CN110825117A - High-precision unmanned aerial vehicle system and intelligent control method - Google Patents

High-precision unmanned aerial vehicle system and intelligent control method Download PDF

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CN110825117A
CN110825117A CN201911277173.7A CN201911277173A CN110825117A CN 110825117 A CN110825117 A CN 110825117A CN 201911277173 A CN201911277173 A CN 201911277173A CN 110825117 A CN110825117 A CN 110825117A
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module
information
aerial vehicle
unmanned aerial
optical flow
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张燕军
徐勇
周中升
缪宏
葛文军
张善文
刘思幸
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Yangzhou University
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Yangzhou University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The invention discloses a high-precision unmanned aerial vehicle system and an intelligent control method. The attitude module resolves unmanned aerial vehicle attitude information in real time; the optical flow module collects, processes and calculates image information and outputs three-dimensional displacement information; and the data processing module performs fusion calculation on the displacement information acquired by the optical flow module and the position data information of the GPS module by using a self-adaptive complementary filtering algorithm, and transmits the position data obtained after fusion to flight control so as to implement related operation. The invention processes and fuses the coordinate information received by the GPS module and the displacement information obtained by the optical flow module, thereby improving the positioning information of the unmanned aerial vehicle, further improving the positioning precision and reducing the precision positioning cost, and therefore, the invention has wide application prospect and economic benefit.

