CN111707268A - Unmanned aerial vehicle navigation method and system based on double-Europe method and quaternion mixed arrangement - Google Patents
Unmanned aerial vehicle navigation method and system based on double-Europe method and quaternion mixed arrangement Download PDFInfo
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Abstract
The application relates to an unmanned aerial vehicle navigation method and system based on double-Europe and quaternion mixed arrangement. The method comprises the following steps: the method comprises the steps of respectively obtaining an attitude rotation matrix represented by a corresponding horizontal Euler angle in the horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in the vertical flight mode, when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into the representation of the vertical Euler angle, when the pitch angle of the unmanned aerial vehicle is smaller than or equal to the set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into the representation of the horizontal Euler angle, and when the navigation is arranged internally, adopting quaternion representation to carry out attitude update on the representation of the vertical Euler angle and the representation of the horizontal Euler angle, so that the unmanned aerial. By adopting the method, the singular value of attitude control during navigation can be avoided.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle navigation method and system based on double-European law and quaternion mixed arrangement.
Background
With the development of the unmanned aerial vehicle technology, unmanned aerial vehicles are also used in various fields in production and life, and thus new requirements are made on the flight of unmanned aerial vehicles.
The attitude of a common fixed-wing unmanned aerial vehicle during navigation can be controlled by adopting an Euler angle representation method, however, when the pitch angle of the unmanned aerial vehicle is equal to or close to +/-90 degrees, singular values appear in a calculation result, and thus the flight navigation control cannot be normally executed.
Disclosure of Invention
Therefore, in order to solve the technical problems, a method and a device for navigating the unmanned aerial vehicle based on the dual-euro law are needed, wherein the method and the device can solve the problem that singular values exist when the attitude control is carried out by the Euler angle representation method of the unmanned aerial vehicle.
An unmanned aerial vehicle navigation method based on mixed arrangement of a dual-ohm law and a quaternion, the method comprising the following steps:
respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation;
when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation;
and when the navigation is arranged internally, carrying out attitude updating on the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation so as to navigate the unmanned aerial vehicle.
In one embodiment, the method further comprises the following steps: acquiring a rotation matrix of a local geographic coordinate system corresponding to the coordinate system of the unmanned aerial vehicle; and calculating the horizontal projection of the local gravity acceleration in the coordinate system of the unmanned aerial vehicle carrier according to the rotation matrix to obtain the horizontal Euler angle representation of the six-degree-of-freedom motion model, and obtaining the attitude rotation matrix represented by the horizontal Euler angle according to the six-degree-of-freedom motion model represented by the horizontal Euler angle.
In one embodiment, the method further comprises the following steps: acquiring a rotation matrix of a local geographic coordinate system corresponding to the coordinate system of the unmanned aerial vehicle; and calculating the vertical projection of the local gravity acceleration in the coordinate system of the unmanned aerial vehicle carrier according to the rotation matrix to obtain the vertical Euler angle representation of the six-degree-of-freedom motion model, and obtaining the attitude rotation matrix represented by the vertical Euler angle according to the six-degree-of-freedom motion model represented by the vertical Euler angle.
In one embodiment, the method further comprises the following steps: according to the six-degree-of-freedom motion model represented by the horizontal Euler angle, obtaining an attitude rotation matrix represented by the horizontal Euler angle as follows:
wherein B represents an attitude rotation matrix, and the horizontal Euler angle phi surrounds XbRotation of the shaft by horizontal Euler angle θ about YbAxial rotation, horizontal Euler angle psi about ZbRotation of the shaft, wherein the horizontal Euler angle is rotated in the order Zb-Yb-Xb(ii) a C denotes the subscript cosine value and S denotes the subscript sine value.
In one embodiment, the method further comprises the following steps: according to the six-degree-of-freedom motion model represented by the vertical Euler angle, obtaining an attitude rotation matrix represented by the vertical Euler angle as follows:
wherein B represents an attitude rotation matrix, vertical Euler angle phivWound around
Rotation of the shaft at a vertical Euler angle thetavWound around
Axial rotation, vertical Euler angle psivWound around
Rotation of the shaft, wherein the rotation order of the vertical Euler angles is
C denotes the subscript cosine value and S denotes the subscript sine value.
