CN108475066B - Unmanned aerial vehicle attitude calculation method, flight controller and unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle attitude calculation method, flight controller and unmanned aerial vehicle Download PDF

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Publication number
CN108475066B
CN108475066B CN201780004899.6A CN201780004899A CN108475066B CN 108475066 B CN108475066 B CN 108475066B CN 201780004899 A CN201780004899 A CN 201780004899A CN 108475066 B CN108475066 B CN 108475066B
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propeller
aerial vehicle
unmanned aerial
moment
calculating
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CN108475066A (en
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周长兴
蓝求
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • 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

An unmanned aerial vehicle attitude calculation method, a flight controller and an unmanned aerial vehicle are provided, the method comprises the following steps: acquiring pulling force generated by driving a propeller (31) to rotate by a motor (32) and rotating torque of the propeller (31) to a motor base (33); according to the pulling force generated by the propeller (31) and the rotating torque of the propeller (31) to the motor base (33), the posture of the unmanned aerial vehicle (60) is determined, when the IMU breaks down, the flight controller (70) rotates through the motor (32) to drive the pulling force generated by the propeller (31), and the rotating torque of the propeller (31) to the motor base (33) determines the posture of the unmanned aerial vehicle (60), and then the unmanned aerial vehicle (60) is subjected to flight control, so that the crash accident caused by the IMU fault is avoided.

Description

Unmanned aerial vehicle attitude calculation method, flight controller and unmanned aerial vehicle
Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle attitude calculation method, a flight controller and an unmanned aerial vehicle.
Background
The flight controller of the unmanned aerial vehicle in the prior art includes an Inertial Measurement Unit (IMU), which is a device for measuring three-axis attitude angle (or angular velocity) and acceleration of the unmanned aerial vehicle. The IMU comprises a three-axis accelerometer and a three-axis gyroscope, the three-axis accelerometer and the three-axis gyroscope are used for detecting the attitude of the unmanned aerial vehicle, and the attitude of the unmanned aerial vehicle comprises a pitch angle, a roll angle, a yaw angle and the like. And the flight controller performs flight control on the unmanned aerial vehicle according to the attitude of the unmanned aerial vehicle.
However, when the IMU fails, the IMU cannot detect the attitude of the unmanned aerial vehicle, and when the flight controller cannot acquire the attitude of the unmanned aerial vehicle, the flight controller cannot perform flight control on the unmanned aerial vehicle, so that the unmanned aerial vehicle may crash.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle attitude calculation method, a flight controller and an unmanned aerial vehicle, which are used for avoiding a crash accident caused by IMU faults.
One aspect of an embodiment of the present invention is to provide an unmanned aerial vehicle attitude calculation method, including:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
It is another aspect of an embodiment of the present invention to provide a flight controller, including: one or more processors, acting alone or in conjunction, the processors to:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
It is another aspect of an embodiment of the present invention to provide an unmanned aerial vehicle including:
a body;
the power system is arranged on the airframe and used for providing flight power, and the power system at least comprises a motor and a propeller;
the flight controller is in communication connection with the power system and is used for controlling the unmanned aerial vehicle to fly; the flight controller comprises one or more processors, acting alone or in conjunction, to:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
The unmanned aerial vehicle posture calculation method, flight controller and unmanned aerial vehicle that this embodiment provided, drive the pulling force that the screw produced through the motor rotation, and the turning moment of screw to the motor base, confirm unmanned aerial vehicle's posture, do not need IMU also can detect out unmanned aerial vehicle's posture promptly, when IMU breaks down and can't detect out unmanned aerial vehicle's posture, flight controller still accessible motor rotation drives the pulling force that the screw produced, and the turning moment of screw to the motor base confirms unmanned aerial vehicle's posture, and then carries out flight control to unmanned aerial vehicle, avoid the crash accident that causes because of IMU trouble.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of a body coordinate system and a ground inertial coordinate system in the prior art;
FIG. 2 is a flow chart of a method for calculating the attitude of an UAV according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a power system provided by an embodiment of the present invention;
FIG. 4 is a schematic illustration of another powertrain system provided by an embodiment of the present invention;
fig. 5 is a schematic view of a quad-rotor unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic force diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 7 is a block diagram of a flight controller provided by an embodiment of the present invention;
fig. 8 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Reference numerals:
31-propeller 32-motor 33-motor base
34-mechanics sensor 60-unmanned aerial vehicle 70-flight controller
71-processor 72-mechanical sensor 100-unmanned aerial vehicle
107-motor 106-propeller 117-electronic governor
118-flight controller 108-sensing system 110-communication system
102-support device 104-photographing device 112-ground station
114-antenna 116-electromagnetic waves
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 is a schematic diagram of a body coordinate system and a ground inertia coordinate system in the prior art. As shown in FIG. 1, xbX-axis, y representing a coordinate system of the bodybY-axis, z, representing a coordinate system of the bodybZ-axis, x, representing a coordinate system of the bodyeX-axis, y, representing the ground inertial frameeY-axis, z, representing the ground inertial frameeRepresenting the Z-axis of the ground inertial frame. Specifically, the body coordinate system may be a body coordinate system corresponding to the unmanned aerial vehicle, and an included angle between the body coordinate system and the ground inertia coordinate system is an attitude angle of the unmanned aerial vehicle, where the attitude angle includes at least one of: a pitch angle theta, a yaw angle psi and a roll angle phi, wherein the pitch angle theta is an X-axis of a body coordinate systembThe included angle between the ground plane and the ground plane, wherein the ground plane can be the X axis or X of the ground inertia coordinate systemeY-axis of inertial frame of groundeThe plane of the structure, and the X-axis of the body coordinate systembMay be in the axial direction of the body axis. Yaw angle psi is the projection of the hull axis onto the ground plane and the X-axis, i.e. X, of the ground inertial frameeThe included angle therebetween. The roll angle phi is the angle of the symmetry plane of the unmanned aerial vehicle rotating around the body axis, and the X axis of the body coordinate system is the X axisbIn the axial direction of the body axis, the X-axis of the body coordinate system is XbAnd the Y axis of the body coordinate system, namely YbThe formed plane can be used as a symmetrical plane of the unmanned aerial vehicle, and the roll angle phi is an included angle between the symmetrical plane of the unmanned aerial vehicle and a plane which passes through an X axis of the body coordinate system and is perpendicular to the ground plane. As shown in fig. 1, the pitch angle θ is the X-axis X of the coordinate system of the unmanned aerial vehicle during the raising of the headbThe included angle between the horizontal plane and the horizontal plane is positive, and the yaw angle psi is relative to the X-axis X of the ground inertia coordinate system by the projection of the body axis on the horizontal planeeThe clockwise direction of the unmanned aerial vehicle is positive, and the roll angle phi is positive when the unmanned aerial vehicle rotates clockwise around the body axis on the symmetry plane. Figure 1 is intended to be illustrative only,in other embodiments, the pitch angle θ may also be x when the UAV is lowering headbThe angle between the horizontal plane and the aircraft body axis is positive, and the yaw angle psi can also be the projection of the aircraft body axis on the horizontal plane relative to xeThe anti-clockwise direction of the unmanned aerial vehicle is positive, and the roll angle phi can also be positive when the symmetry plane of the unmanned aerial vehicle rotates around the body axis in the anti-clockwise direction.
