CN110554712A - unmanned aerial vehicle course angle initial value selection method and device and unmanned aerial vehicle - Google Patents
unmanned aerial vehicle course angle initial value selection method and device and unmanned aerial vehicle Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The embodiment of the invention relates to a method and a device for selecting an initial value of a course angle of an unmanned aerial vehicle and the unmanned aerial vehicle. The method comprises the steps of obtaining flight environment information of the unmanned aerial vehicle; according to the flight environment information, giving an initial value of a course angle; carrying out data fusion on sensor data acquired by a sensor and the initial value of the course angle to obtain a corrected course angle; and determining the course of the unmanned aerial vehicle according to the corrected course angle. According to the method, the flight environment information of the unmanned aerial vehicle is obtained, and then the influence of the external environment on the magnetometer is eliminated according to the flight environment information, so that the magnetometer can provide a more accurate initial value of the course angle for the unmanned aerial vehicle to perform data fusion, the unmanned aerial vehicle can take off in the ground environment with magnetic interference, the course angle still has a certain accuracy degree, the probability of the aircraft explosion when the unmanned aerial vehicle takes off in the ground environment with magnetic interference is reduced, and the flight safety is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle course angle initial value selecting method and device and an unmanned aerial vehicle.
[ background of the invention ]
Many rotor unmanned aerial vehicle course control, the flight stability and the flight security of direct relation to unmanned aerial vehicle. In the three attitude channels of the unmanned aerial vehicle, such as rolling, pitching and yawing, the yawing angle, namely the course angle, is given by the magnetometer, and other sensors perform later correction on the yawing angle to finally obtain the fused course angle. Magnetometers measure geomagnetic field data, and the three-axis magnetic readings given by the magnetometers are extremely susceptible to environment, so the initial values given by the magnetometers tend to deviate from true heading. When the course angle has larger deviation with the initial course angle given by the magnetometer, the aircraft can greatly correct the course, which is reflected in the flying process, namely the course angle has larger change, the inclined line flies slightly, and the runaway fryer caused by the large correction of the course angle is seriously generated.
The accuracy of the initial value of the course angle directly influences the flight safety and flight quality of the multi-rotor unmanned aerial vehicle in the process from take-off to obtaining of the multi-sensor fusion course angle, so that how to give the initial value of the course angle and reduce and avoid the initial value error as much as possible becomes an important work.
[ summary of the invention ]
In order to solve the technical problem, the embodiment of the invention provides an unmanned aerial vehicle course angle initial value selection method and device for improving the accuracy of an unmanned aerial vehicle course angle initial value and an unmanned aerial vehicle.
in order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: disclosed is a method for selecting an initial value of a course angle of an unmanned aerial vehicle. The method for selecting the initial value of the course angle of the unmanned aerial vehicle comprises the following steps:
Acquiring flight environment information of the unmanned aerial vehicle;
According to the flight environment information, giving an initial value of a course angle;
carrying out data fusion on sensor data acquired by a sensor and the initial value of the course angle to obtain a corrected course angle;
and determining the course of the unmanned aerial vehicle according to the corrected course angle.
optionally, the flight environment information comprises a flight altitude;
Before the obtaining of the flight environment information of the unmanned aerial vehicle, the method further includes:
Initializing a flying height threshold of the drone.
Optionally, the fly height threshold is 1.5-2 m.
Optionally, the giving an initial value of a heading angle according to the flight environment information includes:
Judging whether the flying height reaches the flying height threshold value;
And when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, acquiring the current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value.
Optionally, the determining the heading of the unmanned aerial vehicle according to the corrected heading angle includes:
Updating the body attitude of the unmanned aerial vehicle according to the current body attitude of the unmanned aerial vehicle and the corrected course angle;
and determining the course of the unmanned aerial vehicle according to the updated body attitude of the unmanned aerial vehicle.
Optionally, the updating the attitude of the body of the unmanned aerial vehicle according to the current attitude of the body of the unmanned aerial vehicle and the corrected heading angle includes:
Acquiring a quaternion of the current body attitude of the unmanned aerial vehicle;
obtaining a course deflection angle according to the initial value of the course angle and the corrected course angle;
obtaining a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft according to the course deflection angle:
determining an updated fuselage attitude quaternion of the unmanned aerial vehicle by the following formula, wherein q is r q 0;
Wherein, r is for with unmanned aerial vehicle Z axle is the quaternion of pivot, and q 0 is current the quaternion of unmanned aerial vehicle's fuselage gesture, q are after the update unmanned aerial vehicle's fuselage gesture quaternion.