In one embodiment, the method further comprises the following steps: acquiring posture quaternion representation during navigation internal arrangement;
determining a quaternion updating equation according to the attitude quaternion representation; updating an equation according to the quaternion to obtain quaternion expression of the attitude rotation matrix; and determining an attitude updating parameter represented by a vertical Euler angle according to the quaternion expression.
In one embodiment, the method further comprises the following steps: acquiring posture quaternion representation during navigation internal arrangement; determining a quaternion updating equation according to the attitude quaternion representation; updating an equation according to the quaternion to obtain quaternion expression of the attitude rotation matrix; and determining an attitude updating parameter represented by a horizontal Euler angle according to the quaternion expression.
A dual-euro-law and quaternion hybrid choreography based drone navigation system, the device comprising:
the conversion module is used for respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
the vertical navigation module is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into the representation of a vertical Euler angle when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value;
the horizontal navigation module is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value;
and the navigation module is used for updating the postures of the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation during navigation internal arrangement, so as to navigate the unmanned aerial vehicle.
A drone comprising a memory and a processor, the memory storing a computer program that when executed by the processor performs the steps of:
respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation;
when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation;
and when the navigation is arranged internally, carrying out attitude updating on the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation so as to navigate the unmanned aerial vehicle.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation;
when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation;
and when the navigation is arranged internally, carrying out attitude updating on the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation so as to navigate the unmanned aerial vehicle.
The unmanned aerial vehicle navigation method based on the double-Europe method and the quaternion hybrid arrangement, the system, the unmanned aerial vehicle and the storage medium are characterized in that an attitude rotation matrix represented by a horizontal Euler angle of the unmanned aerial vehicle in a vertical flight mode and an attitude rotation matrix represented by a vertical Euler angle in the vertical flight mode are obtained, then whether the pitch angle of the current unmanned aerial vehicle is larger than a threshold value is judged, different Euler angles are used for representation, then quaternion representation is adopted for hybrid arrangement, the unmanned aerial vehicle navigation is carried out, during calculation, the occurrence of singular values is avoided, and through quaternion representation, a large amount of trigonometric function calculation is avoided, only simple linear algebraic calculation is adopted, and the calculation efficiency of navigation data is improved.
Drawings
FIG. 1 is a diagram illustrating an application scenario of a UAV navigation method based on a mixture of bi-Europe and quaternion in an embodiment;
FIG. 2 is a flow chart illustrating a method for navigating a UAV based on a mixture of bi-European and quaternion arrangements in one embodiment;
FIG. 3 is a block diagram of a navigation device of a UAV based on a hybrid arrangement of bi-Europe and quaternions in one embodiment;
fig. 4 is an internal structure diagram of the drone in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The unmanned aerial vehicle navigation method based on the mixed arrangement of the dual-euro law and the quaternion can be applied to the unmanned aerial vehicle shown in the figure 1. Wherein, unmanned aerial vehicle contains two kinds of flight mode: a vertical flight mode and a horizontal flight mode. During vertical flight, the wings arranged on the vertical fuselage are utilized for flying, the wings can be fixed wings, and during horizontal flight, the wings arranged horizontally fly. In different flight modes, the power components are different, so that the attitude rotation matrix is correspondingly different.
In one embodiment, as shown in fig. 2, there is provided a method for navigating a drone based on a hybrid arrangement of bi-euro law and quaternion, which is described by taking the method as an example for the drone in fig. 1, and includes the following steps:
The horizontal flight mode is according to the mode of traditional fixed wing aircraft flight, and the axis of ordinates of unmanned aerial vehicle organism becomes the horizontality, and the vertical flight mode is according to the mode of traditional four rotor aircraft flight, and the axis of ordinates of unmanned aerial vehicle organism becomes vertical state.
