CN113310471A - High-stability high-precision geographic information mapping device - Google Patents

High-stability high-precision geographic information mapping device Download PDF

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CN113310471A
CN113310471A CN202110349710.5A CN202110349710A CN113310471A CN 113310471 A CN113310471 A CN 113310471A CN 202110349710 A CN202110349710 A CN 202110349710A CN 113310471 A CN113310471 A CN 113310471A
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propeller
group mechanism
blade
propeller group
stability
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CN113310471B (en
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彭维吉
黄飒
李孝雁
黄燕
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Yellow River Conservancy Technical Institute
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Yellow River Conservancy Technical Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
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    • B64C39/02—Aircraft not otherwise provided for characterised by special use

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Abstract

本发明公开了一种高稳定性的高精度地理信息测绘装置，其在设置主螺旋桨组机构的同时，并设置副螺旋桨组机构，可根据实际振动幅度情况来实现对无人机的平衡调节，保证测绘时无人机的稳定性和平稳性，本发明同时还对控制情况进行改进，在测绘仪进行测绘时，当波动幅度低于或等于设定阈值时，所述控制器仅控制所述副螺旋桨组机构的各个桨叶的转速来使得所述波动幅度降低，并使得所述主螺旋桨组机构的各个桨叶的转速不变；当所述波动幅度高于设定阈值时，所述控制器才调节所述主螺旋桨组机构的各个桨叶的转速以便使得所述波动幅度降低，可有效的提高控制的平稳性，保证无人机在测绘时的平稳能力，减小无人机的振动与波动。

Figure 202110349710

The invention discloses a high-stability and high-precision geographic information surveying and mapping device, which is provided with a main propeller group mechanism and a sub-propeller group mechanism at the same time, which can realize the balance adjustment of the unmanned aerial vehicle according to the actual vibration amplitude. To ensure the stability and stability of the drone during surveying and mapping, the present invention also improves the control situation. When the surveying and mapping instrument is performing surveying and mapping, when the fluctuation range is lower than or equal to the set threshold, the controller only controls the The rotation speed of each blade of the auxiliary propeller group mechanism can reduce the fluctuation amplitude, and make the rotation speed of each blade of the main propeller group mechanism unchanged; when the fluctuation amplitude is higher than the set threshold, the control The device adjusts the rotation speed of each blade of the main propeller group mechanism so as to reduce the fluctuation amplitude, which can effectively improve the stability of control, ensure the stability of the drone during surveying and mapping, and reduce the vibration of the drone. with volatility.