Optionally, a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft is obtained by calculation according to the following formula:
And psi 0 is the heading deflection angle, and r is a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft.
optionally, before the obtaining the flight environment information of the drone, the method further includes:
and initializing the initial value of the course angle after the unmanned aerial vehicle is started.
optionally, the flight environment information comprises magnetic field information;
according to the flight environment information, giving an initial value of a course angle, comprising the following steps:
Judging whether the magnetic field information meets a preset magnetic field condition or not;
if so, acquiring a current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value;
If not, the magnetic field information of the unmanned aerial vehicle is continuously acquired.
in order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: provided is an unmanned aerial vehicle course angle initial value selecting device. Unmanned aerial vehicle course angle initial value selects the device to include:
The environment information detection module is used for acquiring flight environment information of the unmanned aerial vehicle;
The course angle giving module is used for giving an initial course angle value according to the flight environment information;
the data fusion module is used for carrying out data fusion on the data acquired by the sensor and the initial value of the course angle to obtain a corrected course angle;
And the course determining module is used for determining the course of the unmanned aerial vehicle according to the corrected course angle.
Optionally, the magnetic field control device further comprises a storage module, wherein the storage module is used for storing the flying height threshold value and the preset magnetic field condition.
optionally, the fly height threshold is 1.5-2 m.
optionally, the magnetic field information includes a flying height, and the heading angle giving module includes a flying height determining unit and a heading angle giving unit;
The flying height judging unit is used for judging whether the flying height reaches the flying height threshold value;
And the course angle giving unit is used for acquiring the current course angle of the unmanned aerial vehicle when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, and taking the current course angle as an initial course angle value.
Optionally, the magnetic field information includes magnetic field information, and the heading angle giving module further includes a magnetic field information determining unit and a heading angle determining unit;
The magnetic field information judging unit is used for judging whether the magnetic field information meets a preset magnetic field condition;
The course angle determining unit is used for acquiring the current course angle of the unmanned aerial vehicle and taking the current course angle as an initial course angle value.
Optionally, the heading determining module includes a body attitude updating unit and a heading updating unit;
The body attitude updating unit is used for updating the body attitude of the unmanned aerial vehicle according to the current body attitude of the unmanned aerial vehicle and the corrected course angle;
the course updating unit is used for determining the course of the unmanned aerial vehicle according to the updated body attitude of the unmanned aerial vehicle.
optionally, the body attitude updating unit is specifically configured to obtain a quaternion of the body attitude of the current unmanned aerial vehicle;
Obtaining a course deflection angle according to the initial value of the course angle and the corrected course angle;
Obtaining a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft according to the course deflection angle:
Determining the updated fuselage attitude quaternion of the unmanned aerial vehicle according to the following formula:
q＝r*q0；
Wherein, r is for with unmanned aerial vehicle Z axle is the quaternion of pivot, and q 0 is current the quaternion of unmanned aerial vehicle's fuselage gesture, q are after the update unmanned aerial vehicle's fuselage gesture quaternion.
in order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:
a body;
The machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
the magnetometer is arranged on the body and used for acquiring an initial course angle value of the unmanned aerial vehicle;
The various sensors are arranged on the airframe and used for respectively acquiring corresponding flight data; and
The flight controller is arranged on the machine body;
the flight controller includes:
a processor; and
A memory communicatively coupled to the processor; wherein the memory stores instructions executable by the processor to enable the processor to perform the drone heading determination method as described above.
Compared with the prior art, the method for selecting the initial value of the course angle of the unmanned aerial vehicle provided by the embodiment of the invention eliminates the influence of the external environment on the magnetometer according to the flight environment information by acquiring the flight environment information of the unmanned aerial vehicle, so that the magnetometer can provide a more accurate initial value of the course angle for the unmanned aerial vehicle to perform data fusion, the unmanned aerial vehicle can take off in the ground environment with magnetic interference, the course angle still has a certain accuracy degree, the probability of aircraft explosion when the unmanned aerial vehicle takes off in the ground environment with magnetic interference is reduced, and the flight safety is improved.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for selecting an initial value of a course angle of an unmanned aerial vehicle according to an embodiment of the present invention;
Fig. 3 is a graph of the flying height of the unmanned aerial vehicle versus the flying time provided by the embodiment of the invention;
fig. 4 is a graph of magnetometer triaxial readings versus flight time for an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of one embodiment of S22 of FIG. 2;
FIG. 6 is a schematic flow chart of another embodiment of S22 of FIG. 2;
FIG. 7 is a schematic flow chart of S24 in FIG. 2;
Fig. 8 is a schematic flow chart of S241 in fig. 7;
Fig. 9 is a block diagram of a device for selecting an initial value of a course angle of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 10 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. 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 an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
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.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
the embodiment of the invention provides a method and a device for selecting an initial value of a course angle of an unmanned aerial vehicle, which can eliminate the influence of the external environment on a magnetometer by adjusting the flight height of the unmanned aerial vehicle, so that the magnetometer can provide a more accurate initial value of the course angle for the unmanned aerial vehicle 10 to perform data fusion, the unmanned aerial vehicle 10 can take off in a ground environment with magnetic interference, the course angle still has a certain accuracy degree, the probability of aircraft explosion when the unmanned aerial vehicle 10 takes off in the ground environment with magnetic interference is reduced, and the flight safety is improved. The following illustrates an application environment of the method and the device for selecting the initial value of the heading angle of the unmanned aerial vehicle.