In the prior art, an Inertial Measurement Unit (IMU), namely, a three-axis accelerometer and a three-axis gyroscope, is used to detect an attitude angle of an unmanned aerial vehicle, and a flight controller may perform flight control on the unmanned aerial vehicle according to the attitude of the unmanned aerial vehicle detected by the IMU. However, when the IMU fails, the IMU cannot detect the attitude of the unmanned aerial vehicle, and when the flight controller cannot acquire the attitude of the unmanned aerial vehicle, the flight controller cannot perform flight control on the unmanned aerial vehicle, so that the unmanned aerial vehicle may crash. In order to solve the problem, the embodiment of the present invention provides a method for calculating the attitude of an unmanned aerial vehicle, which is different from a method for detecting the attitude of an unmanned aerial vehicle by an IMU, and is described below with reference to specific embodiments.
The embodiment of the invention provides a method for calculating the attitude of an unmanned aerial vehicle. Fig. 2 is a flowchart of an unmanned aerial vehicle attitude calculation method according to an embodiment of the present invention. As shown in fig. 2, the method in this embodiment may include:
step S201, obtaining the pulling force generated by the propeller driven by the rotation of the motor and the rotation torque of the propeller to the motor base.
The unmanned vehicles ' flight controller control motor rotation, the screw rotates along with the rotation of motor, the screw produces pulling force in the rotation process, when the pulling force sum that the screw produced equals this unmanned vehicles ' weight, this unmanned vehicles can hover in the air, in addition, if this unmanned vehicles is many rotor unmanned vehicles, flight controller can also be through controlling the rotational speed of each motor to control many rotor unmanned vehicles ' flight gesture, speed, angular velocity, acceleration etc..
According to newton's third law: the acting force and the reacting force between the two interacting objects are equal in magnitude and opposite in direction. Therefore, when the motor drives the propeller to rotate, the propeller applies a reaction force (reaction torque) to the motor to enable the motor to rotate in the opposite direction, and the motor is fixed on the motor base, so that the propeller generates a rotating torque to the motor base. As shown in fig. 3, a motor and its corresponding propeller of the multi-rotor unmanned aerial vehicle are shown, specifically, motor 32 rotates to rotate propeller 31, for example, propeller 31 rotates counterclockwise, propeller 31 generates upward pulling force, and propeller 31 generates a rotation torque to motor base 33, which is opposite to the rotation direction of propeller 31. In addition, other motors and corresponding propellers of the multi-rotor unmanned aerial vehicle are similar to the structure shown in fig. 3, and are not described in detail herein.
Specifically, a mode for obtaining the pulling force generated by the propeller driven by the rotation of the motor and the rotation torque of the propeller to the motor base can be realized by: the method comprises the steps of obtaining pulling force generated by driving a propeller when a motor detected by a mechanical sensor rotates, and obtaining rotating torque of the propeller to a motor base, wherein the mechanical sensor is located between the motor and the motor base. As shown in fig. 4, a mechanical sensor 34 is disposed between the motor 32 and the motor base 33, and the mechanical sensor 34 can sense an upward pulling force or a pulling-up moment generated by the propeller 31 during rotation, and can also sense a rotation moment of the propeller 31 on the motor base 33. Alternatively, the upward pulling force generated by the propeller 31 when rotating may be determined from the upward pulling moment generated by the propeller 31 when rotating, or the upward pulling moment generated by the propeller 31 when rotating may be determined from the upward pulling force generated by the propeller 31 when rotating. In addition, the mechanical sensor 34 may be a six-axis mechanical sensor, which may be used to sense the forces and torques of the unmanned aerial vehicle in the three directions of the X axis, the Y axis, and the Z axis. In addition, the position relationship between each motor of the multi-rotor unmanned aerial vehicle and the corresponding mechanical sensor and motor base is similar to that in fig. 4, and the description is omitted here.
Step S202, determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating moment of the propeller to the motor base.
Specifically, the attitude of the unmanned aerial vehicle includes at least one of: pitch angle, roll angle, and yaw angle. In the present embodiment, the pitch angle is represented as θpitchThe roll angle is recorded as θrollAnd the yaw angle is recorded as thetayaw。
One way to determine the attitude of the UAV based on the pulling force generated by the propeller and the rotational torque of the propeller on the motor base is to: calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base; wherein the three-axis angular acceleration comprises at least one of: angular acceleration beta of the pitch anglepitchAngular acceleration beta of the roll anglerollAnd the angular acceleration beta of said yaw angleyaw(ii) a And determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration.
The unmanned aerial vehicle can be regarded as a rigid body, and the relationship among the angular acceleration β, the moment of inertia J, and the torque M of the rigid body can be determined by the following formula (1):
M＝J*β (1)
wherein, M may be a total torque to which the rigid body is subjected; β may specifically be an angular acceleration of the rigid body in the torsional direction under the action of the total torque. The total torque received by the unmanned aerial vehicle can be the resultant torque of the pitching moment, the rolling moment and the yawing moment, so that the pitching moment M received by the unmanned aerial vehicle can be determined according to the formula (1)pitchAnd angular acceleration beta of pitch anglepitchThe relation between the two components is shown in the formula (2), and the rolling moment M suffered by the unmanned aerial vehicle can be determinedrollAnd angular acceleration beta of roll anglerollThe relationship therebetween is shown in the formula (3), and the yaw moment MyawAnd angular acceleration of yaw angle betayawThe relationship therebetween is shown in formula (4).