Figure 202110349710

Description

High-stability high-precision geographic information mapping device
Technical Field
The invention particularly relates to a high-stability high-precision geographic information mapping device, and relates to the related field of mapping equipment.
Background
Currently, mapping of geographic information generally uses a camera or other sensor to collect image information of an object to be measured, and the image information is processed and analyzed to determine the shape, size and position of the object to be measured and determine the nature of the object. However, when the unmanned aerial vehicle is flying and surveying, due to unpredictable performance of external wind force, wind force often adversely affects unmanned aerial vehicles, especially when surveying and surveying information is generated, in order to ensure surveying and surveying accuracy, the unmanned aerial vehicle needs to be suspended at a measurement position stably, however, the influence of wind may cause the unmanned aerial vehicle to tilt or vibrate to a certain extent, which may cause great errors in surveying and surveying, and under the influence of wind, for the unmanned aerial vehicle in the prior art as shown in fig. 1, the unmanned aerial vehicle is generally simple to control the rotating speeds of different blades to suppress the imbalance, however, although theoretically, the unmanned aerial vehicle can suppress the imbalance, however, slight change of the rotating speed may cause excessive tilt compensation of the unmanned aerial vehicle, and further cause actual stationarity of the unmanned aerial vehicle to generate larger influence, which affects mapping precision.
Disclosure of Invention
Therefore, in order to solve the above-mentioned disadvantages, the present invention provides a high-precision geographical information mapping apparatus with high stability.
The invention is realized in such a way that a high-stability high-precision geographic information mapping device is constructed, which comprises a machine body, a main propeller group mechanism, an auxiliary propeller group mechanism, a pitching angle sensor group, a mapping instrument and a controller, wherein the machine body is provided with a plurality of expandable main propeller group mechanisms, the machine body is provided with a plurality of auxiliary propeller group mechanisms, the sizes of the propeller blades of the auxiliary propeller group mechanisms are the same, the sizes of the propeller blades of the main propeller group mechanisms are the same, the distance between each propeller blade of the auxiliary propeller group mechanisms and the gravity center of the machine body is a first distance, the distance between each propeller blade of the main propeller group mechanisms and the gravity center of the machine body is a second distance, and the ratio of the first distance to the second distance is one third to one half, the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism, and the pitching angle sensor group is arranged on the machine body and used for detecting the pitching angle of the machine body; the surveying instrument is installed at the bottom of the machine body, and the main propeller group mechanism, the auxiliary propeller group mechanism, the pitching angle sensor group and the surveying instrument are all in control connection with the controller; the controller can calculate the fluctuation range of the pitch angle of the machine body in unit time according to the detection condition of the pitch angle sensor group, and when the fluctuation range is lower than or equal to a set threshold value during surveying and mapping by the surveying and mapping instrument, the controller only controls the rotating speed of each blade of the auxiliary propeller group mechanism to reduce the fluctuation range and keep the rotating speed of each blade of the main propeller group mechanism unchanged; the controller adjusts the rotational speed of each blade of the main rotor set mechanism so that the fluctuation range is reduced when the fluctuation range is higher than a set threshold value.
Further, preferably, the length dimension of each propeller blade of the sub-propeller group mechanism is less than one third of the length dimension of each propeller blade of the main propeller group mechanism.
Further, as preferred, vice oar group mechanism revolves includes propeller blade, vice driving motor and urceolus cover, propeller blade by vice driving motor drives, vice driving motor fixes the below of urceolus cover, a lateral wall fixed connection of urceolus cover is in on the organism, propeller blade is coaxial to be located in the urceolus cover, just the up end of urceolus cover with interval between propeller blade's the upper end is less than the third of urceolus cover internal diameter, and is greater than the fifth of urceolus cover internal diameter.
Further, as preferred, the top of organism still is provided with sensor group, sensor group includes wind speed sensor and wind direction sensor, sensor group can be to main screw group mechanism, vice screw group mechanism carry out feedback compensation control.