FIG. 1 is a schematic diagram of an application environment of an unmanned aerial vehicle course angle initial value selection system provided by an embodiment of the invention; as shown in fig. 1, the application scenario includes a drone 10, a wireless network 20, a smart terminal 30, and a user 40. The user 40 may operate the smart terminal 30 to operate the drone 10 over the wireless network 20.
The drone 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotary wing drone, a fixed wing drone, an umbrella wing drone, a flapping wing drone, a helicopter model, and the like. In the present embodiment, a multi-rotor drone is exemplified.
this unmanned aerial vehicle 10 can possess corresponding volume or power according to actual conditions's needs to provide load capacity, flying speed and flight continuation of the journey mileage that can satisfy the use needs etc. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the drone 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor. Correspondingly, this unmanned aerial vehicle 10 is provided with information receiver, receives and handles the information that above-mentioned at least one kind of sensor was gathered.
This unmanned aerial vehicle 10 can possess corresponding volume or power according to actual conditions's needs to provide load capacity, flying speed and flight continuation of the journey mileage that can satisfy the use needs etc. One or more sensors can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the drone 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.
the drone 10 also includes a flight controller, which is a control core for the flight of the drone and the transmission of data, etc., and integrates one or more modules to execute corresponding logic control programs.
the smart terminal 30 may be any type of smart device, such as a mobile phone, a tablet computer, or a smart remote controller, for establishing a communication connection with the drone 10. The intelligent terminal 30 may be equipped with one or more different user 40 interaction means for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the smart terminal 30 may be equipped with a touch display screen, and receive a remote control instruction from the user 40 to the drone 10 through the touch display screen and display the image information obtained by aerial photography to the user 40 through the touch display screen, and the user 40 may also switch the image information currently displayed on the display screen through the remote control touch screen.
In some embodiments, the unmanned aerial vehicle 10 and the smart terminal 30 may also merge with the existing image visual processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may analyze the image by the intelligent terminal 30 in a manner of acquiring the image by using the dual optical cameras, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
the wireless network 20 may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network or a combination thereof located in different signal frequency bands.
fig. 2 is an embodiment of a method for selecting an initial value of a heading angle of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 2, the method for selecting the initial value of the heading angle of the unmanned aerial vehicle includes the following steps:
s21: acquiring the flight environment information of the unmanned aerial vehicle.
The flight environment information refers to the ambient environment information at the takeoff point or during takeoff of the unmanned aerial vehicle 10, and includes, but is not limited to, the flight altitude, the magnetic field strength, the wind speed, the air pressure, the temperature, the weather, and the like.
Simultaneously can be according to the flight environment information of difference, obtain flight environment information through different detection device, for example: the detecting device may be any one or more of a barometer, an electronic compass, a wind speed sensor, an air pressure sensor, a temperature sensor, a humidity sensor, a detector, and the like, and the invention is not particularly limited. Different detection devices can carry out different detections on the flight environment, so that different flight environment information is obtained.
s22: and setting an initial value of a course angle according to the flight environment information.
specifically, when the flight environment information meets the preset condition, the initial value of the heading angle can be obtained through various sensors, such as an electronic compass, a magnetometer, an acceleration sensor and the like, but the various sensors are all susceptible to the influence of the external environment, the heading angle cannot be accurately obtained, and the stability and reliability of attitude estimation are influenced. Since such errors are random, they cannot be eliminated in advance. For example, magnetometers are susceptible to magnetic field disturbances generated by the surrounding environment (e.g., high voltage lines, iron works, etc.) and thereby affect the heading angle output, since such errors are random and cannot be eliminated in advance. For example, the carrier attached to the electronic compass bumps due to other reasons such as the fluctuation of the ground and the jitter of the main body of the drone 10, and the heading angle obtained by the electronic compass shows a large fluctuation.
in this embodiment, the influence of the external environment on the magnetometer is eliminated by adjusting the flight environment information, so that the magnetometer can provide more accurate magnetic field information, and the updated course angle initial value is more accurate.
In some embodiments, the course angle obtained by the electronic compass may also be processed and corrected by a median method and a kalman filter, so as to obtain a more accurate course angle.
s23: and carrying out data fusion on the sensor data acquired by the sensor and the initial course angle value to obtain a corrected course angle.
The sensor comprises at least one sensor of an accelerometer, a magnetometer, a gyroscope, a locator and a visual sensor.
the data fusion technology is to carry out a series of operation processing such as analysis, arrangement, fusion and the like on data collected by the sensors, and the multi-sensor fusion data can realize the correction of the initial value of the course angle, thereby providing more accurate course angle data.
The data collected by the sensor and the initial value of the course angle can be processed by adopting various different data fusion algorithms, such as: weighted averaging, normalized weighted averaging, kalman filtering, and extended kalman filtering.