The 3 independent angle parameters used for determining the position of the fixed point rotation rigid body consist of a nutation angle theta, a precession angle psi and a rotation angle phi, the attitude rotation matrix refers to a rotation matrix of the unmanned aerial vehicle carrier coordinate corresponding to the local geographic coordinate, and the attitude rotation matrix is an orthogonal matrix.
And 204, when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation.
The pitch angle refers to the angle of unmanned aerial vehicle aircraft nose relative to the horizontal plane, and the threshold value can set up according to the demand, for example sets up the pitch angle and be 45 degrees, also can set up to other numerical values according to the demand, does not do the restriction here. During navigation, especially the control of the tilting process, the attitude rotation matrix can be used for direct control.
In addition, since the euler angle representation will exhibit singular values when the pitch angle is at or near ± 90 degrees. Quaternion representation does not have the singular problem, so that continuous control can be effectively provided by adopting a mixed arrangement of Euler angle and quaternion representation.
And step 206, when the pitch angle of the unmanned aerial vehicle is smaller than or equal to the set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation.
And step 208, when the interior arrangement of the navigation is carried out, posture updating is carried out on the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation, so that the unmanned aerial vehicle is navigated.
In the unmanned aerial vehicle navigation method based on the double-Europe method and the quaternion hybrid arrangement, the attitude rotation matrix represented by the horizontal Euler angle of the unmanned aerial vehicle in the vertical flight mode and the attitude rotation matrix represented by the vertical Euler angle in the vertical flight mode are obtained, then whether the pitch angle of the current unmanned aerial vehicle is larger than a threshold value or not is judged, different Euler angles are used for representation, then quaternion representation is adopted for hybrid arrangement, the unmanned aerial vehicle navigation is carried out, during calculation, the occurrence of singular values is avoided, and a large number of trigonometric functions are avoided through quaternion representation, only simple linear algebraic calculation is adopted, and the calculation efficiency of navigation data is favorably improved.
In one embodiment, the step of obtaining the attitude rotation matrix represented by the horizontal euler angles comprises:
the method comprises the steps of obtaining a rotation matrix of a local geographic coordinate system corresponding to an unmanned aerial vehicle carrier coordinate system, obtaining a horizontal Euler angle representation of a six-degree-of-freedom motion model according to horizontal projection of the rotation matrix in the unmanned aerial vehicle carrier coordinate system, and obtaining an attitude rotation matrix represented by the horizontal Euler angle according to the six-degree-of-freedom motion model represented by the horizontal Euler angle.
In one embodiment, a rotation matrix of a local geographic coordinate system corresponding to an unmanned aerial vehicle coordinate system is obtained by adopting the same principle as a horizontal Euler angle representation method; and calculating the vertical projection of the local gravity acceleration in the coordinate system of the unmanned aerial vehicle carrier according to the rotation matrix to obtain the vertical Euler angle representation of the six-degree-of-freedom motion model, and obtaining the attitude rotation matrix represented by the vertical Euler angle according to the six-degree-of-freedom motion model represented by the vertical Euler angle.
In another embodiment, since the rotation matrix is an orthogonal matrix, the attitude rotation matrix expressed in horizontal euler angles is:
wherein B represents an attitude rotation matrix, and the horizontal Euler angle phi surrounds XbRotation of the shaft by horizontal Euler angle θ about YbAxial rotation, horizontal Euler angle psi about ZbRotation of the shaft, wherein the horizontal Euler angle is rotated in the order Zb-Yb-Xb(ii) a C denotes the subscript cosine value and S denotes the subscript sine value. I.e. CθCos θ, etc.
In yet another embodiment, the attitude rotation matrix expressed in terms of vertical euler angles is:
wherein B represents an attitude rotation matrix, vertical Euler angle phivWound around
Rotation of the shaft at a vertical Euler angle thetavWound around
Axial rotation, vertical Euler angle psivWound around
Rotation of the shaft, wherein the rotation order of the vertical Euler angles is
C denotes the subscript cosine value and S denotes the subscript sine value.