Mpitch＝J*βpitch (2)
Mroll＝J*βroll (3)
Myaw＝J*βyaw (4)
Thus, according to said pitching moment MpitchThe rolling moment MrollAnd the yaw moment MyawThe three-axis angular acceleration of the unmanned aerial vehicle, namely the angular acceleration beta of the pitching angle can be calculated through the formulas (2), (3) and (4)pitchAngular acceleration beta of roll anglerollAnd angular acceleration of yaw angle betayaw. Then according to the relation between the angular acceleration and the angle, according to the angular acceleration beta of the pitch anglepitchCalculating the pitch angle thetapitch(ii) a Angular acceleration beta according to roll anglerollCalculating the roll angle thetaroll(ii) a Angular acceleration beta according to yaw angleyawCalculating a yaw angle thetayaw。
The calculation of the pitching moment M will be described in detail belowpitchRolling moment MrollAnd yaw moment MyawIn one implementation, the method of (1) comprises: calculating the pitching moment M of the propeller to the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehiclepitchAnd roll moment Mroll(ii) a Calculating the yawing moment M of the propeller on the unmanned aerial vehicle according to the rotating moment of the propeller on the motor baseyaw. As shown in fig. 5, taking a quad-rotor unmanned aerial vehicle as an example, the quad-rotor unmanned aerial vehicle is correspondingly provided with four motors such as motor 1, motor 2, motor 3 and motor 4, the motor 1 drives the propeller 1 to rotate, the motor 2 drives the propeller 2 to rotate, the motor 3 drives the propeller 3 to rotate, and the motor 4 drives the propeller 4 to rotate. The rotation directions of the No. 1 motor and the No. 3 motor are consistent and are both clockwise; the rotation directions of the No. 2 motor and the No. 4 motor are consistent and are both in the counterclockwise direction; in addition, the rotation direction of the motors No. 1 and No. 3 can also be anticlockwise, and the rotation direction of the motors No. 2 and No. 4 can also be clockwise. The four motors drive the corresponding propellers to rotate in the rotating process, and the rotating directions of the motors are consistent with the rotating direction of the propellers driven by the motors, so that the No. 1 propellerThe propellers and the propeller 3 rotate clockwise, the propeller 2 and the propeller 4 rotate anticlockwise, and each propeller generates upward tension, for example, the propeller 1 generates upward tension F1; the No. 2 propeller generates upward pulling force F2; the No. 3 propeller generates upward pulling force F3; the No. 4 propeller produces an upward pulling force F4. When the motor drives the propeller to rotate, the propeller applies a reaction force (reaction torque) to the motor to drive the motor to rotate in the opposite direction, and the motor is fixed on the motor base, so that the propeller generates a rotation torque to the motor base, for example, the rotation torque of the No. 1 propeller to the No. 1 motor base is M1; the rotating torque of the No. 2 propeller to the No. 2 motor base is M2; the rotating moment of the No. 3 propeller on the No. 3 motor base is M3; the rotating moment of the No. 4 propeller to the No. 4 motor base is M4. It can be seen that the direction of rotation of the propeller is opposite to the direction of the torque of rotation of the propeller on the motor base.
As shown in fig. 5, the rotation speeds of the motors may be the same or not the same, and when the rotation speeds of the motors are not the same, the pulling forces generated by the propellers are not the same, and the rotation moments of the propellers to the motor bases of the propellers cannot be balanced with each other, so that the rotation of the unmanned aerial vehicle is caused. When the rotating speeds of the motors are the same, the pulling force generated by the propellers is the same, the rotating moments of the propellers to the motor bases of the propellers are balanced, and the unmanned aerial vehicle does not rotate. For a certain motor, if the rotating speed of the motor is increased, the pulling force generated by the propeller driven by the motor is increased, and if the rotating speed of the motor is reduced, the pulling force generated by the propeller driven by the motor is reduced.
In this embodiment, it is assumed that motor No. 1 is a nose direction of the unmanned aerial vehicle, motor No. 3 is a tail direction of the unmanned aerial vehicle, motor No. 2 is a left motor of the unmanned aerial vehicle, and motor No. 4 is a right motor of the unmanned aerial vehicle, that is, a flight direction of the unmanned aerial vehicle is cross-shaped, which is only schematically illustrated here and is not limited to a flight direction of the unmanned aerial vehicle, in other embodiments, a flight direction of the unmanned aerial vehicle may also be X-shaped, that is, motor No. 1 and motor No. 2 may be used together as a motor in front of the unmanned aerial vehicle, and motor No. 3 is used together as a motor in front of the unmannedThe motor and the No. 4 motor are jointly used as the motor at the rear part of the unmanned aerial vehicle, and the pitching moment M of the unmanned aerial vehicle when flying in a cross shapepitchRolling moment MrollAnd yaw moment MyawAnd pitching moment M of unmanned aerial vehicle flying in X typepitchRolling moment MrollAnd yaw moment MyawCan be mathematically transformed.
As shown in fig. 5, O represents a center of mass of the unmanned aerial vehicle, and a body coordinate system is established with the center of mass O of the unmanned aerial vehicle as an origin of coordinates, when the unmanned aerial vehicle flies in a cross shape, an X axis of the body coordinate system is a diagonal line of the motor # 1 and the motor # 3, and an X axis forward direction of the body coordinate system may be a direction pointing from O to the nose, that is, a direction pointing from O to the motor # 1; the Y-axis of the body coordinate system is a diagonal of the motors No. 2 and No. 4, the Y-axis forward direction of the body coordinate system may be a direction pointing from O to the right side of the body, i.e., a direction pointing from O to the motor No. 4, and the Z-axis forward direction of the body coordinate system may be a direction perpendicular to the plane formed by the X-axis and the Y-axis and facing upward. Therefore, the X-axis of the body coordinate system is a roll axis, which is a roll axis of the unmanned aerial vehicle, the Y-axis of the body coordinate system is a pitch axis, which is a pitch axis of the unmanned aerial vehicle, and the Z-axis of the body coordinate system is a yaw axis, which is a yaw axis of the unmanned aerial vehicle. In addition, the distance between the centroid O and each motor is equal, and the length between the centroid O and any motor can be used as the length of the horn of the unmanned aerial vehicle.