Further, as preferred, main screw group mechanism includes main driving motor and fixes the main screw of main driving motor output, one side fixed connection to the one end of articulated arm of main driving motor's outer wall, the other end of articulated arm is articulated to the organism, the other end of articulated arm with the organism is the setting that can lock.
Further, preferably, at least two supporting foot rests are arranged at the bottom of the machine body, and an acute angle is formed between each supporting foot rest and the vertical direction.
Further, as a preference, a wireless communication module is further included, the wireless communication module is in communication connection with a remote control and display, and the remote control and display can receive the calculated fluctuation amplitude of the controller and the mapping information of the mapper through the wireless communication module.
Further, as preferred, still include the vision camera, the vision camera is installed on the organism, the vision camera passes through wireless communication module is connected to remote control and display.
Preferably, the main propeller group mechanism and the auxiliary propeller group mechanism are both provided with rotation speed sensors for detecting the rotation speeds of various propeller blades, and the rotation speed sensors are magnetoelectric, capacitive or variable reluctance rotation speed sensors.
Further, preferably, the pitch angle sensor group employs a three-axis gyroscope capable of outputting pitch angles in three orthogonal axes, and the fluctuation range in the unit time is an absolute value of a difference between a half of a sum of squares of pitch angle output values of each of the three orthogonal axes at a time T + Δ T and a half of a sum of squares of pitch angle output values of each of the three orthogonal axes at a time T, where Δ T is one unit time.
The invention has the following advantages: compared with the same type of equipment, the high-stability and high-precision geographic information mapping device provided by the invention has the following advantages:
(1) the high-stability high-precision geographic information mapping device is provided with the main propeller group mechanism and the auxiliary propeller group mechanism, so that the balance adjustment of the unmanned aerial vehicle can be realized according to the actual vibration amplitude condition, and the stability and the stationarity of the unmanned aerial vehicle during mapping are ensured; when the fluctuation amplitude is higher than a set threshold value, the controller adjusts the rotating speed of each blade of the main propeller group mechanism so as to reduce the fluctuation amplitude, so that the control stability can be effectively improved, the stability of the unmanned aerial vehicle during surveying and mapping is ensured, and the vibration and fluctuation of the unmanned aerial vehicle are reduced;
(2) the distance between each blade of the auxiliary propeller group mechanism and the gravity center of the machine body is a first distance, the distance between each blade of the main propeller group mechanism and the gravity center of the machine body is a second distance, the ratio of the first distance to the second distance is one third to one half, and the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism.
Drawings
Fig. 1 is a schematic diagram of a prior art drone for surveying and mapping;
FIG. 2 is a schematic view of a top side three dimensional structure of the present invention;
fig. 3 is a schematic front view of the present invention.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a high-stability high-precision geographic information mapping device which comprises a machine body 8, a main propeller group mechanism 1, an auxiliary propeller group mechanism 3, a pitching angle sensor group, a mapper 7 and a controller, wherein the machine body 8 is provided with a plurality of expandable main propeller group mechanisms 1, the machine body 8 is provided with a plurality of auxiliary propeller group mechanisms 3, the sizes of all propeller blades of the auxiliary propeller group mechanisms 3 are the same, the sizes of all propeller blades of the main propeller group mechanism 1 are the same, the distance between each propeller blade of the auxiliary propeller group mechanism 3 and the gravity center of the machine body is a first distance, the distance between each propeller blade of the main propeller group mechanism 1 and the gravity center of the machine body is a second distance, and the ratio of the first distance to the second distance is one third to one half, the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism 1, and the pitching angle sensor group is arranged on the machine body and used for detecting the pitching angle of the machine body; the surveying instrument is installed at the bottom of the machine body, and the main propeller group mechanism 1, the auxiliary propeller group mechanism 3, the pitching angle sensor group and the surveying instrument 7 are all in control connection with the controller; the controller can calculate the fluctuation range of the pitch angle of the machine body in unit time according to the detection condition of the pitch angle sensor group, and when the fluctuation range is lower than or equal to a set threshold value during surveying and mapping by the surveying and mapping instrument, the controller only controls the rotating speed of each blade of the auxiliary propeller group mechanism to reduce the fluctuation range and keep the rotating speed of each blade of the main propeller group mechanism unchanged; the controller adjusts the rotational speed of each blade of the main rotor set mechanism so that the fluctuation range is reduced when the fluctuation range is higher than a set threshold value.
