CN112068599A - Control method for realizing FPV free shooting and self-stabilizing flight unmanned aerial vehicle by four channels - Google Patents
Control method for realizing FPV free shooting and self-stabilizing flight unmanned aerial vehicle by four channels Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The control method of the unmanned aerial vehicle for realizing FPV free shooting and self-stabilizing flight simultaneously by four channels comprises an independent channel A, an independent channel B, an independent channel C and an independent channel D; the independent channel A controls the longitude of the shooting lens, to which the target object is positioned, and determines the longitude angle relative to the shooting lens; the independent channel C adjusts the rotation angle of the shooting lens; the independent channel D is used for controlling the movement speed of the unmanned aerial vehicle in the third step along the direction of the three-dimensional space vector; controlling the unmanned aerial vehicle to fly in a three-dimensional space in a self-stabilizing manner by the vector first speed, the vector second speed and the vector third speed; the independent channel A, the independent channel B, the independent channel C and the independent channel D can control the shooting lens to carry out directional shooting and simultaneously can carry out flying motion along the directional shooting direction. The invention realizes that one person can independently operate the unmanned aerial vehicle with flight control self-stability to move in a three-dimensional space by only using four independent control channels, and simultaneously finishes the directional shooting of a target object; the operation difficulty of flying of the FPV traversing machine is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for an unmanned aerial vehicle, which realizes FPV free shooting and self-stabilizing flight by four channels.
Background
Shooting a specific target object from one point in a three-dimensional space, and controlling by using three channels with six degrees of freedom in the space; the 'longitude angle' of the target object relative to the shooting lens is controlled by using the channel I, the 'latitude angle', the 'longitude angle' and the 'latitude angle' of the target object relative to the shooting lens are controlled by using the channel II, the 'longitude and latitude angle' of the target object relative to the shooting lens is formed by using the channel II, and the 'rotation angle' corrected by using the channel three pairs of shooting lenses is used after the target is aligned if the picture angle needs to be adjusted.
At present, the basic control modes of a multi-rotor unmanned aerial vehicle are two, namely a manual mode without flight control intervention operation and a self-stabilization mode with flight control intervention; in both modes, four control channels are adopted: the unmanned aerial vehicle comprises an aileron channel, a pitching channel, an accelerator channel and a direction channel, wherein the aileron channel, the pitching channel, the accelerator channel and the direction channel are used for controlling four of six degrees of freedom of the unmanned aerial vehicle in space; manual mode's many rotor unmanned aerial vehicle operation mode: the unmanned aerial vehicle rolls left and right through the aileron channel; the unmanned aerial vehicle rolls back and forth through the pitching channel; the rotating speed of the rotor of the unmanned aerial vehicle is completely increased or reduced through the accelerator channel, so that the unmanned aerial vehicle can move in an accelerated manner or in a decelerated manner; controlling the horizontal rotation direction of the unmanned aerial vehicle through a direction channel; from many rotor unmanned aerial vehicle operation mode of steady mode: the flight control is involved in the flight action, and the airplane is kept not unbalanced. The method enables the unmanned plane to horizontally fly left and right instead of rolling through the aileron channel; the unmanned aerial vehicle moves back and forth horizontally through the pitching channel instead of rolling back and forth; the unmanned aerial vehicle is lifted or lowered vertically and horizontally through the accelerator channel; the moving course of the unmanned aerial vehicle is controlled only through the direction channel, and the purpose is the same as that of the manual mode.