Since moment in physics refers to the tendency of an applied force to rotate an object about a rotation axis or pivot, the relationship between moment M, distance vector L, and vector force F is: m is F L, L is a distance vector from the rotating shaft to the acting point, and the pitching moment M received by the unmanned aerial vehiclepitchCan be expressed as Mpitch＝FpitchR, wherein, FpitchRepresenting the resultant force capable of rotating the unmanned aerial vehicle about the pitch axis, i.e. the Y-axis of the body coordinate system, R representing the distance from the pitch axis to FpitchThe distance vector of the acting point of the unmanned aerial vehicle is the length of the horn of the unmanned aerial vehicle; for the same reason, the rolling moment Mroll＝Froll*R，FrollRepresenting the resultant force enabling the unmanned aerial vehicle to rotate about the roll axis, i.e. the X-axis of the body coordinate system, R representing the force from the roll axis toFrollThe distance vector of the acting point of the unmanned aerial vehicle is the length of the horn of the unmanned aerial vehicle.
The step of calculating the pitching moment and the rolling moment of the propeller to the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the arm of the unmanned aerial vehicle comprises the following steps: calculating the pitching moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller in the nose direction of the unmanned aerial vehicle, the pulling force generated by the propeller in the tail direction of the unmanned aerial vehicle and the length of a horn of the unmanned aerial vehicle; and calculating the roll torque of the propellers on the unmanned aerial vehicle according to the tension generated by the propellers on the left side of the unmanned aerial vehicle, the tension generated by the propellers on the right side of the unmanned aerial vehicle and the length of the horn of the unmanned aerial vehicle.
As can be seen from fig. 5, one possible scenario is: when the rotating speeds of the No. 1 motor and the No. 3 motor are different, the rotating speeds of the No. 2 motor and the No. 4 motor are the same, the pulling force generated by the No. 1 propeller is different from the pulling force generated by the No. 3 propeller, the pulling force generated by the No. 2 propeller is the same as the pulling force generated by the No. 4 propeller, the rotating torque of the No. 1 propeller to the motor base of the No. 1 propeller and the rotating torque of the No. 3 propeller to the motor base of the No. 3 propeller cannot be balanced with each other, the rotating torque of the No. 2 propeller to the motor base of the No. 2 propeller and the rotating torque of the No. 4 propeller to the motor base of the No. 4 propeller are balanced with each other, so that the unmanned aerial vehicle rotates by taking the pitch axis as a rotatingpitchF1-F3, since Mpitch＝FpitchR, then Mpitch＝(F1-F3)*R。
As can be seen from fig. 5, another possible scenario is: when the rotating speeds of the motor 1 and the motor 3 are the same, and the rotating speeds of the motor 2 and the motor 4 are different, the pulling force generated by the propeller 1 is the same as the pulling force generated by the propeller 3, the pulling force generated by the propeller 2 is different from the pulling force generated by the propeller 4, the rotating torque of the propeller 1 to the motor base and the rotating torque of the propeller 3 to the motor base are balanced, and the rotating torque of the propeller 2 to the motor base and the rotating torque of the propeller 4 to the motor base are balancedThe rotating moments of the motor bases cannot be balanced with each other, so that the unmanned aerial vehicle rotates by taking the roll shaft as a rotating shaft, and if the right side of the unmanned aerial vehicle is lower than the left side, namely the angle formed by the rotation of the symmetrical plane of the unmanned aerial vehicle around the body shaft when the unmanned aerial vehicle inclines rightwards is a positive transverse roll angle, F isrollF2-F4, since Mroll＝FrollR, then Mroll＝(F2-F4)*R。
According to the turning moment of the propeller to the motor base, calculating the yawing moment of the propeller to the unmanned aerial vehicle, and the method comprises the following steps: and calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the resultant moment of the rotating moment generated by the clockwise rotating propeller and the rotating moment generated by the anticlockwise rotating propeller of the unmanned aerial vehicle.
As can be seen from fig. 5, yet another possible scenario is: the rotational speed of No. 1 motor and No. 3 motor rises, the rotational speed of No. 2 motor and No. 4 motor descends, then the pulling force increase that No. 1 screw and No. 3 screw produced, the pulling force that No. 2 screw and No. 4 screw produced reduces, the turning moment of No. 1 screw and No. 3 screw to the motor base is greater than the turning moment of No. 2 screw and No. 4 screw to the motor base, the fuselage that leads to unmanned vehicles will use the yaw axle to rotate as the axis of rotation, if unmanned vehicles uses the yaw axle to rotate to the left as the axis of rotation, be the positive direction of yaw angle when from last down seeing unmanned vehicles anticlockwise rotation, then Myaw＝M1+M3-M2-M4。
In summary, the pitching moment Mpitch(F1-F3) R, roll moment Mroll(F2-F4) R, yaw moment MyawCalculating the triaxial angular acceleration of the UAV according to the pitch moment, the roll moment and the yaw moment, wherein the M1+ M3-M2-M4 comprises at least one of the following:
the first method comprises the following steps: calculating the angular acceleration of the pitch angle according to the pitch moment; in particular, in combination with MpitchThe following formula (5) can be obtained from (F1-F3) × R and the above formula (2):
J*βpitch＝(F1-F3)*R (5)
wherein F1 and F3 can pass force as shown in FIG. 4The mechanical sensor 34 is used for sensing, specifically, a mechanical sensor is arranged between the motor No. 1 and the motor No. 1 base, and the mechanical sensor is used for sensing F1; a mechanical sensor is arranged between the No. 3 motor and the No. 3 motor base and used for sensing F3; j and R are constants, the angular acceleration beta of the pitch angle can be obtained by the formula (5)pitch。
And the second method comprises the following steps: calculating the angular acceleration of the roll angle according to the roll torque; in particular, in combination with MrollThe following formula (6) can be obtained from (F2-F4) × R and the above formula (3):
J*βroll＝(F2-F4)*R (6)
the F2 and the F4 can be sensed by a mechanical sensor 34 as shown in fig. 4, specifically, a mechanical sensor is arranged between the motor No. 2 and the motor No. 2 base, and the mechanical sensor is used for sensing F2; a mechanical sensor is arranged between the No. 4 motor and the No. 4 motor base and used for sensing F4; j and R are constants, the angular acceleration beta of the roll angle can be obtained by the equation (6)roll。
And the third is that: calculating the angular acceleration of the yaw angle according to the yaw moment; in particular, in combination with MyawM1+ M3-M2-M4 and the above formula (4) can be derived as the following formula (7):
J*βyaw＝M1+M3-M2-M4 (7)
in addition, M1, M3, M2 and M4 can be sensed by the mechanical sensor 34 shown in fig. 4, and therefore, the angular acceleration β of the yaw angle can be obtained by the formula (7)yaw。
Determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration, including: determining three-axis angular velocity according to the three-axis angular acceleration; wherein the three-axis angular velocity includes at least one of: angular velocities of the pitch angle, roll angle, and yaw angle; and determining the attitude of the unmanned aerial vehicle according to the three-axis angular velocity.