In one embodiment, the attitude rotation matrix may also be represented by a quaternion, so as to facilitate calculation of data during navigation, which is specifically as follows: when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation; acquiring quaternion representation of the attitude rotation matrix; the quaternion is expressed as an attitude quaternion; according to quaternion representation, converting the horizontal Euler angle representation of the attitude rotation matrix into horizontal quaternion representation; drone navigation is performed according to the horizontal quaternion representation. In the embodiment, the Euler angle posture representation method is beneficial to decoupling implementation of a control system and visual understanding of the aircraft posture, while the quaternion representation method has no singular problem and has higher calculation efficiency, because the Euler angle operation in an aircraft kinematic equation relates to a large number of nonlinear trigonometric functions, and the quaternion operation only comprises very simple linear algebraic operation. Therefore, in the internal arrangement of the navigation system, the posture of the carrier is updated by adopting a quaternion method.
In another embodiment, when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation; acquiring quaternion representation of the attitude rotation matrix; the quaternion is expressed as an attitude quaternion; converting the vertical Euler angle representation of the attitude rotation matrix into horizontal quaternion representation according to quaternion representation; drone navigation is performed according to the vertical quaternion representation.
Specifically, the attitude rotation matrix expressed by the quaternion is as follows:
wherein q is0、q1、q2、q3Representing parameters in an attitude quaternion, the attitude quaternion being represented as: q ═ Q (Q)0,q1,q2,q3)T。
The conversion of the horizontal euler angles to quaternions is as follows:
the conversion of the vertical euler angles to quaternions is as follows:
through the conversion relation, the attitude conversion matrixes expressed by the horizontal Euler angles and the vertical Euler angles can be expressed by quaternions, so that the calculation efficiency of the system can be improved.
Similarly, when one flight mode is converted to another flight mode, the horizontal euler angle needs to be converted to the vertical euler angle or the vertical euler angle needs to be converted to the horizontal euler angle along with the change of the parameters, and specifically, the conversion relationship from the horizontal euler angle to the vertical euler angle is as follows:
θv＝-sin-1(cos(φ)cos(θ))＝sin-1(-b33)
the conversion relationship from the vertical euler angle to the horizontal euler angle is as follows:
θ＝sin-1(cos(ψv)cos(θv))＝-sin-1(b13)
it should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 3, there is provided a drone navigation system based on mixed arrangement of dual euro-law and quaternion, including: a conversion module 302, a vertical navigation module 304, a horizontal navigation module 306, and a navigation module 308, wherein:
a conversion module 302, configured to obtain an attitude rotation matrix represented by a horizontal euler angle corresponding to the horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a vertical euler angle corresponding to the vertical flight mode of the unmanned aerial vehicle, respectively; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
the vertical navigation module 304 is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into the representation of a vertical euler angle when the pitch angle of the unmanned aerial vehicle is greater than a set threshold value;
the horizontal navigation module 306 is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal euler angle representation when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value;
and the navigation module 308 is configured to perform attitude update on the vertical euler angle representation and the horizontal euler angle representation by using quaternion representation during internal arrangement of navigation, so as to navigate the unmanned aerial vehicle.
In one embodiment, the conversion module 302 is further configured to obtain a rotation matrix of the local geographic coordinate system corresponding to the coordinate system of the drone carrier; and obtaining a horizontal Euler angle representation of the six-degree-of-freedom motion model, and obtaining a posture rotation matrix represented by the horizontal Euler angle according to the six-degree-of-freedom motion model represented by the horizontal Euler angle.
In one embodiment, the conversion module 302 is further configured to obtain a rotation matrix of the local geographic coordinate system corresponding to the coordinate system of the drone carrier; and obtaining a vertical Euler angle representation of the six-degree-of-freedom motion model, and obtaining a posture rotation matrix represented by the vertical Euler angle according to the six-degree-of-freedom motion model represented by the vertical Euler angle.
