CN112731957B - Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle Download PDFInfo
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Abstract
The specification discloses a control method and a control device for an unmanned aerial vehicle, a computer readable storage medium and the unmanned aerial vehicle, and specifically discloses determining a state parameter and a control quantity corresponding to each moment of the unmanned aerial vehicle, estimating an interference parameter corresponding to an external interference force received by the unmanned aerial vehicle at the current moment according to the state parameter and the control quantity, wherein the current interference parameter is used for representing acting force of the current external interference force on the surface of an organism of the unmanned aerial vehicle in each direction, then determining an organism adjusting angle of the unmanned aerial vehicle according to the current interference parameter, and finally controlling the unmanned aerial vehicle according to the organism adjusting angle so as to adjust the orientation of the organism of the unmanned aerial vehicle. The method does not need to modify the unmanned aerial vehicle, and can effectively ensure the anti-interference capability of the unmanned aerial vehicle under the condition of not increasing the cost of the unmanned aerial vehicle.
Description
Technical Field
The present specification relates to the field of unmanned aerial vehicle technology, and in particular, to an unmanned aerial vehicle control method and apparatus, a computer-readable storage medium, and an unmanned aerial vehicle.
Background
With the continuous development of unmanned technology, unmanned equipment such as unmanned vehicles, unmanned control robots, unmanned aerial vehicles, and the like have been applied to many fields, which brings great convenience to business execution in these fields.
Unmanned aerial vehicle can receive such as the condition such as strong wind at the in-process of flight usually, in order to guarantee unmanned aerial vehicle's steady flight, in prior art, generally need set up in unmanned aerial vehicle and to carry out pivoted steering wheel to increase the thrust component of screw lift in unmanned aerial vehicle direction of advance through rotating the steering wheel, thereby play and resist the interference that unmanned aerial vehicle flight in-process received.
However, the mode of rotating the steering engine is adopted to resist interference, so that the unmanned aerial vehicle is required to be correspondingly modified, and the cost of the unmanned aerial vehicle is greatly increased.
How under the condition that does not increase unmanned aerial vehicle cost, can also guarantee unmanned aerial vehicle's interference killing feature effectively, then be a problem that awaits a urgent need to be solved.
Disclosure of Invention
The present specification provides a method and an apparatus for controlling an unmanned aerial vehicle, a computer-readable storage medium, and an unmanned aerial vehicle, which partially solve the above problems in the prior art.
The technical scheme adopted by the specification is as follows:
this specification provides a control method of an unmanned aerial vehicle, including:
determining state parameters and control quantities corresponding to all moments of the unmanned aerial vehicle;
estimating interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the current moment according to the state parameters and the control quantity, wherein the interference parameters are used as current interference parameters, and the current interference parameters are used for representing the acting force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction;
determining an airframe adjusting angle of the unmanned aerial vehicle according to the current interference parameter;
according to organism angle of adjustment, it is right unmanned aerial vehicle controls to the adjustment unmanned aerial vehicle's organism orientation.
Optionally, estimating, according to the state parameter and the control amount, an interference parameter corresponding to an external interference force received by the unmanned aerial vehicle at the current time, specifically including:
aiming at each historical moment, determining an estimated state parameter corresponding to the historical moment according to the control quantity corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the last historical moment;
estimating an interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the historical moment according to the state parameter corresponding to the historical moment, the estimated state parameter corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the previous historical moment;
and estimating the current interference parameters according to the estimated interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment.
Optionally, estimating, according to the state parameter corresponding to the historical time, the estimated state parameter corresponding to the historical time, and the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical time, the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the historical time, specifically including:
determining a standard deviation of an interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the last historical moment;
determining a convergence gain value corresponding to the unmanned aerial vehicle at the historical moment according to the standard deviation and the control quantity corresponding to the historical moment, wherein if the convergence gain value corresponding to the historical moment of the unmanned aerial vehicle is smaller, the estimated interference parameter corresponding to the external interference force on the unmanned aerial vehicle at the previous historical moment is closer to the estimated interference parameter corresponding to the external interference force on the unmanned aerial vehicle at the historical moment;
and estimating the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment according to the convergence gain value corresponding to the unmanned aerial vehicle at the historical moment, the state parameter corresponding to the historical moment, the estimated state parameter corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical moment.