Description

High-precision unmanned aerial vehicle system and intelligent control method
Technical Field
The invention relates to the field of high-precision unmanned aerial vehicle systems, in particular to a high-precision unmanned aerial vehicle system and an intelligent control method.
Background
With the continuous development of technologies such as a global positioning system and the like and the continuous deepening and perfecting of the research of the flight control theory of the unmanned aerial vehicle, the unmanned aerial vehicle has wider application, such as air-drop operation, accurate pesticide application, survey and inspection and other tasks. In order to achieve the purpose of accurate operation, it is crucial to acquire relatively accurate target location information, an outdoor positioning system of a conventional unmanned aerial vehicle provides location information based on a single GPS module, the positioning stability of the GPS module is relatively poor, the positioning accuracy depends on the number and observation angle of observation satellites, the quality of a sensor, signal interference received in data transmission, and the like, and the instantaneous accuracy is relatively poor. In addition, the existing domestic technologies are limited and closed, and if differential base station equipment, a UWB positioning system, a multi-search location service and the like are adopted to implement positioning, the cost is relatively high and the system is complex.
Disclosure of Invention
Aiming at the problems, the invention provides a high-precision unmanned aerial vehicle system and an intelligent control method.
The technical scheme of the invention is as follows:
the invention provides a high-precision unmanned aerial vehicle system which is characterized in that the system mainly structurally comprises a flight control module, an attitude module, a data processing module, a GPS module, a data transmission module, an optical flow module, a ground management center, a remote controller, a remote control receiving module and an operation mechanism (an air drop device). The attitude module resolves unmanned aerial vehicle attitude information in real time; the optical flow module collects, processes and calculates image information and outputs three-dimensional displacement information; and the data processing module performs fusion calculation on the displacement information acquired by the optical flow module and the position data information of the GPS module by using a self-adaptive complementary filtering algorithm, and transmits the position data obtained after fusion to flight control so as to implement related operation.
Furthermore, the adaptive complementary filtering fusion algorithm is completed by an optical flow module, a GPS module and a data processing module.
The second objective of the present invention is to provide an intelligent control method for a high-precision unmanned aerial vehicle system, namely, the adaptive complementary filtering fusion algorithm, which comprises the following steps:
step one, setting unmanned aerial vehicle position information p as [ x, y, z ═ z]TThe corresponding velocity information is v ═ vx,vy,vz]TThen, there are:
Figure BDA0002315867250000021
wherein x, y and z are projection coordinates on X, Y, Z axes respectively;
Figure BDA0002315867250000022
respectively corresponding to x, y and z; v. ofx,vy,vzIs the velocity component of the velocity on axis X, Y, Z.
Step two, simplifying the speed information acquired by the optical flow module and the position information acquired by the GPS positioning module:
xG＝p+μP(2)
xF＝v+μV(3)
in the formula, p and v are respectively real position information acquired by a GPS module and real speed information acquired by an optical flow module; mu.sP、μVThe measurement noise, which is the position and velocity information, respectively, is set to a constant value.
Step three, the frequency domain Y output after the measurement result is operated by the complementary filterPComprises the following steps:
Figure BDA0002315867250000023
and is provided with:
Figure BDA0002315867250000024
then substituting the formula (6) into the formula (4) to obtain:
Figure BDA0002315867250000031
wherein s is a Laplace operator; x is the number ofG(s) and xF(s) positioning information of the GPS module and the optical flow module in a frequency domain respectively; l(s) is first order low pass filtering; h(s) is first order high pass filtering; g(s) is the transfer function of the complementary filter, and the feedback part is proportional feedback.
And has the following components:
L(s)+H(s)＝1 (8)。
step four, let g(s) be k, then the dynamic equation of the closed-loop system is:
in the formula ypIs the output value of the complementary filter;
the frequency domain expression of the filter at this time is:
Figure BDA0002315867250000033
Figure BDA0002315867250000034
the cut-off frequency (HZ) is:
Figure BDA0002315867250000035
step five, adjusting the cut-off frequency fT，
Figure BDA0002315867250000036
The k value is then:
Figure BDA0002315867250000037
in the formula, V is the flight speed of the unmanned aerial vehicle, H is a precision factor of the GPS module for receiving satellite signals, the precision factor is directly obtained from an output frame of the GPS module, a, b and c are constants, and the precision factor is properly adjusted according to different air-drop environments.
In summary, the high-precision unmanned aerial vehicle system and the intelligent control method provided by the invention can improve the positioning information of the unmanned aerial vehicle by processing and fusing the coordinate information received by the GPS module and the displacement information obtained by the optical flow module, so as to improve the positioning precision and achieve the purpose of reducing the precision positioning cost, thereby having wide application prospects and economic benefits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a block diagram of the unmanned aerial vehicle system of the present invention;
FIG. 2 is a flow chart of the location information fusion calculation of the present invention;
fig. 3 is a schematic diagram of an aerial delivery task.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described 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 of the 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.
In the embodiment, referring to fig. 1, the present embodiment mainly takes implementation of accurate aerial delivery as an example, and the main structure of the system includes a flight control module, an attitude module, a data processing module, a GPS module, a data transmission module, an optical flow module, a ground management center, a remote controller, a remote control receiving module, and an aerial delivery device. The attitude module resolves unmanned aerial vehicle attitude information in real time; the optical flow module collects, processes and calculates image information and outputs three-dimensional displacement information; the airdrop device opens the steering engine according to the flight control instruction to implement airdrop; and the data processing module performs fusion calculation on the displacement information acquired by the optical flow module and the position data information of the GPS module by using a self-adaptive complementary filtering algorithm, and transmits the position data obtained after fusion to flight control so as to implement air-drop operation.
Specifically, the adaptive complementary filtering fusion algorithm is completed by an optical flow module, a GPS module and a data processing module.
Specifically, referring to fig. 2, the adaptive complementary filtering fusion algorithm includes the following steps:
step one, setting unmanned aerial vehicle position information p as [ x, y, z ═ z]TThe corresponding velocity information is v ═ vx,vy,vz]TThen, there are:
Figure BDA0002315867250000051
wherein x, y and z are projection coordinates on X, Y, Z axes respectively;
Figure BDA0002315867250000052
respectively corresponding to x, y and z; v. ofx,vy,vzIs the velocity component of the velocity on axis X, Y, Z.
Step two, simplifying the speed information acquired by the optical flow module and the position information acquired by the GPS positioning module:
xG＝p+μP(2)
xF＝v+μV(3)
in the formula, p and v are respectively real position information acquired by a GPS module and real speed information acquired by an optical flow module; mu.sP、μVThe measurement noise, which is the position and velocity information, respectively, is set to a constant value.
Step three, the frequency domain Y output after the measurement result is operated by the complementary filterPComprises the following steps:
Figure BDA0002315867250000053
and is provided with:
Figure BDA0002315867250000055
then substituting the formula (6) into the formula (4) to obtain:
Figure BDA0002315867250000061
wherein s is a Laplace operator; x is the number ofG(s) and xF(s) positioning information of the GPS module and the optical flow module in a frequency domain respectively; l(s) is first order low pass filtering; h(s) is first order high pass filtering.
And has the following components:
L(s)+H(s)＝1 (8)
step four, let g(s) be k, then the dynamic equation of the closed-loop system is:
the frequency domain expression of the filter at this time is:
Figure BDA0002315867250000063
Figure BDA0002315867250000064
the cut-off frequency (HZ) is:
Figure BDA0002315867250000065
step five, adjusting the cut-off frequency fT，
Figure BDA0002315867250000066
The k value is then:
Figure BDA0002315867250000067
in the formula, H is a precision factor of the GPS module for receiving satellite signals, and is directly obtained from an output frame of the GPS module, and a, b, and c are constants and are appropriately adjusted according to the air-drop environment, and each example takes 1.
Specifically, the flight control used in the embodiment is a PIX Zoom flight control and JY901 attitude module, the data processing module is an stm32 single-chip microcomputer, the GPS module selects an M8N GPS module, the data transmission module is a 3DR data transmission module, the optical flow module is ATK-PMW3901, a missionspunner ground station and a 2.4G ledy AT9S remote controller are selected, and a radio link R9DS remote control receiving module is matched.
Specifically, as shown in fig. 3, in order to verify the task schematic diagram of the feasibility of the present invention, a single GPS module is used as a navigation positioning system and the system and method provided by the present invention to perform test flight, so that the unmanned aerial vehicle takes off from point O, the flight height is maintained at 5-10 meters, the unmanned aerial vehicle flies back to point O to land after throwing articles at points a and B, and the deviation of air drop at point A, B is detected. Multiple tests show that the deviation of the flight airdrop operation performed by only using the single GPS module as the navigation positioning system is within the range of 1.5-4m, and the deviation of the flight airdrop operation is within the range of 0.3-1m when the information obtained by the optical flow module and the GPS module is subjected to adaptive filtering fusion and then used as positioning navigation information, so that the airdrop precision is obviously improved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (3)