The shortcomings of the existing aerial photography technology realized based on the background technology are as follows:
the FPV crossing aerial photography technology is a technology for fixing a shooting lens on a multi-rotor unmanned aerial vehicle body and then carrying out directional shooting control by utilizing a manual mode of a multi-rotor unmanned aerial vehicle flight control technology so as to finish aerial shooting; in the manual mode: the pitching channel is used for controlling the forward or backward overturning angle of the unmanned aerial vehicle body, and the action of a second channel in directional shooting control is replaced to control the 'latitude angle' of the shooting lens to the target object; the angle of the movement course of the unmanned aerial vehicle body is controlled by using the direction channel, and the longitude angle of a shooting lens to a target object is controlled by replacing the action of a channel I in directional shooting control; the left and right rolling angles of the unmanned aerial vehicle body are controlled through the aileron channel, the function of a channel III in directional shooting control is replaced, and the 'rotation angle' of the shooting lens is adjusted. Thereby achieving the purpose of directional shooting; the disadvantages of this aerial photography technique are: the first disadvantage is that: when the aerial target object and the unmanned aerial vehicle are on the same horizontal plane, the target object can not be shot in an unbalanced state, but the flight control is not involved in the control of the flight action, so that the requirement on the capability of controlling the stability of the aircraft by a flight hand is high; the second disadvantage is that: when the aerial photography target object is not on the same horizontal plane as the unmanned aerial vehicle, the unmanned aerial vehicle must shoot the target in an unbalanced state, and the shooting in motion is more prone to misoperation, so that accidents occur; the third disadvantage is that: the FPV traversing machine aerial photography technology needs to be mastered, and a lot of time, energy and cost are needed for training.
The self-stabilization multi-rotor unmanned aerial vehicle aerial photography technology is a technology for realizing the multi-rotor unmanned aerial vehicle to finish the photography of a target object by combining a directional photography control technology and a self-stabilization mode of the multi-rotor unmanned aerial vehicle; firstly, a self-stabilization mode of the multi-rotor unmanned aerial vehicle is used for ensuring the position of the unmanned aerial vehicle in a three-dimensional space; then, a multi-axis tripod head is installed on the unmanned aerial vehicle, a shooting lens is fixed on the tripod head, and the tripod head is controlled through an independent channel II, so that the shooting lens on the tripod head points to the 'latitude angle' of the target object; then, a direction channel in a self-stabilizing mode of the multi-rotor unmanned aerial vehicle is utilized to adjust the motion direction of the unmanned aerial vehicle, the action of a channel I in directional shooting control is replaced, so that a shooting lens points to the longitude angle of a target object, or a tripod head is directly controlled through an independent channel I, so that the shooting lens on the tripod head points to the longitude angle of the target object; finally, the tripod head is controlled through an independent channel three control, so that a shooting lens on the tripod head points to a target object to have a proper 'rotation angle'; the disadvantages of this aerial photography technique are: the first disadvantage is that: the number of the independent control channels is more than six, and a common flyer can only directly operate four independent control channels, so that the common flyer can not give consideration to both flying and shooting of the unmanned aerial vehicle; the second disadvantage is that: because there is the restriction of flight control from steady, many rotor unmanned aerial vehicle can not hand roll, roll etc. unbalance action, when alone independent operation, the shooting scope just also can not be like the FPV passes through the quick-witted aerial photograph extensively.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides the control method of the unmanned aerial vehicle, which reduces the difficulty of single-person operation of the unmanned aerial vehicle, keeps balanced and self-stable flight, takes the aim of shooting the target into consideration at the same time, and realizes FPV free shooting and self-stable flight of the unmanned aerial vehicle by four channels as widely as the aerial shooting of an FPV traversing machine when shooting the target object.