Optionally, estimating the current interference parameter according to the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical time, specifically including:
estimating the current interference parameter according to the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment and a preset optimization target, wherein the optimization target comprises: according to the sequence of time, the convergence gain value corresponding to each historical moment of the unmanned aerial vehicle is gradually reduced.
Optionally, determining, according to the standard deviation and the control amount corresponding to the historical time, a convergence gain value corresponding to the historical time of the unmanned aerial vehicle, specifically including:
and determining a convergence gain value corresponding to the unmanned aerial vehicle at any historical moment according to the standard deviation, the control quantity corresponding to the historical moment and a preset forgetting factor, wherein for any historical moment, if the historical moment is farther from the current moment, the state parameter and the control quantity corresponding to the historical moment have smaller influence on the current interference parameter determined based on the forgetting factor.
Optionally, according to the current interference parameter, determining an airframe adjustment angle of the unmanned aerial vehicle, specifically including:
determining an interference direction corresponding to an external interference force received by the unmanned aerial vehicle at the current moment according to the current interference parameter;
and determining the body adjusting angle of the unmanned aerial vehicle according to the interference direction.
Optionally, according to the interference direction, determine the body adjustment direction of the unmanned aerial vehicle, specifically include:
determining the windward side of the unmanned aerial vehicle corresponding to the current moment from the body surfaces of the unmanned aerial vehicle in all directions according to the driving direction corresponding to the current moment of the unmanned aerial vehicle;
determining an angle between the windward side of the unmanned aerial vehicle and a strong interference surface of the unmanned aerial vehicle, wherein the influence of external interference force when the unmanned aerial vehicle runs according to the orientation of the strong interference surface of the unmanned aerial vehicle is smaller than the influence of external interference force when the unmanned aerial vehicle runs according to the orientation of other body surfaces of the unmanned aerial vehicle;
and determining the body adjusting angle of the unmanned aerial vehicle according to the angle and the interference direction.
This specification provides an unmanned aerial vehicle's controlling means, includes:
the data determining module is used for determining state parameters and control quantities corresponding to all times of the unmanned aerial vehicle;
the estimation module is used for estimating interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the current moment according to the state parameters and the control quantity, and the interference parameters serve as current interference parameters, and the current interference parameters are used for representing the acting force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction;
the angle determining module is used for determining the body adjusting angle of the unmanned aerial vehicle according to the current interference parameter;
and the control module is used for controlling the unmanned aerial vehicle according to the body angle of adjustment so as to adjust the body orientation of the unmanned aerial vehicle.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described control method of a drone.
The present specification provides an unmanned aerial vehicle, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the control method of the unmanned aerial vehicle when executing the program.
The technical scheme adopted by the specification can achieve the following beneficial effects:
in the unmanned aerial vehicle's that this specification provided control method, confirm the state parameter and the controlled variable that unmanned aerial vehicle each moment corresponds, secondly, according to state parameter and controlled variable, estimate the interference parameter that the external disturbance power that unmanned aerial vehicle received at the present moment corresponds, as current interference parameter, current interference parameter is used for the effort of present external disturbance power to the organism surface of unmanned aerial vehicle all directions, then, according to current interference parameter, confirm unmanned aerial vehicle's organism angle of adjustment, finally, according to organism angle of adjustment, control unmanned aerial vehicle, in order to adjust unmanned aerial vehicle's organism orientation.