In the embodiment, data fusion is performed on data acquired by multiple sensors based on a weighted average method. Specifically, in the first step, various software and hardware to be used are initialized, such as sensor initialization, kalman filter initialization, and the like; secondly, acquiring IMU data, judging through the data information, and judging whether attitude angle compensation is needed or not, if so, determining the specific numerical value; and thirdly, acquiring data acquired by sensors such as an accelerometer, a magnetometer, a gyroscope, a locator, a visual sensor and the like, performing relevant weighted average operation on the data values, and performing Kalman filtering on the acquired data values to generate a corrected course angle.
S24: and determining the course of the unmanned aerial vehicle according to the corrected course angle.
specifically, need establish the organism coordinate system before unmanned aerial vehicle course is confirmed, the organism coordinate system with unmanned aerial vehicle links firmly, the organism coordinate system accords with the right-hand rule, and the initial point is in unmanned aerial vehicle's focus department, and the directional unmanned aerial vehicle of X axle advances the direction, and the Y axle is by the directional unmanned aerial vehicle right side of initial point, and Z axle direction is confirmed by the right-hand rule according to X, Y axle.
specifically, a 6 th order EKF (extended kalman Filter) method may be applied to determine the heading of the unmanned aerial vehicle according to the corrected heading angle. And determining the course of the unmanned aerial vehicle according to the quaternion and the course deflection angle of the current body attitude of the unmanned aerial vehicle 10. And are not limited herein.
In this embodiment, through acquiring the flight environment information of the unmanned aerial vehicle, the influence of the external environment on the magnetometer is eliminated according to the flight environment information, so that the magnetometer can provide a more accurate initial value of the course angle for the unmanned aerial vehicle to perform data fusion, the unmanned aerial vehicle can take off in the ground environment with magnetic interference, the course angle still has a certain accuracy degree, the probability of the aircraft explosive taking off in the ground environment with magnetic interference of the unmanned aerial vehicle is reduced, and the flight safety is improved.
In some embodiments, before the obtaining the flight environment information of the drone, the method further includes: and initializing the initial value of the course angle after the unmanned aerial vehicle is started, wherein the initial value of the course angle is given by a magnetometer.
in some embodiments, before the obtaining the flight environment information of the drone, the method further includes: presetting the flying height threshold value of the unmanned aerial vehicle 10. Preferably, the flying height threshold of the unmanned aerial vehicle 10 is 1.5-2m, and the flying height threshold is obtained based on the existing flying data of the unmanned aerial vehicle 10.
Specifically, referring to fig. 3 and 4 together, fig. 3 shows the altitude information of the drone in one flight, and fig. 4 shows the corresponding magnetometer triaxial readings in that flight. In this flight, the drone 10 only makes altitude changes and does not act on the roll and pitch channels. In FIG. 3 hAGL represents fusion height and hBaro represents barometer height. In FIG. 4, X represents the magnetic induction reading on the X axis of the magnetometer, Y represents the magnetic induction reading on the Y axis of the magnetometer, and the Z axis represents the magnetic induction reading on the Z axis of the magnetometer. Comparing fig. 3 and 4, it can be seen that as the altitude of the drone increases, its magnetometer readings also change. The analysis reason is that the magnetometer reading changes due to the influence of the takeoff ground of the unmanned aerial vehicle on the magnetic field. Typically, the effect of the takeoff floor on the magnetic field is prevalent, and in environments containing metal or other magnetic objects, the effect is more severe. In the past, the initial value of the heading angle of the unmanned aerial vehicle 10 is often set on the ground, so that the initial value is inaccurate.
The analysis in conjunction with fig. 3 and 4 can show that the initial value of the course angle is inaccurate due to inaccurate magnetic field information given by the magnetometer caused by the uncertainty of the ground environment. The influence is inversely proportional to the quadratic power of the distance, and the real-time height of the unmanned aerial vehicle is detected, so that when the height of the unmanned aerial vehicle reaches 1.5-2m, the reading of the magnetometer is not changed obviously any more, the influence of the takeoff ground environment on the magnetometer is very weak at the moment, and the magnetometer can give more accurate magnetic field information, so that the updated initial value of the course angle is more accurate, and therefore, the flight height threshold of the unmanned aerial vehicle 10 is set to be 1.5-2 m. And under the normal condition, the flying height of the unmanned aerial vehicle is far higher by 1.5-2m, so that the updating of the initial value of the course angle at the height of 1.5-2m can not influence the normal flight.
to make the updated initial value of the heading angle more accurate, in some embodiments, the initial value of the heading angle may be updated by determining the altitude at which the drone is flying. Referring to fig. 5, S22 includes the following steps:
S221: and judging whether the flying height reaches the flying height threshold value.
specifically, can adopt the air pressure detection device to detect unmanned aerial vehicle 10's flying height, this air pressure detection device includes barometer, sensor safety cover and pipe, and the barometer is sealed to be located in the sensor safety cover, and install on unmanned aerial vehicle 10 with the sensor safety cover, the one end and the sensor safety cover intercommunication of pipe, the other end is worn out from the sensor safety cover and is extended to last.
through being equipped with sensor safety cover and pipe to upwards extending is set to the mouth of pipe position on the top of pipe, effectively keeps apart the vortex that the place external environment of barometer and paddle rotation produced, and then avoids the barometer to receive unstable atmospheric pressure environment's interference, does benefit to and ensures the accurate detection of atmospheric pressure height.