The technical scheme adopted by the invention for solving the technical problems is as follows: the control method of the unmanned aerial vehicle for realizing FPV free shooting and self-stabilizing flight simultaneously by four channels comprises an independent channel A, an independent channel B, an independent channel C and an independent channel D; the independent channel A controls the longitude of the shooting lens to the target object and determines the longitude angle relative to the shooting lens; the independent channel B controls the latitude of the shooting lens rotating to the target object and determines the latitude angle relative to the shooting lens; the independent channel A and the independent channel B construct longitude and latitude angle coordinates of the target object relative to a shooting lens, and the longitude and latitude angle coordinates are converted into a three-dimensional space vector through space conversion; the independent channel C adjusts the rotation angle of the shooting lens; the independent channel D is used for controlling the movement speed of the unmanned aerial vehicle in the third step along the direction of the three-dimensional space vector; the three-dimensional space vector is decomposed into a first vector of the unmanned aerial vehicle in the horizontal forward and backward directions, a second vector of the unmanned aerial vehicle in the left and right directions and a third vector of the unmanned aerial vehicle in the vertical ascending and descending directions; the motion speed of the independent channel D is respectively decomposed into a vector first speed, a vector second speed and a vector third speed according to the spatial vector relation of the vector first, the vector second and the vector third; the vector first speed is used as a parameter of a pitching channel in the self-stabilizing mode, the vector third speed is used as a parameter of a throttle channel in the self-stabilizing mode, and the vector first speed is used as a parameter of the pitching channel in the self-stabilizing mode; the vector first speed, the vector second speed and the vector third speed control the unmanned aerial vehicle to fly in a three-dimensional space in a self-stabilizing manner; the independent channel A, the independent channel B, the independent channel C and the independent channel D can control the shooting lens to carry out directional shooting and simultaneously can carry out flying motion along the directional shooting direction.
Further, the independent channel A controls the unmanned aerial vehicle to turn to the longitude of the target object, the independent channel B controls the unmanned aerial vehicle to turn to the latitude of the target object, and the independent channel C adjusts the rotation angle of the unmanned aerial vehicle; and the independent channel A, the independent channel B and the independent channel C control the unmanned aerial vehicle to turn to the target object.
The invention has the beneficial effects that:
1. the unmanned aerial vehicle with the flight control self-stability can be independently operated to move in a three-dimensional space by one person only using four independent control channels, and directional shooting of a target object is completed at the same time;
2. on the premise of using the unmanned aerial vehicle to fly in a self-stabilizing mode, a lens which can only be completed by an FPV traversing machine aerial photography technology is realized;
3. the operation difficulty of flying of the FPV traversing machine is reduced, and a user can fly the FPV traversing machine without special painstaking training;
4. the contradiction between the flight safety of the FPV traversing machine and the directional shooting is solved; the number of control channels in self-stabilizing flying shooting is reduced; the problem that in self-stabilization flight, one operator cannot operate flight and operate shooting simultaneously is solved.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention:
an embodiment of the method for controlling the unmanned aerial vehicle to realize FPV free shooting and self-stabilizing flight simultaneously by four channels comprises an independent channel A, an independent channel B, an independent channel C and an independent channel D; the independent channel A controls the longitude of the shooting lens, to which the target object is positioned, and determines the longitude angle relative to the shooting lens; the independent channel B controls the latitude of the shooting lens rotating to the target object and determines the latitude angle relative to the shooting lens; the independent channel A and the independent channel B construct longitude and latitude angle coordinates of the target object relative to a shooting lens, and the longitude and latitude angle coordinates are converted into a three-dimensional space vector through space conversion; the independent channel C adjusts the rotation angle of the shooting lens; the independent channel D is used for controlling the movement speed of the unmanned aerial vehicle in the third step along the direction of the three-dimensional space vector; the three-dimensional space vector is decomposed into a first vector of the unmanned aerial vehicle in the horizontal forward and backward directions, a second vector of the unmanned aerial vehicle in the left and right directions and a third vector of the unmanned aerial vehicle in the vertical ascending and descending directions; the motion speed of the independent channel D is respectively decomposed into a vector first speed, a vector second speed and a vector third speed according to the spatial vector relation of the vector first, the vector second and the vector third; the vector first speed is used as a pitching channel parameter in the self-stabilizing mode, the vector third speed is used as a throttle channel parameter in the self-stabilizing mode, and the vector first speed is used as a pitching channel parameter in the self-stabilizing mode; controlling the unmanned aerial vehicle to fly in a three-dimensional space in a self-stabilizing manner by the vector first speed, the vector second speed and the vector third speed; the independent channel A, the independent channel B, the independent channel C and the independent channel D can control the shooting lens to carry out directional shooting and simultaneously can carry out flying motion along the directional shooting direction.