According to the method, the acting force of the external interference force on the body surface of the unmanned aerial vehicle in each direction can be estimated according to the state parameters and the control quantity, the body surface of the direction with strong anti-interference capability is adjusted to the direction with the maximum external interference force, compared with the prior art, the unmanned aerial vehicle needs to be correspondingly modified, and a rotating steering engine is added to resist interference, the unmanned aerial vehicle does not need to be modified, and the anti-interference capability of the unmanned aerial vehicle can be effectively guaranteed under the condition that the cost of the unmanned aerial vehicle is not increased.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of a control method of an unmanned aerial vehicle in this specification;
fig. 2A and fig. 2B are schematic diagrams of control steering of an unmanned aerial vehicle provided in the present specification;
fig. 3 is a schematic diagram of a control device of an unmanned aerial vehicle provided in the present specification;
fig. 4 is a schematic diagram of a drone device corresponding to fig. 1 provided by the present description.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
Fig. 1 is a schematic flow chart of a control method of an unmanned aerial vehicle in this specification, which specifically includes the following steps:
s100: and determining the state parameters and the control quantity corresponding to each moment of the unmanned aerial vehicle.
The main execution body of the control method for the unmanned aerial vehicle in this specification may be the unmanned aerial vehicle, or may be an electronic device such as a server or a desktop computer.
In this specification embodiment, unmanned aerial vehicle can confirm the corresponding state parameter and the controlled quantity of unmanned aerial vehicle each moment. The state parameters mentioned here may refer to the speed and acceleration of the drone at each time and the driving direction of the drone at each time. The control amount mentioned here may refer to a specific control amount to be output when the unmanned aerial vehicle controls itself at each time. For example, the unmanned aerial vehicle controls the rotating speed of a propeller.
In this specification, the unmanned aerial vehicle to which the control method of the unmanned aerial vehicle provided in this specification is applied may be used to execute a delivery task in a delivery field, for example, a service scenario in which the unmanned aerial vehicle is used to perform delivery such as express delivery, logistics, and takeout.
S102: and estimating interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the current moment according to the state parameters and the control quantity, wherein the interference parameters serve as current interference parameters, and the current interference parameters are used for representing the acting force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction.
In this specification embodiment, unmanned aerial vehicle can be according to state parameter and controlled quantity, estimates the interference parameter that unmanned aerial vehicle received the external disturbance power at the present moment and corresponds, and as current interference parameter, current interference parameter is used for the effort of present external disturbance power to the organism surface of unmanned aerial vehicle all directions. The external disturbance force mentioned here may refer to the resistance of the drone due to the influence of the air flow. The interference parameter mentioned here can be used for representing the situation that the speed or acceleration of the unmanned aerial vehicle caused by the action force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction is increased or reduced besides the action force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction.
The unmanned aerial vehicle can be directed against every historical moment, receive the interference parameter that external disturbance power corresponds according to the control quantity that this historical moment corresponds and the unmanned aerial vehicle that estimates last historical moment, confirm the estimation state parameter that this historical moment corresponds, receive the interference parameter that external disturbance power corresponds according to the state parameter that this historical moment corresponds, the estimation state parameter that this historical moment corresponds and the unmanned aerial vehicle that estimates last historical moment corresponds, estimate that unmanned aerial vehicle receives the interference parameter that external disturbance power corresponds at this historical moment, and then according to the interference parameter that the external disturbance power that unmanned aerial vehicle that estimates received at every historical moment corresponds, estimate current interference parameter.
Specifically, when unmanned aerial vehicle received external disturbance power at each moment, external disturbance power can influence unmanned aerial vehicle at the state parameter that each moment corresponded and the control volume that unmanned aerial vehicle corresponds at each moment, so, unmanned aerial vehicle can estimate out the situation of change of external disturbance power according to unmanned aerial vehicle's the state parameter and the control volume at historical moment that observe out in succession, and then the situation of change of the external disturbance power of reestimating, control unmanned aerial vehicle carries out corresponding adjustment (the rotational speed of control screw increases or reduces).
In practical applications, the magnitude of the external disturbance force can be considered to be changed little or unchanged at two adjacent moments. Therefore, the unmanned aerial vehicle can determine the standard deviation of the interference parameter corresponding to the external interference force received at the last historical moment, and determine the convergence gain value corresponding to the unmanned aerial vehicle at the historical moment according to the standard deviation and the control quantity corresponding to the historical moment. If the convergence gain value corresponding to the historical moment of the unmanned aerial vehicle is smaller, the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical moment is closer to the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment.