The attitude of the unmanned aerial vehicle includes at least one of: pitch angle thetapitchAngle of roll thetarollAnd yaw angle thetarawAngle of pitch thetapitchAnd angular acceleration beta of pitch anglepitchThe relation between them is shown in the formula (8), and the roll angle thetarollAnd angular acceleration beta of roll anglerollThe relationship therebetween is shown in the formula (9), yaw angle thetarawAnd angular acceleration of yaw angle betarawThe relationship between them is shown in equation (10):
Figure BDA0001699659190000101
Figure BDA0001699659190000102
Figure BDA0001699659190000103
wherein, ω ispitchAngular velocity, ω, representing pitch anglerollAngular velocity, ω, representing roll anglerawRepresenting the angular velocity of the yaw angle. Therefore, the three-axis angular acceleration, β, according to the UAVpitch、βrollAnd betarawDetermining the attitude theta of the unmanned aerial vehiclepitch、θrollAnd thetaraw. For example, to betapitchIntegral is carried out to obtain the angular velocity omega of the pitch anglepitchThen to omegapitchIntegral is carried out to obtain a pitch angle thetapitch(ii) a For beta isrollIntegral is carried out to obtain the angular velocity omega of the roll anglerollThen to omegarollThe integral is carried out to obtain the roll angle thetaroll(ii) a For beta israwIntegral is carried out to obtain the angular velocity omega of the yaw anglerawThen to omegarawIntegrating to obtain a yaw angle thetarawAnd therefore the posture of the unmanned aerial vehicle is obtained.
In summary, the method for calculating the attitude of the unmanned aerial vehicle according to the embodiment provides a new method for estimating the attitude of the unmanned aerial vehicle, and the method can determine the attitude of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotation torque of the propeller to the motor base, which is different from a mode of detecting the attitude of the unmanned aerial vehicle through the IMU in the prior art. In addition, the unmanned aerial vehicle attitude calculation method provided by this embodiment may be further integrated with a mode of detecting the attitude of the unmanned aerial vehicle by the IMU in the prior art, for example, the attitude of the unmanned aerial vehicle detected by the IMU alone may have a certain error, and the attitude of the unmanned aerial vehicle determined according to the pulling force generated by the propeller and the rotation moment of the propeller to the motor base, and the attitude of the unmanned aerial vehicle detected by the IMU are integrated, so that the attitude of the unmanned aerial vehicle with higher accuracy may be obtained.
This embodiment passes through the pulling force that the motor rotated the drive screw and produced, and the screw is to the turning torque of motor base, confirm unmanned vehicles's gesture, do not need IMU also to detect out unmanned vehicles's gesture promptly, when IMU breaks down and can't detect out unmanned vehicles's gesture, flight controller still accessible motor rotates the pulling force that drives the screw and produce, and the screw is to the turning torque of motor base confirmation unmanned vehicles's gesture, and then carry out flight control to unmanned vehicles, avoid the crash accident that causes because of IMU trouble.
The embodiment of the invention provides a method for calculating the attitude of an unmanned aerial vehicle. On the basis of the embodiment shown in fig. 2, the method in this embodiment may include: and calculating the speed and the acceleration of the unmanned aerial vehicle in the vertical direction according to the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction. Wherein the air resistance experienced by the UAV in the vertical direction is determined based on the velocity of the UAV in the vertical direction.
Taking the four-rotor unmanned aerial vehicle as shown in fig. 5 as an example, the pulling forces generated by the four propellers are F1, F2, F3 and F4, respectively, since the directions of F1, F2, F3 and F4 are upward, the gravity of the unmanned aerial vehicle is downward, when the magnitude of the resultant force of F1, F2, F3 and F4 is equal to the magnitude of the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle hovers in the air, when the unmanned aerial vehicle moves in the vertical direction, the unmanned aerial vehicle receives air resistance in the vertical direction, and the direction of the air resistance is opposite to the direction of the movement of the unmanned aerial vehicle in the vertical direction, for example, when the unmanned aerial vehicle flies upward in the vertical direction, the air resistance received by the unmanned aerial vehicle in the vertical direction is downward, and when the unmanned aerial vehicle flies downward in the vertical direction, the air resistance received by the unmanned aerial vehicle in the vertical direction is upward. As shown in fig. 6, the resultant force of F1, F2, F3, and F4 is F, the direction of F is upward, if the unmanned aerial vehicle 60 flies upward in the vertical direction, and the ascending speed is v, the unmanned aerial vehicle 60 receives downward air resistance F in the vertical direction, and if the acceleration of the unmanned aerial vehicle 60 in the vertical direction is a, the unmanned aerial vehicle 60 satisfies the following equations (11) (12) (13) in the vertical direction:
ma＝F1+F2+F3+F4-mg-f (11)
f＝kv2 (12)
Figure BDA0001699659190000111
the weight of the unmanned aerial vehicle is represented by m, the gravity acceleration of the place where the unmanned aerial vehicle is located is represented by g, the resistance coefficient is represented by k, the larger the moving speed of the unmanned aerial vehicle in the vertical direction is, the larger the air resistance is, the acceleration a of the unmanned aerial vehicle in the vertical direction is the variation of the moving speed of the unmanned aerial vehicle in the vertical direction, and meanwhile, the variation speed of the moving speed of the unmanned aerial vehicle in the vertical direction can be reflected by the magnitude of a. Therefore, the velocity v and the acceleration a of the unmanned aerial vehicle in the vertical direction can be calculated according to the above equations (11), (12) and (13).