The independent channel A controls the unmanned aerial vehicle to turn to the longitude of the target object, the independent channel B controls the unmanned aerial vehicle to turn to the latitude of the target object, and the independent channel C adjusts the rotation angle of the unmanned aerial vehicle; and the independent channel A, the independent channel B and the independent channel C control the unmanned aerial vehicle to turn to the target object.
Those not described in detail in the specification are well within the skill of the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as being within the protection scope of the present invention.
Claims (2)
1. The control method of the unmanned aerial vehicle for realizing FPV free shooting and self-stabilizing flight simultaneously through four channels is characterized by comprising an independent channel A, an independent channel B, an independent channel C and an independent channel D; the independent channel A controls the longitude of the shooting lens to the target object and determines the longitude angle relative to the shooting lens; the independent channel B controls the latitude of the shooting lens rotating to the target object and determines the latitude angle relative to the shooting lens; the independent channel A and the independent channel B construct longitude and latitude angle coordinates of the target object relative to a shooting lens, and the longitude and latitude angle coordinates are converted into a three-dimensional space vector through space conversion; the independent channel C adjusts the rotation angle of the shooting lens; the independent channel D is used for controlling the movement speed of the unmanned aerial vehicle in the third step along the direction of the three-dimensional space vector; the three-dimensional space vector is decomposed into a first vector of the unmanned aerial vehicle in the horizontal forward and backward directions, a second vector of the unmanned aerial vehicle in the left and right directions and a third vector of the unmanned aerial vehicle in the vertical ascending and descending directions; the motion speed of the independent channel D is respectively decomposed into a vector first speed, a vector second speed and a vector third speed according to the spatial vector relation of the vector first, the vector second and the vector third; the vector one speed is used as a pitching channel parameter in the self-stabilizing mode, and the vector three speed is used as a throttle channel parameter in the self-stabilizing mode; the vector first speed is used as a pitching channel parameter in a self-stabilizing mode, and the vector first speed, the vector second speed and the vector third speed control the unmanned aerial vehicle to fly in a three-dimensional space in a self-stabilizing mode; the independent channel A, the independent channel B, the independent channel C and the independent channel D can control the shooting lens to carry out directional shooting and simultaneously can carry out flying motion along the directional shooting direction.
2. The method for controlling the drone to achieve FPV free shooting and simultaneous self-stabilization flying through four channels according to claim 1, wherein the independent channel a controls the longitude where the drone turns to the target object, the independent channel B controls the latitude where the drone turns to the target object, and the independent channel C adjusts the right rotation angle of the drone to be aligned with the target object; and the independent channel A, the independent channel B and the independent channel C control the unmanned aerial vehicle to turn to the target object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011067511.7A CN112068599A (en) | 2020-10-06 | 2020-10-06 | Control method for realizing FPV free shooting and self-stabilizing flight unmanned aerial vehicle by four channels |
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Citations (4)
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| CN105573330A (en) * | 2015-03-03 | 2016-05-11 | 广州亿航智能技术有限公司 | Aircraft control method based on intelligent terminal |
| CN107074348A (en) * | 2016-12-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and unmanned vehicle |
| US20180095469A1 (en) * | 2016-10-05 | 2018-04-05 | Parrot Drones | Autonomous system for shooting moving images from a drone, with target tracking and holding of the target shooting angle |
| CN110325939A (en) * | 2017-03-09 | 2019-10-11 | 深圳市大疆创新科技有限公司 | System and method for operating unmanned vehicle |
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- 2020-10-06 CN CN202011067511.7A patent/CN112068599A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573330A (en) * | 2015-03-03 | 2016-05-11 | 广州亿航智能技术有限公司 | Aircraft control method based on intelligent terminal |
| US20180095469A1 (en) * | 2016-10-05 | 2018-04-05 | Parrot Drones | Autonomous system for shooting moving images from a drone, with target tracking and holding of the target shooting angle |
| CN107074348A (en) * | 2016-12-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and unmanned vehicle |
| CN110325939A (en) * | 2017-03-09 | 2019-10-11 | 深圳市大疆创新科技有限公司 | System and method for operating unmanned vehicle |
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Application publication date: 20201211 |