Further, unmanned aerial vehicle can receive the interference parameter that external disturbance power corresponds at this historical moment according to the unmanned aerial vehicle convergence gain value that corresponds at this historical moment, the state parameter that this historical moment corresponds, the estimation state parameter that this historical moment corresponds and the unmanned aerial vehicle that estimates receive the interference parameter that external disturbance power corresponds at last historical moment, estimates that unmanned aerial vehicle receives the interference parameter that external disturbance power corresponds at this historical moment.
Specifically, the unmanned aerial vehicle can refer to the following formula 1, and estimates the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment:
in the above-mentioned formula 1, the first,
representing the estimated interference parameters corresponding to the external interference force applied to the unmanned aerial vehicle at the historical moment,
representing the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the last historical moment,
indicating the convergence gain value corresponding to the drone at the historical time,
the corresponding state parameter of the unmanned aerial vehicle at the historical moment is shown,
and the estimated state parameters corresponding to the unmanned aerial vehicle at the historical moment are represented.
Specifically, how to determine the estimated state parameter corresponding to the unmanned aerial vehicle at the historical time, the unmanned aerial vehicle may refer to the following formula 2:
in the above-mentioned formula 2, the first,
a transposed matrix representing the corresponding control quantity of the unmanned aerial vehicle at the historical moment,
indicating that the estimated drone was exposed to the outside at the last historical timeAnd interference parameters corresponding to the boundary interference force. Because at two adjacent moments, can think that external disturbance power's size is very little or unchangeable, consequently, unmanned aerial vehicle can receive the interference parameter that external disturbance power corresponds according to unmanned aerial vehicle at the corresponding controlled quantity of this historical moment and last historical moment, estimates the estimation state parameter that unmanned aerial vehicle corresponds at this historical moment.
That is, in the formula 1,
the change condition of the interference parameters corresponding to the external interference force received by the unmanned aerial vehicle estimated from the last historical moment to the historical moment can be reflected, and
the expressed convergence gain value can be used for converting
Into the form of interference parameters and, therefore,
the difference value of the interference parameter change corresponding to the external interference force received by the unmanned aerial vehicle from the last historical moment to the historical moment is shown, so that the difference value is obtained
(the interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment).
In this specification embodiment, the unmanned aerial vehicle can estimate the current interference parameter according to the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment and a preset optimization target, wherein the optimization target includes: according to the sequence of time, the convergence gain value corresponding to each historical moment of the unmanned aerial vehicle is gradually reduced.
In practical application, the unmanned aerial vehicle needs to estimate the interference parameter corresponding to the external interference force received at the current moment according to the estimated interference parameter corresponding to the external interference force received at each historical moment by the unmanned aerial vehicle, however, the accuracy of the interference parameter corresponding to the external interference force estimated at the initial historical moment by the unmanned aerial vehicle is often low, and therefore, the unmanned aerial vehicle needs to continuously optimize the interference parameter corresponding to the external interference force estimated at each historical moment by the convergence gain value corresponding to each historical moment.
Specifically, how to determine the convergence gain value corresponding to the unmanned aerial vehicle at the historical time, the unmanned aerial vehicle may refer to the following formula 3:
in the above-mentioned formula 3, the first,
the standard deviation of the interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the last historical moment is shown,
the corresponding control quantity of the unmanned aerial vehicle at the last historical moment is shown,
a transposed matrix representing the amount of control that the drone corresponds to at the last historical moment,
the representation of the preset forgetting factor can be a specific numerical value set manually.
As can be seen from the above equation 3
、
、
Can be directly determinedThe value, that is to say, the convergence gain value corresponding to each historical time of the unmanned aerial vehicle is mainly determined by the standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the last historical time. Therefore, the smaller the standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the last historical moment is, the smaller the convergence gain value corresponding to the unmanned aerial vehicle at the historical moment is.
Because the interference parameter corresponding to the external interference force estimated at the initial historical time may be inaccurate, the standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the initial historical time may be large, so that in order to determine the accurate interference parameter, the unmanned aerial vehicle may continuously reduce the standard deviation of the interference parameter as a target to continuously optimize the interference parameter, and the continuous reduction of the standard deviation of the interference parameter may specifically reflect that the convergence gain value corresponding to each historical time is continuously reduced.