According to the embodiment, the speed and the acceleration of the unmanned aerial vehicle in the vertical direction are calculated through the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction, and the detection function of the unmanned aerial vehicle is added, so that the flight controller can also perform flight control on the unmanned aerial vehicle according to the speed and the acceleration of the unmanned aerial vehicle in the vertical direction, and the control function of the flight controller on the unmanned aerial vehicle is enhanced.
The embodiment of the invention provides a flight controller. Fig. 7 is a block diagram of a flight controller according to an embodiment of the present invention, and as shown in fig. 7, a flight controller 70 includes one or more processors 71, where the one or more processors 71 work alone or in cooperation, and the one or more processors 71 are configured to: acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base; and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base. Wherein the attitude of the UAV comprises at least one of: pitch angle, roll angle, and yaw angle.
In addition, the flight controller 70 further includes a mechanical sensor 72, the mechanical sensor 72 is in communication connection with the processor 71, and is configured to sense a pulling force generated by driving the propeller when the motor rotates and a rotation torque of the propeller to the motor base, and transmit the sensed pulling force generated by the propeller and the sensed rotation torque of the propeller to the motor base to the processor 71; a mechanical sensor 72 is located between the motor and the motor base. Specifically, the mechanical sensor is a six-axis mechanical sensor.
Optionally, when determining the posture of the unmanned aerial vehicle, the processor 71 is specifically configured to: calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base; wherein the three-axis angular acceleration comprises at least one of: angular acceleration of the pitch angle, angular acceleration of the roll angle, and angular acceleration of the yaw angle; and determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration. The processor 71 is specifically configured to, when calculating the three-axis angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotation torque of the propeller to the motor base: calculating the pitching moment and the rolling moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehicle; calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the rotating moment of the propeller on the motor base; and calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pitching moment, the rolling moment and the yawing moment.
Optionally, the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle. The processor 71 is specifically configured to, when calculating the pitch torque and the roll torque of the unmanned aerial vehicle from the propeller according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehicle: calculating the pitching moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller in the nose direction of the unmanned aerial vehicle, the pulling force generated by the propeller in the tail direction of the unmanned aerial vehicle and the length of a horn of the unmanned aerial vehicle; and calculating the roll torque of the propellers on the unmanned aerial vehicle according to the tension generated by the propellers on the left side of the unmanned aerial vehicle, the tension generated by the propellers on the right side of the unmanned aerial vehicle and the length of the horn of the unmanned aerial vehicle. In addition, when the processor 71 calculates the yaw moment of the propeller on the unmanned aerial vehicle according to the rotation moment of the propeller on the motor base, the processor is specifically configured to: and calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the resultant moment of the rotating moment generated by the clockwise rotating propeller and the rotating moment generated by the anticlockwise rotating propeller of the unmanned aerial vehicle.
Optionally, when the processor 71 calculates the triaxial angular acceleration of the unmanned aerial vehicle according to the pitch moment, the roll moment and the yaw moment, the processor is specifically configured to at least one of: calculating the angular acceleration of the pitch angle according to the pitch moment; calculating the angular acceleration of the roll angle according to the roll torque; and calculating the angular acceleration of the yaw angle according to the yaw moment.
Optionally, when determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration, the processor 71 is specifically configured to: determining three-axis angular velocity according to the three-axis angular acceleration; wherein the three-axis angular velocity includes at least one of: angular velocities of the pitch angle, roll angle, and yaw angle; and determining the attitude of the unmanned aerial vehicle according to the three-axis angular velocity.
The specific principle and implementation of the flight controller provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 2, and are not described herein again.
This embodiment passes through the pulling force that the motor rotated the drive screw and produced, and the screw is to the turning torque of motor base, confirm unmanned vehicles's gesture, do not need IMU also to detect out unmanned vehicles's gesture promptly, when IMU breaks down and can't detect out unmanned vehicles's gesture, flight controller still accessible motor rotates the pulling force that drives the screw and produce, and the screw is to the turning torque of motor base confirmation unmanned vehicles's gesture, and then carry out flight control to unmanned vehicles, avoid the crash accident that causes because of IMU trouble.
The embodiment of the invention provides a flight controller. On the basis of the technical solution provided by the embodiment shown in fig. 7, the processor 71 is further configured to: and calculating the speed and the acceleration of the unmanned aerial vehicle in the vertical direction according to the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction. Wherein the air resistance experienced by the UAV in the vertical direction is determined based on the velocity of the UAV in the vertical direction.
The specific principle and implementation of the flight controller provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 6, and are not described herein again.
According to the embodiment, the speed and the acceleration of the unmanned aerial vehicle in the vertical direction are calculated through the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction, and the detection function of the unmanned aerial vehicle is added, so that the flight controller can also perform flight control on the unmanned aerial vehicle according to the speed and the acceleration of the unmanned aerial vehicle in the vertical direction, and the control function of the flight controller on the unmanned aerial vehicle is enhanced.
The embodiment of the invention provides an unmanned aerial vehicle. Fig. 8 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 8, an unmanned aerial vehicle 100 includes: a fuselage, a power system, and a flight controller 118, the power system including at least one of: a motor 107, a propeller 106 and an electronic speed regulator 117, wherein a power system is arranged on the airframe and used for providing flight power; and the flight controller 118 is in communication connection with the power system and is used for controlling the unmanned aerial vehicle to fly.
