line represents default value, dotted line
Practical flight measured value is represented, because the identification speed of equivalent gravity is fast and accurate, unmanned plane steadily takes off when taking off, and
Reach setting value.
Fig. 5 is the control effect figure for the load for increasing unmanned plane suddenly when unmanned plane hovers, wherein, solid line represents system
System setting value, dotted line represent practical flight measured value, and in increase unmanned plane load suddenly, aircraft has certain decline but meeting
Original position is returned at once, because what least square method of recursion can be quickly recognizes the equivalent gravity of increase quality.
Analysis the result shows that the present embodiment has validity and feasibility to the unmanned aerial vehicle (UAV) control of variable mass above.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, it should be understood that have with the context of prior art
Look like consistent meaning, and unless by specific definitions as here, otherwise will not use the implication of idealization or overly formal
To explain.
Described above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane adaptive quality compensating control method, it is characterised in that specifically comprise the following steps：
The acceleration of unmanned plane and the lift of short transverse are obtained in real time；
The kinetics equation of the short transverse of unmanned plane is established, on the basis of the kinetics equation, with acceleration of gravity and height
The lift in direction is spent as measurement input parameter, using the acceleration of the unmanned plane as a variable, sets estimation nobody
Machine quality, by the least square method of recursion with forgetting factor, Dynamic Identification goes out the real-time equivalent gravity of unmanned plane；
The real-time equivalent gravity that the Dynamic Identification is gone out into unmanned plane is combined with traditional PID control as compensation term, forms base
In the PD control of weight compensating.
2. according to the method for claim 1, it is characterised in that the acceleration and short transverse for obtaining unmanned plane in real time
Lift, refer to：When increasing and decreasing load in unmanned plane during flying or in flight course, the acceleration and height of unmanned plane are obtained in real time
Spend the lift in direction.
3. according to the method for claim 1, it is characterised in that the acceleration of the unmanned plane is by flight control system to used
The data of property sensor are obtained after fusion treatment after filtering.
4. according to the method for claim 1, it is characterised in that the lift of the short transverse is calculated by flight control system
Gained.
5. according to the method for claim 1, it is characterised in that the real-time equivalent gravity of the unmanned plane is unknown as one
Parameter recognizes.
A kind of 6. unmanned plane adaptive quality compensation control system, it is characterised in that mainly including data acquisition module, data at
Manage module and pid control module：
The data acquisition module, for obtaining the acceleration of unmanned plane and the lift of short transverse in real time；
The data processing module, the kinetics equation of the short transverse for establishing unmanned plane, in the base of the kinetics equation
On plinth, using acceleration of gravity and the lift of short transverse as measurement input parameter, using the acceleration of the unmanned plane as one
Individual variable, the unmanned plane quality of estimation is set, by the least square method of recursion with forgetting factor, Dynamic Identification goes out unmanned plane
Real-time equivalent gravity；
The pid control module, for the Dynamic Identification to be gone out to the real-time equivalent gravity of unmanned plane as compensation term, with tradition
PID control is combined, and forms the PD control based on weight compensating.
7. system according to claim 6, it is characterised in that the data acquisition module obtains the acceleration of unmanned plane in real time
The lift of degree and short transverse, refers to：It is real data acquisition module increases and decreases load in unmanned plane during flying or in flight course when
When obtain unmanned plane acceleration and short transverse lift.
8. system according to claim 6, it is characterised in that the acceleration of the unmanned plane is by flight control system to used
The data of property sensor are obtained after fusion treatment after filtering.
9. system according to claim 6, it is characterised in that the lift of the short transverse is calculated by flight control system
Gained.
10. system according to claim 6, it is characterised in that the real-time equivalent gravity of the unmanned plane as one not
Parameter is known to recognize.
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| CN113104233A (en) * | 2021-05-19 | 2021-07-13 | 浙江华飞智能科技有限公司 | Unmanned aerial vehicle quality estimation method and device, electronic equipment 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 |
| CN114268742A (en) * | 2022-03-01 | 2022-04-01 | 北京瞭望神州科技有限公司 | Sky eye chip processing apparatus |
| CN116167528A (en) * | 2023-04-25 | 2023-05-26 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle weight prediction method, unmanned aerial vehicle weight prediction device and storage medium |
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