That is to say, the smaller the convergence gain value corresponding to the unmanned aerial vehicle at the historical moment, the smaller the standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical moment, and thus the more accurate the interference parameter corresponding to the estimated external interference force is.
Specifically, how to determine the standard deviation of the drone at the historical time, the drone may refer to the following formula 4:
as can be seen from the above equation 4
Is based on
The calculated standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment is obtained from the standard deviation of the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical moment, and it is required to say that the standard deviation is obtainedIt is clear that the first moment corresponds to
Is a numerical value set manually.
In this embodiment, the unmanned aerial vehicle may determine, according to the standard deviation, the control quantity corresponding to the historical time, and a preset forgetting factor, a convergence gain value corresponding to the historical time of the unmanned aerial vehicle, where, for any one historical time, if the historical time is farther from the current time, the state parameter and the control quantity corresponding to the historical time have a smaller influence on the current interference parameter determined based on the forgetting factor.
It can be seen from the above equations 3 and 4
The value obtained by the formula is influenced, because the unmanned aerial vehicle can estimate the current interference parameter according to the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment, the current interference parameter is gradually estimated according to the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the initial historical moment, the interference parameter corresponding to the external interference force is estimated every time,
the value obtained by the formula will be affected, and the more times the estimation is performed,
the larger the influence on the numerical value obtained by the formula is, the stronger and stronger the accumulated influence of forgetting is, so that the influence of the data of the historical time which is farther away from the current time on the current interference parameter is reduced, the effect that the influence of the data corresponding to the historical time on the current interference parameter is smaller when the historical time is farther away from the current time is realized, and the accuracy of the finally determined interference parameter is further ensured.
S104: and determining the body adjusting angle of the unmanned aerial vehicle according to the current interference parameter.
In this specification embodiment, unmanned aerial vehicle can confirm unmanned aerial vehicle's organism angle of adjustment according to current interference parameter.
Specifically, unmanned aerial vehicle can confirm the interference direction that unmanned aerial vehicle received the external disturbance power correspondence at the present moment according to current interference parameter, according to the interference direction, confirms unmanned aerial vehicle's organism angle of adjustment.
In practical application, the circumstances that unmanned aerial vehicle interference killing feature is different in the equidirectional not can appear, therefore, unmanned aerial vehicle can be according to the direction of travel that unmanned aerial vehicle current moment corresponds, confirm the unmanned aerial vehicle windward side that unmanned aerial vehicle current moment corresponds in the organism surface of unmanned aerial vehicle all directions, confirm the angle between unmanned aerial vehicle windward side and the strong interference surface of unmanned aerial vehicle, wherein, unmanned aerial vehicle receives the influence of external disturbance power when traveling according to the orientation on the strong interference surface of unmanned aerial vehicle, be less than the influence that unmanned aerial vehicle received external disturbance power when traveling according to the orientation on other organism surfaces of unmanned aerial vehicle, according to angle and interference direction, confirm unmanned aerial vehicle's organism angle of adjustment. The windward side of the unmanned aerial vehicle mentioned here may refer to a direction in which the unmanned aerial vehicle is most strongly interfered by the outside, and generally, the direction is a direction facing the wind. The strong interference surface referred to herein may be predetermined as shown in fig. 2A, 2B.
Fig. 2A and fig. 2B are schematic diagrams of control steering of an unmanned aerial vehicle provided in this specification.
In fig. 2A, the B side that unmanned aerial vehicle corresponds is the strong interference surface of unmanned aerial vehicle, if determine the interference direction of external disturbance power, as shown in fig. 2B, unmanned aerial vehicle turns to the interference direction of external disturbance power with the strong interference surface.