In one embodiment, the conversion module 302 is further configured to obtain an attitude rotation matrix represented by the horizontal euler angle according to the six-degree-of-freedom motion model represented by the horizontal euler angle as follows:
wherein B represents an attitude rotation matrix, and the horizontal Euler angle phi surrounds XbRotation of the shaft by horizontal Euler angle θ about YbAxial rotation, horizontal Euler angle psi about ZbRotation of the shaft, wherein the horizontal Euler angle is rotated in the order Zb-Yb-Xb(ii) a C denotes the subscript cosine value and S denotes the subscript sine value.
In one embodiment, the conversion module 302 is further configured to obtain an attitude rotation matrix represented by the vertical euler angle according to the six-degree-of-freedom motion model represented by the vertical euler angle, where the attitude rotation matrix represented by the vertical euler angle is:
wherein B represents an attitude rotation matrix, vertical Euler angle phivWound around
Rotation of the shaft at a vertical Euler angle thetavWound around
Axial rotation, vertical Euler angle psivWound around
Rotation of the shaft, wherein the rotation order of the vertical Euler angles is
C denotes the subscript cosine value and S denotes the subscript sine value.
In one embodiment, the navigation module 306 is further configured to obtain a pose quaternion representation when navigating the internal layout; determining a quaternion updating equation according to the attitude quaternion representation; updating an equation according to the quaternion to obtain quaternion representation of the attitude rotation matrix; and determining an attitude updating parameter represented by a vertical Euler angle according to the quaternion expression.
In one embodiment, the navigation module 304 is further configured to obtain a pose quaternion representation when navigating the internal layout; determining a quaternion updating equation according to the attitude quaternion representation; updating an equation according to the quaternion to obtain quaternion representation of the attitude rotation matrix; determining an attitude update parameter for a horizontal Euler angle representation based on the quaternion representation.
For specific limitations of the dual-euro-law-based drone navigation device, reference may be made to the above limitations of the dual-euro-law-based drone navigation method, which are not described herein again. All or part of the modules in the dual-euro-law-based unmanned aerial vehicle navigation device can be realized through software, hardware and a combination thereof. Each module can be embedded in a hardware form or be independent of a processor in the unmanned aerial vehicle, and can also be stored in a memory in the unmanned aerial vehicle in a software form, so that the processor calls and executes the corresponding operation of each module.
In one embodiment, a drone is provided whose internal structure may be as shown in fig. 4. The unmanned aerial vehicle comprises a processor, a memory, a network interface and an input device which are connected through a system bus. Wherein the processor of the drone is configured to provide computing and control capabilities. The memory of the unmanned aerial vehicle comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the unmanned aerial vehicle is used for being connected with an external terminal through a network for communication. The computer program is executed by a processor to implement a dual-euro-law-based drone navigation method. This unmanned aerial vehicle's input device can be the touch layer that covers on the display screen, also can be button, trackball or the touch pad that sets up on the unmanned aerial vehicle shell, can also be external keyboard, touch pad or mouse etc..
Those skilled in the art will appreciate that the structure shown in fig. 4 is a block diagram of only a portion of the structure relevant to the present teachings and does not constitute a limitation on the drone to which the present teachings are applied, and that a particular drone may include more or fewer components than those shown, or certain components may be combined, or have a different arrangement of components.
In one embodiment, there is provided a drone comprising a memory storing a computer program and a processor implementing the steps of the above method embodiments when executing the computer program
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
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 can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle navigation method based on mixed arrangement of a dual-ohm law and a quaternion, the method comprising the following steps:
respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into vertical Euler angle representation;
when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value, switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation;
and when the navigation is arranged internally, carrying out attitude updating on the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation so as to navigate the unmanned aerial vehicle.
2. The method of claim 1, wherein obtaining an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the UAV comprises:
acquiring a rotation matrix of a local geographic coordinate system corresponding to the coordinate system of the unmanned aerial vehicle;
and calculating the horizontal projection of the local gravity acceleration in the coordinate system of the unmanned aerial vehicle carrier according to the rotation matrix to obtain the representation of the horizontal Euler angle in the six-degree-of-freedom motion model, and obtaining the attitude rotation matrix represented by the horizontal Euler angle according to the six-degree-of-freedom motion model represented by the horizontal Euler angle.