In this embodiment, for ease of control, the length dimension of each propeller blade of the secondary propeller group mechanism is less than one third of the length dimension of each propeller blade of the primary propeller group mechanism.
Vice oar group mechanism 3 includes propeller blade, vice driving motor and urceolus cover 2, propeller blade by vice driving motor drives, vice driving motor fixes the below of urceolus cover 2, a lateral wall fixed connection of urceolus cover is in on the organism, propeller blade is coaxial to be located in the urceolus cover, just the up end of urceolus cover with interval between propeller blade's the upper end is less than the third of urceolus cover internal diameter, and is greater than the fifth of urceolus cover internal diameter.
The top of organism still is provided with sensor group 4, sensor group includes air velocity transducer and wind direction sensor, sensor group can be right main screw group mechanism, vice screw group mechanism carry out feedback compensation control.
The main screw group mechanism comprises a main driving motor and a main screw fixed at the output end of the main driving motor, one side of the outer wall of the main driving motor is fixedly connected to one end of an articulated arm, the other end of the articulated arm is hinged to the machine body, and the other end of the articulated arm and the machine body are arranged in a lockable manner.
At least two supporting foot frames 6 are arranged at the bottom of the machine body, and the two supporting foot frames 6 are arranged at an acute angle with the vertical direction.
The invention also includes a wireless communication module in communication with a remote control and display capable of receiving the calculated fluctuation amplitude of the controller and the mapping information of the mapper through the wireless communication module.
The remote control and display device further comprises a visual camera 5, wherein the visual camera 5 is installed on the machine body and is connected to the remote control and display through the wireless communication module.
The main propeller group mechanism and the auxiliary propeller group mechanism are respectively provided with a rotating speed sensor for detecting the rotating speed of various propeller blades, and the rotating speed sensors adopt magnetoelectric, capacitive or variable reluctance rotating speed sensors; the main propeller group mechanism and the auxiliary propeller group mechanism are not at the same height.
The pitch angle sensor group adopts a three-axis gyroscope which can output pitch angles on three orthogonal axes, and the fluctuation amplitude in unit time is the absolute value of the difference between the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T + delta T moment and the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T moment, wherein delta T is one unit time; the auxiliary propeller group mechanism is positioned above the main propeller group mechanism.
The high-stability high-precision geographic information mapping device is provided with the main propeller group mechanism and the auxiliary propeller group mechanism, so that the balance adjustment of the unmanned aerial vehicle can be realized according to the actual vibration amplitude condition, and the stability and the stationarity of the unmanned aerial vehicle during mapping are ensured; when the fluctuation amplitude is higher than a set threshold value, the controller adjusts the rotating speed of each blade of the main propeller group mechanism so as to reduce the fluctuation amplitude, so that the control stability can be effectively improved, the stability of the unmanned aerial vehicle during surveying and mapping is ensured, and the vibration and fluctuation of the unmanned aerial vehicle are reduced; the distance between each blade of the auxiliary propeller group mechanism and the gravity center of the machine body is a first distance, the distance between each blade of the main propeller group mechanism and the gravity center of the machine body is a second distance, the ratio of the first distance to the second distance is one third to one half, and the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described, and the standard parts used in the present invention are all available on the market, the special-shaped parts can be customized according to the description and the accompanying drawings, the specific connection mode of each part adopts the conventional means of bolt and rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1.