Specifically, how to determine the windward side of the drone, the drone may refer to the following equation 5:
from above-mentioned formula 5, unmanned aerial vehicle can obtain the unmanned aerial vehicle windward side that unmanned aerial vehicle corresponds at the present moment according to the external disturbance power of the x axle direction that unmanned aerial vehicle corresponds at the horizontal direction and the external disturbance power of the y axle direction that unmanned aerial vehicle corresponds at the horizontal direction, and the x axle, the y axle that mention here can mean x axle, the y axle in the coordinate system of determining at the horizontal direction in advance.
In this specification embodiment, unmanned aerial vehicle can estimate the interference parameter of unmanned aerial vehicle at the x axle direction that the horizontal direction corresponds at the present moment according to the state parameter and the controlled variable that unmanned aerial vehicle corresponds at the x axle on the horizontal direction, again according to the interference parameter of unmanned aerial vehicle at the x axle direction that the horizontal direction corresponds, determines the external disturbance power that unmanned aerial vehicle received in the x axle direction that the horizontal direction corresponds. Similarly, unmanned aerial vehicle can determine the external interference force that man-machine received in the y axle direction that the horizontal direction corresponds according to state parameter and the control variable that unmanned aerial vehicle corresponds at the ascending y axle of horizontal direction, and finally, according to above-mentioned formula 5, determine the interference direction that the external interference force that unmanned aerial vehicle received at the present moment corresponds.
Of course, unmanned aerial vehicle also can be according to state parameter and controlled quantity, estimate the interference parameter that unmanned aerial vehicle corresponds at the horizontal direction at the present moment, again according to the interference parameter that unmanned aerial vehicle corresponds at the horizontal direction, determine the external disturbance power that unmanned aerial vehicle received at the horizontal direction, decompose the external disturbance power that unmanned aerial vehicle received at the horizontal direction into the external disturbance power that unmanned aerial vehicle received at the x axle direction that the horizontal direction corresponds and the external disturbance power that unmanned aerial vehicle received at the y axle direction that the horizontal direction corresponds, and finally, according to above-mentioned formula 5, determine the interference direction that the external disturbance power that unmanned aerial vehicle received at the present moment corresponds.
S106: according to organism angle of adjustment, it is right unmanned aerial vehicle controls to the adjustment unmanned aerial vehicle's organism orientation.
In this specification embodiment, unmanned aerial vehicle can control unmanned aerial vehicle according to organism angle of adjustment to adjust unmanned aerial vehicle's organism orientation. Unmanned aerial vehicle can readjust unmanned aerial vehicle's controlled quantity according to the external disturbance power that unmanned aerial vehicle received at the present moment in adjustment unmanned aerial vehicle's organism orientation back to guarantee unmanned aerial vehicle's safe flight.
According to the method, the acting force of the external interference force on the body surface of the unmanned aerial vehicle in each direction can be estimated according to the state parameters and the control quantity, the body surface of the direction with strong anti-interference capability is adjusted to the direction with the maximum external interference force, compared with the prior art, the unmanned aerial vehicle needs to be correspondingly modified, and a rotating steering engine is added to resist interference, the unmanned aerial vehicle does not need to be modified, and the anti-interference capability of the unmanned aerial vehicle can be effectively guaranteed under the condition that the cost of the unmanned aerial vehicle is not increased.
The above method for controlling an unmanned aerial vehicle provided by one or more embodiments of this specification is based on the same idea, and this specification further provides a corresponding control device for an unmanned aerial vehicle, as shown in fig. 3.
Fig. 3 is a schematic diagram of a control device of an unmanned aerial vehicle provided in this specification, and specifically includes:
the data determining module 300 is configured to determine a state parameter and a control quantity corresponding to each time of the unmanned aerial vehicle;
an estimating module 302, configured to estimate, according to the state parameter and the control amount, an interference parameter corresponding to an external interference force that the unmanned aerial vehicle receives at the current time, as a current interference parameter, where the current interference parameter is used to represent an acting force of the current external interference force on a body surface of the unmanned aerial vehicle in each direction;
an angle determining module 304, configured to determine an airframe adjustment angle of the unmanned aerial vehicle according to the current interference parameter;
Optionally, the estimating module 302 is specifically configured to determine, for each historical time, an estimated state parameter corresponding to the historical time according to the control quantity corresponding to the historical time and the estimated interference parameter corresponding to the external interference force that the unmanned aerial vehicle receives at the previous historical time, estimate, according to the state parameter corresponding to the historical time, the estimated state parameter corresponding to the historical time, and the estimated interference parameter corresponding to the external interference force that the unmanned aerial vehicle receives at the previous historical time, the interference parameter corresponding to the external interference force that the unmanned aerial vehicle receives at the historical time, and estimate, according to the estimated interference parameter corresponding to the external interference force that the unmanned aerial vehicle receives at each historical time, the current interference parameter.