3. The method of claim 1, wherein obtaining an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode of the UAV comprises:
acquiring a rotation matrix of a local geographic coordinate system corresponding to the coordinate system of the unmanned aerial vehicle;
and calculating the vertical projection of the local gravity acceleration in the coordinate system of the unmanned aerial vehicle carrier according to the rotation matrix to obtain the vertical Euler angle representation of the six-degree-of-freedom motion model, and obtaining the attitude rotation matrix represented by the vertical Euler angle according to the six-degree-of-freedom motion model represented by the vertical Euler angle.
4. The method of claim 2, wherein obtaining the attitude rotation matrix of the horizontal Euler angle representation from the six degree of freedom motion model of the horizontal Euler angle representation comprises:
according to the six-degree-of-freedom motion model represented by the horizontal Euler angle, obtaining an attitude rotation matrix represented by the horizontal Euler angle as follows:
wherein B represents an attitude rotation matrix, and the horizontal Euler angle phi surrounds XbRotation of the shaft by horizontal Euler angle θ about YbAxial rotation, horizontal Euler angle psi about ZbRotation of the shaft, wherein the horizontal Euler angle is rotated in the order Zb-Yb-Xb(ii) a C represents the cosine value of the subscript and S represents the sine value of the subscript.
5. The method of claim 2, wherein obtaining the attitude rotation matrix represented by the vertical euler angles according to the six-degree-of-freedom motion model represented by the vertical euler angles comprises:
according to the six-degree-of-freedom motion model represented by the vertical Euler angle, obtaining an attitude rotation matrix represented by the vertical Euler angle as follows:
wherein B represents an attitude rotation matrix, vertical Euler angle phivWound around
Rotation of the shaft at a vertical Euler angle thetavWound around
Axial rotation, vertical Euler angle psivWound around
Rotation of the shaft, wherein the rotation order of the vertical Euler angles is
C represents the cosine value of the subscript and S represents the sine value of the subscript.
6. The method of claim 4, wherein performing a pose update on the vertical Euler angle representation using a quaternion representation when navigating an internal layout comprises:
acquiring posture quaternion representation during navigation internal arrangement;
determining a quaternion updating equation according to the attitude quaternion representation;
updating an equation according to the quaternion to obtain quaternion representation of the attitude rotation matrix;
and determining an attitude updating parameter represented by a vertical Euler angle according to the quaternion expression.
7. The method of claim 5, wherein performing an attitude update on the horizontal Euler angle representation using a quaternion representation while navigating internal choreography comprises:
acquiring posture quaternion representation during navigation internal arrangement;
determining a quaternion updating equation according to the attitude quaternion representation;
updating an equation according to the quaternion to obtain quaternion representation of the attitude rotation matrix;
determining an attitude update parameter for a horizontal Euler angle representation based on the quaternion representation.
8. An unmanned aerial vehicle navigation system based on mixed arrangement of dual-euro law and quaternion, the device comprising:
the conversion module is used for respectively acquiring an attitude rotation matrix represented by a corresponding horizontal Euler angle in a horizontal flight mode of the unmanned aerial vehicle and an attitude rotation matrix represented by a corresponding vertical Euler angle in a vertical flight mode; the horizontal flight mode is a mode of flying according to a traditional fixed wing aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a horizontal state; the vertical flight mode is a mode of flying according to a traditional four-rotor aircraft, and a longitudinal axis of an unmanned aerial vehicle body is in a vertical state;
the vertical navigation module is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into the representation of a vertical Euler angle when the pitch angle of the unmanned aerial vehicle is larger than a set threshold value;
the horizontal navigation module is used for switching the representation form of the attitude rotation matrix of the unmanned aerial vehicle into horizontal Euler angle representation when the pitch angle of the unmanned aerial vehicle is smaller than or equal to a set threshold value;
and the navigation module is used for updating the postures of the vertical Euler angle representation and the horizontal Euler angle representation by adopting quaternion representation during navigation internal arrangement, so as to navigate the unmanned aerial vehicle.
9. A drone comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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