1. A high-precision unmanned aerial vehicle system is characterized by comprising a flight control module, an attitude module, a data processing module, a GPS module, a data transmission module, an optical flow module, a ground management center, a remote controller, a remote control receiving module and an air drop device; the attitude module resolves unmanned aerial vehicle attitude information in real time; the optical flow module collects, processes and calculates image information and outputs three-dimensional displacement information; the airdrop device opens the steering engine according to the flight control instruction to implement airdrop; and the data processing module performs fusion calculation on the displacement information acquired by the optical flow module and the position data information of the GPS module by using a self-adaptive complementary filtering algorithm, and transmits the position data obtained after fusion to flight control so as to implement accurate airdrop operation.
2. A high precision unmanned aerial vehicle system as claimed in claim 1, wherein the adaptive complementary filtering algorithm is implemented by an optical flow module, a GPS module and a data processing module.
3. The intelligent control method of the high-precision unmanned aerial vehicle system is characterized in that a self-adaptive complementary filtering fusion algorithm is adopted, and the method comprises the following steps:
first, let unmanned aerial vehicle position information p ═ x, y, z]TThe corresponding velocity information is v ═ vx,vy,vz]TThen, there are:
Figure FDA0002315867240000011
wherein x, y and z are projection coordinates on X, Y, Z axes respectively;
Figure FDA0002315867240000012
respectively corresponding to x, y and z; v. ofx,vy,vzIs the velocity component of the velocity on axis X, Y, Z;
and step two, simplifying the speed information acquired by the optical flow module and the position information acquired by the GPS positioning module:
xG＝p+μP(2)
xF＝v+μV(3)
in the formula, p and v are respectively real position information acquired by a GPS module and real speed information acquired by an optical flow module; mu.sP、μVThe measurement noise, which is the position and velocity information, respectively, is set to a constant value;
thirdly, the frequency domain Y output after the measurement result is operated by a complementary filterPComprises the following steps:
Figure FDA0002315867240000013
Figure FDA0002315867240000021
and is provided with:
Figure FDA0002315867240000022
Figure FDA0002315867240000023
then substituting the formula (6) into the formula (4) to obtain:
Figure FDA0002315867240000024
wherein s is a Laplace operator; x is the number ofG(s) and xF(s) positioning information of the GPS module and the optical flow module in a frequency domain respectively; l(s) is first order low pass filtering; h(s) is first order high pass filtering;
and has the following components:
L(s)+H(s)＝1 (8)；
and fourthly, letting g(s) k, the dynamic equation of the closed-loop system is:
Figure FDA0002315867240000025
the frequency domain expression of the filter at this time is:
Figure FDA0002315867240000026
Figure FDA0002315867240000027
the cut-off frequency (HZ) is:
Figure FDA0002315867240000028
fifthly, adjusting the cut-off frequency fT，
Figure FDA0002315867240000029
The k value is then:
Figure FDA00023158672400000210
in the formula, H is a precision factor of the GPS module for receiving satellite signals, and is directly obtained from an output frame of the GPS module, and a, b and c are constants and are properly adjusted according to different air-drop environments.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN204759206U (en) * 2015-07-20 2015-11-11 吴伟健 Unmanned aerial vehicle intelligence express system
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