Optionally, the estimating module 302 is specifically configured to determine a standard deviation of an interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the last historical time, and determine a convergence gain value corresponding to the historical time of the unmanned aerial vehicle according to the standard deviation and a control amount corresponding to the historical time, where if the convergence gain value corresponding to the historical time of the unmanned aerial vehicle is smaller, the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the last historical time is closer to the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the historical time, and according to the convergence gain value corresponding to the historical time of the unmanned aerial vehicle, the state parameter corresponding to the historical time, the estimated state parameter corresponding to the historical time, and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the last historical time, and estimating interference parameters corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment.
Optionally, the estimation module 302 is specifically configured to estimate the current interference parameter according to an estimated interference parameter corresponding to an external interference force that the unmanned aerial vehicle receives at each historical time and a preset optimization target, where the optimization target includes: according to the sequence of time, the convergence gain value corresponding to each historical moment of the unmanned aerial vehicle is gradually reduced.
Optionally, the estimation module 302 determines, according to the standard deviation, a control quantity corresponding to the historical time, and a preset forgetting factor, a convergence gain value corresponding to the historical time of the unmanned aerial vehicle, where, for any historical time, if the historical time is farther from the current time, a state parameter and a control quantity corresponding to the historical time have a smaller influence on the current interference parameter determined based on the forgetting factor.
Optionally, the angle determining module 304 is specifically configured to determine, according to the current interference parameter, an interference direction corresponding to an external interference force that the unmanned aerial vehicle receives at the current moment, and determine, according to the interference direction, an organism adjustment angle of the unmanned aerial vehicle.
Optionally, the angle determining module 304 is specifically configured to determine, according to a driving direction corresponding to the current time of the unmanned aerial vehicle, a windward side of the unmanned aerial vehicle corresponding to the current time of the unmanned aerial vehicle from the body surfaces of the unmanned aerial vehicle in each direction, and determine an angle between the windward side of the unmanned aerial vehicle and a strong interference surface of the unmanned aerial vehicle, where the unmanned aerial vehicle is affected by an external interference force when driving according to a direction of the strong interference surface of the unmanned aerial vehicle, and is smaller than the unmanned aerial vehicle is affected by the external interference force when driving according to directions of other body surfaces of the unmanned aerial vehicle, and determine the body adjustment angle of the unmanned aerial vehicle according to the angle and the interference direction.
The present specification also provides a computer-readable storage medium storing a computer program, where the computer program is operable to execute the method for controlling the drone provided in fig. 1.
This specification also provides the schematic structure diagram of the unmanned aerial vehicle device shown in fig. 4. As shown in fig. 4, at the hardware level, the drone device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program, so as to implement the control method of the drone described in fig. 1. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (9)
1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:
determining state parameters and control quantities corresponding to all moments of the unmanned aerial vehicle;
aiming at each historical moment, determining an estimated state parameter corresponding to the historical moment according to the control quantity corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the last historical moment;
estimating an interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the historical moment according to the state parameter corresponding to the historical moment, the estimated state parameter corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the previous historical moment;
estimating a current interference parameter according to an estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment, wherein the current interference parameter is used for representing the acting force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction;
determining an airframe adjusting angle of the unmanned aerial vehicle according to the current interference parameter;
according to organism angle of adjustment, it is right unmanned aerial vehicle controls to the adjustment unmanned aerial vehicle's organism orientation.