In some embodiments, at least two sensors, such as an air pressure detection device, an accelerometer, a GPS and an ultrasonic wave, may be used simultaneously, and then the data of these sensors are fused by using complementary filtering or kalman filtering, and the data are corrected with each other, so as to obtain the flying height of the drone 10.
Specifically, a magnetometer is used to detect magnetic field parameters of the drone 10, including magnetic field strength and magnetic field inclination.
S223: and when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, acquiring the current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value.
specifically, the flying height threshold of the unmanned aerial vehicle 10 is 1.5-2m, when the flying height of the unmanned aerial vehicle reaches the flying height threshold, the influence of the takeoff ground environment on the magnetometer is very weak at the moment, the course angle acquired through the magnetometer is more accurate at the moment, and the course angle is used as the initial course angle value to complete the updating of the initial course angle value. And under the normal condition, the flight altitude of the unmanned aerial vehicle is far higher than the altitude of 1.5-2m, so that the updating of the initial value of the course angle at the altitude of 1.5-2m can not influence the normal flight.
in some embodiments, the flying height threshold may be set according to the flying ground environment, for example, when the flying ground environment contains more metal or other magnetic objects (such as high voltage lines, iron works, etc.), and the magnetic field generated by the magnetometer is interfered by the flying ground environment, the flying height threshold may be increased, for example, to 3-5 m. For another example, when the takeoff ground environment contains less metal or other magnetic objects, and the magnetic field generated by the magnetometer is less interfered by the takeoff ground environment, the flying height threshold can be reduced, for example, to 1-1.4 m.
In this embodiment, the influence of the external environment on the magnetometer is eliminated by adjusting the flying height of the unmanned aerial vehicle, so that the magnetometer can provide a more accurate initial value of the heading angle for the unmanned aerial vehicle 10 to perform data fusion, the unmanned aerial vehicle 10 can take off in the ground environment with magnetic interference, the heading angle still has a certain accuracy degree, the probability of the aircraft bomb taking off in the ground environment with magnetic interference by the unmanned aerial vehicle 10 is reduced, and the flying safety is improved.
To make the updated initial value of the heading angle more accurate, in some embodiments, the initial value of the heading angle may be updated by determining the magnetic field information. Referring to fig. 6, S22 includes the following steps:
s222: and judging whether the magnetic field information meets a preset magnetic field condition or not.
specifically, the magnetic field information includes information such as magnetic flux density, magnetomotive force, and magnetic field strength in the surrounding environment of the unmanned aerial vehicle. The magnetic flux density is proportional to the magnetic field strength. The measurement of the magnetic field information can be obtained by a magnetic field detection device such as a torque magnetometer, a rotating coil magnetometer, a fluxgate magnetometer, a hall effect magnetometer, a nuclear magnetic resonance magnetometer, and a magnetic position meter.
The preset magnetic field condition may be preset according to an actual situation, for example, the preset magnetic field strength is 45 μ T, and then the comparison is performed according to the magnetic field strength in the acquired magnetic field information and the preset magnetic field strength.
S224: if so, acquiring a current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value; if not, the magnetic field information of the unmanned aerial vehicle is continuously acquired.
specifically, the determination condition that the magnetic field information satisfies the preset magnetic field condition may be set as needed. For example, at least one magnetic field parameter of the magnetic flux density, the magnetomotive force and the magnetic field strength can be respectively preset, and then, the obtained magnetic field information is compared with at least one magnetic field parameter of the preset magnetic flux density, the preset magnetomotive force and the magnetic field strength, so that whether the magnetic field information meets the preset magnetic field condition or not is judged.
In this embodiment, when the obtained current magnetic field strength is greater than a preset magnetic field strength, it is determined that the magnetic field information does not satisfy a preset magnetic field condition; and when the acquired current magnetic field intensity is less than or equal to the preset magnetic field intensity, judging that the magnetic field information meets the preset magnetic field condition.
in this embodiment, the influence of the external environment on the magnetometer is eliminated according to the magnetic field information, so that the magnetometer can provide a more accurate initial value of the heading angle for the unmanned aerial vehicle 10 to perform data fusion, the unmanned aerial vehicle 10 can take off in the ground environment with magnetic interference, the heading angle still has a certain accuracy degree, the probability of the unmanned aerial vehicle 10 taking off in the ground environment with magnetic interference is reduced, and the flight safety is improved.
in order to more accurately determine the heading of the drone according to the corrected heading angle, in some embodiments, referring to fig. 7, S24 includes the following steps:
and S241, updating the body attitude of the unmanned aerial vehicle according to the current body attitude of the unmanned aerial vehicle and the corrected course angle.