In addition, as shown in fig. 8, the unmanned aerial vehicle 100 further includes: the system comprises a sensing system 108, a communication system 110, a supporting device 102 and a shooting device 104, wherein the supporting device 102 can be a pan-tilt, the communication system 110 can specifically comprise a receiver, the receiver is used for receiving a wireless signal transmitted by an antenna 114 of a ground station 112, and 116 represents an electromagnetic wave generated in the communication process between the receiver and the antenna 114.
In the present embodiment, the specific principle and implementation of the flight controller 118 are consistent with the above embodiments, and are not described herein again.
This embodiment passes through the pulling force that the motor rotated the drive screw and produced, and the screw is to the turning torque of motor base, confirm unmanned vehicles's gesture, do not need IMU also to detect out unmanned vehicles's gesture promptly, when IMU breaks down and can't detect out unmanned vehicles's gesture, flight controller still accessible motor rotates the pulling force that drives the screw and produce, and the screw is to the turning torque of motor base confirmation unmanned vehicles's gesture, and then carry out flight control to unmanned vehicles, avoid the crash accident that causes because of IMU trouble.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (39)

1. An unmanned aerial vehicle attitude calculation method is characterized by comprising the following steps:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
2. The method of claim 1, wherein the attitude of the UAV comprises at least one of:
pitch angle, roll angle, and yaw angle.
3. The method of claim 1, wherein the obtaining of the pulling force generated by the propeller driven by the rotation of the motor and the rotation torque of the propeller to the motor base comprises:
the method comprises the steps of obtaining pulling force generated by driving a propeller when a motor detected by a mechanical sensor rotates, and obtaining rotating torque of the propeller to a motor base, wherein the mechanical sensor is located between the motor and the motor base.
4. The method of claim 3, wherein the mechanical sensor is a six-axis mechanical sensor.
5. The method of claim 2, wherein determining the attitude of the UAV based on the pulling force generated by the propeller and the rotational moment of the propeller on the motor base comprises:
calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base; wherein the three-axis angular acceleration comprises at least one of: angular acceleration of the pitch angle, angular acceleration of the roll angle, and angular acceleration of the yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration.
6. The method of claim 5, wherein calculating the three-axis angular acceleration of the UAV based on the pulling force generated by the propeller and the rotational moment of the propeller to the motor base comprises:
calculating the pitching moment and the rolling moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehicle;
calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the rotating moment of the propeller on the motor base;
and calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pitching moment, the rolling moment and the yawing moment.
7. The method of claim 6, wherein the UAV is a multi-rotor UAV.
8. The method of claim 7, wherein calculating the pitch and roll moments of the propellers on the UAV based on the tension generated by the propellers and the boom length of the UAV comprises:
calculating the pitching moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller in the nose direction of the unmanned aerial vehicle, the pulling force generated by the propeller in the tail direction of the unmanned aerial vehicle and the length of a horn of the unmanned aerial vehicle;
and calculating the roll torque of the propellers on the unmanned aerial vehicle according to the tension generated by the propellers on the left side of the unmanned aerial vehicle, the tension generated by the propellers on the right side of the unmanned aerial vehicle and the length of the horn of the unmanned aerial vehicle.
9. The method of claim 7, wherein said calculating a yaw moment of said propeller relative to said UAV based on a rotational moment of said propeller relative to a motor mount comprises:
and calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the resultant moment of the rotating moment generated by the clockwise rotating propeller and the rotating moment generated by the anticlockwise rotating propeller of the unmanned aerial vehicle.
10. The method of claim 7, wherein said calculating three-axis angular accelerations of the UAV based on the pitch, roll, and yaw moments comprises at least one of:
calculating the angular acceleration of the pitch angle according to the pitch moment;
calculating the angular acceleration of the roll angle according to the roll torque;
and calculating the angular acceleration of the yaw angle according to the yaw moment.
11. The method of claim 5, wherein said determining the attitude of the UAV from the three-axis angular accelerations comprises:
determining three-axis angular velocity according to the three-axis angular acceleration; wherein the three-axis angular velocity includes at least one of: angular velocities of the pitch angle, roll angle, and yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular velocity.
12. The method of claim 1, further comprising:
and calculating the speed and the acceleration of the unmanned aerial vehicle in the vertical direction according to the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction.
13. The method of claim 12, wherein the air resistance experienced by the UAV in the vertical direction is determined based on a velocity of the UAV in the vertical direction.
14. A flight controller comprising one or more processors, operating individually or in concert, to:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
15. The flight controller of claim 14, wherein the attitude of the UAV comprises at least one of:
pitch angle, roll angle, and yaw angle.
16. The flight controller of claim 14, further comprising:
the mechanical sensor is in communication connection with the processor and is used for sensing the pulling force generated by driving the propeller when the motor rotates and the rotating torque of the propeller to the motor base and transmitting the sensed pulling force generated by the propeller and the sensed rotating torque of the propeller to the motor base to the processor;
the mechanical sensor is located between the motor and the motor base.
17. The flight controller of claim 16, wherein the mechanical sensor is a six-axis mechanical sensor.
18. The flight controller of claim 15, wherein the processor is configured to determine the attitude of the UAV based on the pulling force generated by the propeller and the rotational torque of the propeller on the motor base, and is further configured to:
calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base; wherein the three-axis angular acceleration comprises at least one of: angular acceleration of the pitch angle, angular acceleration of the roll angle, and angular acceleration of the yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration.
19. The flight controller according to claim 18, wherein the processor is configured to calculate the three-axis angular acceleration of the unmanned aerial vehicle based on the pulling force generated by the propeller and the rotation torque of the propeller to the motor base, and is specifically configured to:
calculating the pitching moment and the rolling moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehicle;
calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the rotating moment of the propeller on the motor base;
and calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pitching moment, the rolling moment and the yawing moment.
20. The flight controller of claim 19, wherein the unmanned aerial vehicle is a multi-rotor drone.
21. The flight controller of claim 20, wherein the processor is configured to calculate pitch and roll moments of the propeller with respect to the UAV based on the tension generated by the propeller and the boom length of the UAV, and is further configured to:
calculating the pitching moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller in the nose direction of the unmanned aerial vehicle, the pulling force generated by the propeller in the tail direction of the unmanned aerial vehicle and the length of a horn of the unmanned aerial vehicle;
and calculating the roll torque of the propellers on the unmanned aerial vehicle according to the tension generated by the propellers on the left side of the unmanned aerial vehicle, the tension generated by the propellers on the right side of the unmanned aerial vehicle and the length of the horn of the unmanned aerial vehicle.