2. The method according to claim 1, wherein estimating the disturbance parameter of the unmanned aerial vehicle corresponding to the external disturbance force at the historical time according to the state parameter corresponding to the historical time, the estimated state parameter corresponding to the historical time, and the estimated disturbance parameter of the unmanned aerial vehicle corresponding to the external disturbance force at the previous historical time includes:
determining a standard deviation of an interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the last historical moment;
determining a convergence gain value corresponding to the unmanned aerial vehicle at the historical moment according to the standard deviation and the control quantity corresponding to the historical moment, wherein if the convergence gain value corresponding to the historical moment of the unmanned aerial vehicle is smaller, the estimated interference parameter corresponding to the external interference force on the unmanned aerial vehicle at the previous historical moment is closer to the estimated interference parameter corresponding to the external interference force on the unmanned aerial vehicle at the historical moment;
and estimating the interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the historical moment according to the convergence gain value corresponding to the unmanned aerial vehicle at the historical moment, the state parameter corresponding to the historical moment, the estimated state parameter corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at the previous historical moment.
3. The method according to claim 2, wherein estimating the current disturbance parameter according to the estimated disturbance parameter corresponding to the external disturbance force received by the unmanned aerial vehicle at each historical time specifically includes:
estimating the current interference parameter according to the estimated interference parameter corresponding to the external interference force received by the unmanned aerial vehicle at each historical moment and a preset optimization target, wherein the optimization target comprises: according to the sequence of time, the convergence gain value corresponding to each historical moment of the unmanned aerial vehicle is gradually reduced.
4. The method according to claim 2, wherein determining a convergence gain value of the drone at the historical time according to the standard deviation and the control amount corresponding to the historical time specifically includes:
and determining a convergence gain value corresponding to the unmanned aerial vehicle at any historical moment according to the standard deviation, the control quantity corresponding to the historical moment and a preset forgetting factor, wherein for any historical moment, if the historical moment is farther from the current moment, the state parameter and the control quantity corresponding to the historical moment have smaller influence on the current interference parameter determined based on the forgetting factor.
5. The method of claim 1, wherein determining an airframe angle of adjustment of the drone according to the current disturbance parameter specifically comprises:
determining an interference direction corresponding to an external interference force received by the unmanned aerial vehicle at the current moment according to the current interference parameter;
and determining the body adjusting angle of the unmanned aerial vehicle according to the interference direction.
6. The method of claim 5, wherein determining the airframe adjustment direction of the drone according to the direction of interference specifically comprises:
determining the windward side of the unmanned aerial vehicle corresponding to the current moment from the body surfaces of the unmanned aerial vehicle in all directions according to the driving direction corresponding to the current moment of the unmanned aerial vehicle;
determining an angle between the windward side of the unmanned aerial vehicle and a strong interference surface of the unmanned aerial vehicle, wherein the influence of external interference force when the unmanned aerial vehicle runs according to the orientation of the strong interference surface of the unmanned aerial vehicle is smaller than the influence of external interference force when the unmanned aerial vehicle runs according to the orientation of other body surfaces of the unmanned aerial vehicle;
and determining the body adjusting angle of the unmanned aerial vehicle according to the angle and the interference direction.
7. A control device of an unmanned aerial vehicle, comprising:
the data determining module is used for determining state parameters and control quantities corresponding to all times of the unmanned aerial vehicle;
the estimation module is used for determining an estimated state parameter corresponding to each historical moment according to a control quantity corresponding to the historical moment and an estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the previous historical moment, estimating an interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the historical moment according to the state parameter corresponding to the historical moment, the estimated state parameter corresponding to the historical moment and the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at the previous historical moment, and estimating a current interference parameter according to the estimated interference parameter corresponding to the external interference force applied to the unmanned aerial vehicle at each historical moment, wherein the current interference parameter is used for representing the acting force of the current external interference force on the body surface of the unmanned aerial vehicle in each direction;
the angle determining module is used for determining the body adjusting angle of the unmanned aerial vehicle according to the current interference parameter;
and the control module is used for controlling the unmanned aerial vehicle according to the body angle of adjustment so as to adjust the body orientation of the unmanned aerial vehicle.
8. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 6.
9. A drone comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any of claims 1 to 6.
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