And S242, determining the course of the unmanned aerial vehicle according to the updated body attitude of the unmanned aerial vehicle.
in order to accurately update the attitude of the unmanned aerial vehicle according to the current attitude of the unmanned aerial vehicle and the corrected heading angle, in some embodiments, referring to fig. 8, S241 includes the following steps:
S2411, acquiring quaternion of the current body attitude of the unmanned aerial vehicle.
s2412, obtaining a course deflection angle according to the initial course angle value and the corrected course angle.
And S2413, obtaining a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft according to the course deflection angle.
Specifically, a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft is obtained through calculation according to the following formula:
And psi 0 is the heading deflection angle, and r is a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft.
And S2414, determining the updated airframe attitude quaternion of the unmanned aerial vehicle through the following formula.
q＝r*q0；
wherein, r is for with unmanned aerial vehicle Z axle is the quaternion of pivot, and q 0 is current the quaternion of unmanned aerial vehicle's fuselage gesture, q are after the update unmanned aerial vehicle's fuselage gesture quaternion.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
as another aspect of the embodiment of the present application, the embodiment of the present application provides an initial value selecting device 90 for a heading angle of an unmanned aerial vehicle. Referring to fig. 9, the initial value selecting device 90 for the course angle of the unmanned aerial vehicle includes: the system comprises an environment information detection module 91, a heading angle giving module 92, a data fusion module 93 and a heading determination module 94.
The environmental information detection module 91 is used for acquiring flight environment information of the unmanned aerial vehicle.
the course angle giving module 92 is used for giving an initial course angle value according to the flight environment information.
The data fusion module 93 is configured to perform data fusion on the data acquired by the sensor and the initial value of the course angle to obtain a corrected course angle.
the heading determining module 94 is configured to determine the heading of the unmanned aerial vehicle 10 according to the corrected heading angle.
Specifically, in this embodiment, when the heading angle giving module 92 receives the environmental information detected by the environmental information detecting module 91, the heading angle giving module 92 updates the initial value of the heading angle according to the environmental information of the unmanned aerial vehicle; then the data fusion module 93 respectively performs data fusion on the received initial value of the course angle and the data acquired by the sensor to obtain a corrected course angle; and the final heading determining module 94 is used for determining the heading of the unmanned aerial vehicle 10 according to the corrected heading angle.
therefore, in this embodiment, by acquiring the flight environment information of the unmanned aerial vehicle, and further eliminating the influence of the external environment on the magnetometer according to the flight environment information, the magnetometer can provide a more accurate initial value of the course angle for the unmanned aerial vehicle to perform data fusion, so that the unmanned aerial vehicle can take off in the ground environment with magnetic interference, the course angle still has a certain accuracy, the probability of the aircraft bomb taking off in the ground environment with magnetic interference is reduced, and the flight safety is improved.
In some embodiments, the initial value selecting device 90 for the heading angle of the unmanned aerial vehicle further includes a storage module 95, and the storage module 95 is configured to store the flying height threshold and the preset magnetic field condition. Preferably, the flying height threshold value is 1.5-2 m.
Wherein, in some embodiments, the heading angle giving module 92 comprises a flying height determining unit and a heading angle giving unit. The flying height judging unit is used for judging whether the flying height reaches the flying height threshold value. And the course angle giving unit is used for acquiring the current course angle of the unmanned aerial vehicle when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, and taking the current course angle as an initial course angle value.
in some embodiments, the heading angle determining module 92 further comprises a magnetic field information determining unit and a heading angle determining unit. The flying height judging unit is used for judging whether the magnetic field information meets a preset magnetic field condition. The course angle giving unit is used for acquiring the current course angle of the unmanned aerial vehicle and taking the current course angle as an initial course angle value.
Wherein, in some embodiments, the heading determination module 94 includes an airframe attitude update unit and a heading update unit. The body attitude updating unit is used for updating the body attitude of the unmanned aerial vehicle 10 according to the current body attitude of the unmanned aerial vehicle 10 and the corrected course angle. The course updating unit is used for determining the course of the unmanned aerial vehicle 10 according to the updated body posture of the unmanned aerial vehicle 10.
the fuselage attitude updating unit is specifically configured to acquire a quaternion q 0 of the current fuselage attitude of the unmanned aerial vehicle 10, acquire a heading offset angle ψ 0 according to the initial value of the heading angle and the corrected heading angle, and acquire a quaternion taking the Z axis of the unmanned aerial vehicle 10 as a rotating shaft according to the heading offset angle ψ 0:
And obtaining a new body attitude q of the unmanned aerial vehicle 10, which is r q 0, according to a quaternion r taking the Z axis as a rotating shaft of the unmanned aerial vehicle 10 and a quaternion q 0 of the body attitude of the unmanned aerial vehicle 10 at present.