22. The flight controller of claim 20, wherein the processor is configured to calculate a yaw moment of the propeller with respect to the UAV based on the rotational moment of the propeller with respect to the motor mount, and is further configured to:
and calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the resultant moment of the rotating moment generated by the clockwise rotating propeller and the rotating moment generated by the anticlockwise rotating propeller of the unmanned aerial vehicle.
23. The flight controller of claim 20, wherein the processor is configured to calculate the three-axis angular acceleration of the UAV based on the pitch moment, the roll moment, and the yaw moment, and is configured to at least one of:
calculating the angular acceleration of the pitch angle according to the pitch moment;
calculating the angular acceleration of the roll angle according to the roll torque;
and calculating the angular acceleration of the yaw angle according to the yaw moment.
24. The flight controller of claim 18, wherein the processor, when determining the attitude of the UAV based on the three-axis angular accelerations, is configured to:
determining three-axis angular velocity according to the three-axis angular acceleration; wherein the three-axis angular velocity includes at least one of:
angular velocities of the pitch angle, roll angle, and yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular velocity.
25. The flight controller of claim 14, wherein the processor is further configured to:
and calculating the speed and the acceleration of the unmanned aerial vehicle in the vertical direction according to the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction.
26. The flight controller of claim 25, wherein the air resistance experienced by the UAV in the vertical direction is determined based on the velocity of the UAV in the vertical direction.
27. An unmanned aerial vehicle, comprising:
a body;
the power system is arranged on the airframe and used for providing flight power, and the power system at least comprises a motor and a propeller;
the flight controller is in communication connection with the power system and is used for controlling the unmanned aerial vehicle to fly; the flight controller comprises one or more processors, acting alone or in conjunction, to:
acquiring pulling force generated by a propeller driven by the rotation of a motor and the rotating torque of the propeller on a motor base;
and determining the posture of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base.
28. The UAV of claim 27 wherein the attitude of the UAV comprises at least one of:
pitch angle, roll angle, and yaw angle.
29. The unmanned aerial vehicle of claim 27, wherein the flight controller further comprises:
the mechanical sensor is in communication connection with the processor and is used for sensing the pulling force generated by driving the propeller when the motor rotates and the rotating torque of the propeller to the motor base and transmitting the sensed pulling force generated by the propeller and the sensed rotating torque of the propeller to the motor base to the processor;
the mechanical sensor is located between the motor and the motor base.
30. The UAV of claim 29 wherein the mechanical sensor is a six-axis mechanical sensor.
31. The UAV of claim 28, wherein the processor is configured to determine the pose of the UAV based on the pulling force generated by the propeller and the rotational moment of the propeller relative to the motor base, and is further configured to:
calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pulling force generated by the propeller and the rotating torque of the propeller to the motor base; wherein the three-axis angular acceleration comprises at least one of: angular acceleration of the pitch angle, angular acceleration of the roll angle, and angular acceleration of the yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular acceleration.
32. The UAV of claim 31, wherein the processor is configured to calculate the three-axis angular acceleration of the UAV based on the pulling force generated by the propeller and the rotational moment of the propeller on the motor base, and is further configured to:
calculating the pitching moment and the rolling moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller and the length of the horn of the unmanned aerial vehicle;
calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the rotating moment of the propeller on the motor base;
and calculating the triaxial angular acceleration of the unmanned aerial vehicle according to the pitching moment, the rolling moment and the yawing moment.
33. The unmanned aerial vehicle of claim 32, wherein the unmanned aerial vehicle is a multi-rotor drone.
34. The UAV of claim 33, wherein the processor is configured to calculate the pitch and roll moments of the propellers on the UAV based on the tension generated by the propellers and the boom length of the UAV, and is further configured to:
calculating the pitching moment of the propeller on the unmanned aerial vehicle according to the pulling force generated by the propeller in the nose direction of the unmanned aerial vehicle, the pulling force generated by the propeller in the tail direction of the unmanned aerial vehicle and the length of a horn of the unmanned aerial vehicle;
and calculating the roll torque of the propellers on the unmanned aerial vehicle according to the tension generated by the propellers on the left side of the unmanned aerial vehicle, the tension generated by the propellers on the right side of the unmanned aerial vehicle and the length of the horn of the unmanned aerial vehicle.
35. The UAV of claim 33, wherein the processor is configured to calculate a yaw moment of the propeller with respect to the UAV based on the rotational moment of the propeller with respect to the motor mount, and is further configured to:
and calculating the yawing moment of the propeller on the unmanned aerial vehicle according to the resultant moment of the rotating moment generated by the clockwise rotating propeller and the rotating moment generated by the anticlockwise rotating propeller of the unmanned aerial vehicle.
36. The UAV of claim 33 wherein the processor is configured to calculate the three-axis angular acceleration of the UAV based on the pitch, roll, and yaw moments by at least one of:
calculating the angular acceleration of the pitch angle according to the pitch moment;
calculating the angular acceleration of the roll angle according to the roll torque;
and calculating the angular acceleration of the yaw angle according to the yaw moment.
37. The UAV of claim 31, wherein the processor is configured to determine the pose of the UAV based on the three-axis angular accelerations, and is further configured to:
determining three-axis angular velocity according to the three-axis angular acceleration; wherein the three-axis angular velocity includes at least one of:
angular velocities of the pitch angle, roll angle, and yaw angle;
and determining the attitude of the unmanned aerial vehicle according to the three-axis angular velocity.
38. The UAV of claim 27 wherein the processor is further configured to:
and calculating the speed and the acceleration of the unmanned aerial vehicle in the vertical direction according to the pulling force generated by the propeller, the gravity of the unmanned aerial vehicle and the air resistance of the unmanned aerial vehicle in the vertical direction.
39. The UAV of claim 38 wherein the air resistance experienced by the UAV in the vertical direction is determined based on the velocity of the UAV in the vertical direction.
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