Fig. 10 is a block diagram of the structure of the unmanned aerial vehicle 10 according to the embodiment of the present invention. This unmanned aerial vehicle 10 can be used for realizing the function of whole or some functional modules in the main control chip. As shown in fig. 6, the drone 10 may include: the drone 10 may include: a fuselage, a horn, a power plant, a magnetometer, various sensors, a flight controller, and a communication module 130. The flight controller includes, among other things, a processor 110 and a memory 120.
the machine arm is connected with the machine body; the power device is arranged on the horn and used for providing the power for the unmanned aerial vehicle to fly.
The magnetometer is used for acquiring an initial course angle value of the unmanned aerial vehicle. The multiple sensors are used for respectively acquiring corresponding flight data, and the multiple sensors can be multiple sensors in an accelerometer, a gyroscope, a magnetometer, a GPS navigator and a vision sensor.
The processor 110, the memory 120 and the communication module 130 establish a communication connection therebetween by means of a bus.
the processor 110 may be of any type, including a processor 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the initial value selecting method for the heading angle of the unmanned aerial vehicle in the embodiment of the present invention (for example, the environmental information detecting module 91, the heading angle giving module 92, the data fusing module 93, the heading determining module 94, and the storage module 95 shown in fig. 9). The processor 110 executes various functional applications and data processing of the initial value selecting device 90 for the heading angle of the unmanned aerial vehicle by operating the non-transitory software program, instructions and modules stored in the memory 120, that is, implementing the initial value selecting method for the heading angle of the unmanned aerial vehicle in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the drone heading angle initial selection device 90, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 optionally includes memory located remotely from the processor 110, which may be connected to the drone 10 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one processor 110; the at least one processor 110 is configured to execute the instructions to implement the method for selecting the initial value of the heading angle of the unmanned aerial vehicle in any of the above-described method embodiments, for example, to execute the above-described method steps 21, 22, 23, 24, and so on, to implement the functions of the modules 91-95 in fig. 9.
the communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors 110, for example, by one of the processors 110 in fig. 6, and can cause the one or more processors 110 to execute the initial value selecting method for the heading angle of the unmanned aerial vehicle in any of the above-mentioned method embodiments, for example, execute the above-mentioned method steps 21, 22, 23, 24, and so on, and implement the functions of the modules 91 to 95 in fig. 9.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
the product can execute the method for selecting the initial value of the course angle of the unmanned aerial vehicle, and has the corresponding functional modules and beneficial effects of executing the method for selecting the initial value of the course angle of the unmanned aerial vehicle. For details of the technique not described in detail in this embodiment, reference may be made to the method for selecting the initial value of the heading angle of the unmanned aerial vehicle provided in the embodiment of the present invention.
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some 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 (17)
1. an unmanned aerial vehicle course angle initial value selecting method is characterized by comprising the following steps:
Acquiring flight environment information of the unmanned aerial vehicle;
according to the flight environment information, giving an initial value of a course angle;
Carrying out data fusion on sensor data acquired by a sensor and the initial value of the course angle to obtain a corrected course angle;
and determining the course of the unmanned aerial vehicle according to the corrected course angle.
2. The method of claim 1, wherein the flight environment information includes a flight altitude;
Before the obtaining of the flight environment information of the unmanned aerial vehicle, the method further includes:
Initializing a flying height threshold of the drone.
3. the method of claim 2,
the flying height threshold value is 1.5-2 m.
4. the method of claim 2,
according to the flight environment information, giving an initial value of a course angle, comprising the following steps:
judging whether the flying height reaches the flying height threshold value;
and when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, acquiring the current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value.
5. the method of claim 1,
Determining the course of the unmanned aerial vehicle according to the corrected course angle, wherein the determining the course of the unmanned aerial vehicle comprises the following steps:
Updating the body attitude of the unmanned aerial vehicle according to the current body attitude of the unmanned aerial vehicle and the corrected course angle;
and determining the course of the unmanned aerial vehicle according to the updated body attitude of the unmanned aerial vehicle.
6. The method of claim 5, wherein updating the attitude of the unmanned aerial vehicle based on the current attitude of the unmanned aerial vehicle and the corrected heading angle comprises:
acquiring a quaternion of the current body attitude of the unmanned aerial vehicle;
Obtaining a course deflection angle according to the initial value of the course angle and the corrected course angle;
obtaining a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft according to the course deflection angle:
determining an updated fuselage attitude quaternion of the unmanned aerial vehicle by the following formula, wherein q is r q 0;
Wherein, r is for with unmanned aerial vehicle Z axle is the quaternion of pivot, and q 0 is current the quaternion of unmanned aerial vehicle's fuselage gesture, q are after the update unmanned aerial vehicle's fuselage gesture quaternion.
7. The method according to claim 6, wherein the quaternion taking the Z-axis of the unmanned aerial vehicle as a rotating shaft is calculated by the following formula:
And psi 0 is the heading deflection angle, and r is a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft.
8. The method according to any one of claims 1 to 7,
Before the obtaining of the flight environment information of the unmanned aerial vehicle, the method further includes:
And initializing the initial value of the course angle after the unmanned aerial vehicle is started.
9. The method of claim 1, wherein the flight environment information includes magnetic field information;
According to the flight environment information, giving an initial value of a course angle, comprising the following steps:
judging whether the magnetic field information meets a preset magnetic field condition or not;
If so, acquiring a current course angle of the unmanned aerial vehicle, and taking the current course angle as an initial course angle value;
If not, the magnetic field information of the unmanned aerial vehicle is continuously acquired.
10. the utility model provides an unmanned aerial vehicle course angle initial value selects device which characterized in that includes:
the environment information detection module is used for acquiring flight environment information of the unmanned aerial vehicle;
The course angle giving module is used for giving an initial course angle value according to the flight environment information;
The data fusion module is used for carrying out data fusion on the data acquired by the sensor and the initial value of the course angle to obtain a corrected course angle;
And the course determining module is used for determining the course of the unmanned aerial vehicle according to the corrected course angle.
11. the device for selecting the initial value of the course angle of an unmanned aerial vehicle as claimed in claim 10,
the magnetic field control device further comprises a storage module, wherein the storage module is used for storing the flying height threshold value and the preset magnetic field condition.
12. the device for selecting the initial value of the course angle of an unmanned aerial vehicle as claimed in claim 11,
the flying height threshold value is 1.5-2 m.
13. The device for selecting the initial value of the course angle of the unmanned aerial vehicle as claimed in claim 11, wherein the magnetic field information comprises a flying height, and the course angle giving module comprises a flying height judging unit and a course angle giving unit;
The flying height judging unit is used for judging whether the flying height reaches the flying height threshold value;
and the course angle giving unit is used for acquiring the current course angle of the unmanned aerial vehicle when the flying height of the unmanned aerial vehicle reaches the flying height threshold value, and taking the current course angle as an initial course angle value.
14. the device for selecting the initial value of the course angle of the unmanned aerial vehicle as claimed in claim 11, wherein the magnetic field information comprises magnetic field information, and the course angle giving module further comprises a magnetic field information determining unit and a course angle determining unit;
The magnetic field information judging unit is used for judging whether the magnetic field information meets a preset magnetic field condition;
the course angle determining unit is used for acquiring the current course angle of the unmanned aerial vehicle and taking the current course angle as an initial course angle value.
15. the device for selecting the initial value of the course angle of an unmanned aerial vehicle as claimed in claim 10,
The course determining module comprises a body attitude updating unit and a course updating unit;
The body attitude updating unit is used for updating the body attitude of the unmanned aerial vehicle according to the current body attitude of the unmanned aerial vehicle and the corrected course angle;
The course updating unit is used for determining the course of the unmanned aerial vehicle according to the updated body attitude of the unmanned aerial vehicle.
16. the device for selecting the initial value of the course angle of an unmanned aerial vehicle as claimed in claim 15,
the body attitude updating unit is specifically used for acquiring a quaternion of the body attitude of the current unmanned aerial vehicle;
Obtaining a course deflection angle according to the initial value of the course angle and the corrected course angle;
Obtaining a quaternion taking the Z axis of the unmanned aerial vehicle as a rotating shaft according to the course deflection angle:
Determining the updated fuselage attitude quaternion of the unmanned aerial vehicle according to the following formula:
q＝r*q0；
Wherein, r is for with unmanned aerial vehicle Z axle is the quaternion of pivot, and q 0 is current the quaternion of unmanned aerial vehicle's fuselage gesture, q are after the update unmanned aerial vehicle's fuselage gesture quaternion.
17. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
The power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
the magnetometer is arranged on the body and used for acquiring an initial course angle value of the unmanned aerial vehicle;
The various sensors are arranged on the airframe and used for respectively acquiring corresponding flight data; and
the flight controller is arranged on the machine body;
The flight controller includes:
a processor; and
A memory communicatively coupled to the processor; wherein the memory stores instructions executable by the processor to enable the processor to perform the drone heading determination method of any of claims 1-9.
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| PCT/CN2020/118848 WO2021078002A1 (en) | 2019-10-22 | 2020-09-29 | Method and device for selecting initial value of heading angle of unmanned aerial vehicle, and unmanned aerial vehicle |
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| CN111474952B (en) * | 2020-03-09 | 2023-09-12 | 浙江科比特科技有限公司 | Course guiding method and device for multi-rotor unmanned aerial vehicle |
| CN117387630A (en) * | 2023-12-12 | 2024-01-12 | 江苏君立华域信息安全技术股份有限公司 | Automatic direction correction method and system in strong magnetic interference environment |
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