一种高稳定性的高精度地理信息测绘装置，其包括机体、主螺旋桨组机构、副螺旋桨组机构、俯仰角度传感器组、测绘仪和控制器，其中，所述机体上设置有可展开的多个所述主螺旋桨组机构，所述机体上设置有多个副螺旋桨组机构，所述副螺旋桨组机构的各个螺旋桨叶的尺寸相同，所述主螺旋桨组机构的各个螺旋桨叶的尺寸相同，且所述副螺旋桨组机构的各个桨叶与所述机体的重心之间的间距为第一间距，所述主螺旋桨组机构的各个桨叶与所述机体的重心之间的间距为第二间距，其特征在于，所述第一间距与第二间距的比值为三分之一至二分之一之间，所述副螺旋桨组机构的各个桨叶的最大转速低于所述主螺旋桨组机构的各个桨叶的最大转速，所述俯仰角度传感器组设置在所述机体上，用于对机体的俯仰角度进行检测；所述测绘仪安装在所述机体的底部，所述主螺旋桨组机构、副螺旋桨组机构、俯仰角度传感器组、测绘仪均与所述控制器控制连接；所述控制器能够根据所述俯仰角度传感器组的检测情况来计算所述机体的俯仰角度在单位时间内的波动幅度，在所述测绘仪进行测绘时，当所述波动幅度低于或等于设定阈值时，所述控制器仅控制所述副螺旋桨组机构的各个桨叶的转速来使得所述波动幅度降低，并使得所述主螺旋桨组机构的各个桨叶的转速不变；当所述波动幅度高于设定阈值时，所述控制器才调节所述主螺旋桨组机构的各个桨叶的转速以便使得所述波动幅度降低。1. A high-stability high-precision geographic information surveying and mapping device, comprising a body, a main propeller group mechanism, a sub-propeller group mechanism, a pitch angle sensor group, a surveying instrument and a controller, wherein the body is provided with a deployable A plurality of described main propeller group mechanisms, the body is provided with a plurality of auxiliary propeller group mechanisms, the size of each propeller blade of the auxiliary propeller group mechanism is the same, and the size of each propeller blade of the main propeller group mechanism is the same , and the distance between each blade of the auxiliary propeller group mechanism and the center of gravity of the body is the first distance, and the distance between each blade of the main propeller group mechanism and the center of gravity of the body is the second distance distance, characterized in that the ratio of the first distance to the second distance is between one-third and one-half, and the maximum rotational speed of each blade of the auxiliary propeller group mechanism is lower than that of the main propeller group The maximum rotational speed of each blade of the mechanism, the pitch angle sensor group is arranged on the body, and is used to detect the pitch angle of the body; the mapping instrument is installed at the bottom of the body, and the main propeller group mechanism , The sub-propeller group mechanism, the pitch angle sensor group, and the mapping instrument are all connected to the controller for control; the controller can calculate the pitch angle of the body in unit time according to the detection situation of the pitch angle sensor group. Fluctuation amplitude, when the mapping instrument is mapping, when the fluctuation amplitude is lower than or equal to the set threshold, the controller only controls the rotation speed of each blade of the auxiliary propeller group mechanism to make the fluctuation amplitude The speed of each blade of the main propeller group mechanism is kept constant; when the fluctuation amplitude is higher than the set threshold, the controller adjusts the rotation speed of each blade of the main propeller group mechanism so as to The fluctuation range is reduced. 2.根据权利要求1所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述副螺旋桨组机构的每个螺旋桨叶的长度尺寸小于所述主螺旋桨组机构的每个螺旋桨叶的长度尺寸的三分之一。2. The high-stability high-precision geographic information mapping device according to claim 1, wherein the length dimension of each propeller blade of the auxiliary propeller group mechanism is smaller than that of each propeller of the main propeller group mechanism one-third of the length of the leaf. 3.根据权利要求1所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述副旋桨组机构包括螺旋桨叶、副驱动电机和外筒罩，所述螺旋桨叶由所述副驱动电机驱动，所述副驱动电机固定在所述外筒罩的下方，所述外筒罩的一侧壁固定连接在所述机体上，所述螺旋桨叶同轴位于所述外筒罩内，且所述外筒罩的上端面与所述螺旋桨叶的上端部之间的间距小于所述外筒罩内径的三分之一，且大于所述外筒罩内径的五分之一。3. The high-stability and high-precision geographic information surveying and mapping device according to claim 1, wherein the auxiliary propeller group mechanism comprises a propeller blade, an auxiliary driving motor and an outer cylinder cover, and the propeller blade is composed of a The auxiliary drive motor is driven, the auxiliary drive motor is fixed under the outer cylinder cover, a side wall of the outer cylinder cover is fixedly connected to the body, and the propeller blades are coaxially located on the outer cylinder cover inside, and the distance between the upper end surface of the outer cylinder cover and the upper end of the propeller blade is less than one-third of the inner diameter of the outer cylinder cover and greater than one-fifth of the inner diameter of the outer cylinder cover. 4.根据权利要求1所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述机体的顶部还设置有传感器组，所述传感器组包括风速传感器和风向传感器，所述传感器组能够对所述主螺旋桨组机构、副螺旋桨组机构进行反馈补偿控制。4. The high-stability and high-precision geographic information mapping device according to claim 1, wherein the top of the body is further provided with a sensor group, and the sensor group includes a wind speed sensor and a wind direction sensor, and the sensor The group can perform feedback compensation control on the main propeller group mechanism and the auxiliary propeller group mechanism. 5.根据权利要求3所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述主螺旋桨组机构包括主驱动电机和固定在所述主驱动电机输出端的主螺旋桨，所述主驱动电机的外壁的一侧固定连接至铰接臂的一端，所述铰接臂的另一端铰接连接至所述机体，所述铰接臂的另一端与所述机体为可锁紧的设置。5. The high-stability and high-precision geographic information surveying and mapping device according to claim 3, wherein the main propeller group mechanism comprises a main drive motor and a main propeller fixed at the output end of the main drive motor, and the One side of the outer wall of the main drive motor is fixedly connected to one end of the hinged arm, the other end of the hinged arm is hingedly connected to the body, and the other end of the hinged arm and the body are lockable. 6.根据权利要求1所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述机体的底部设置有至少两个支撑脚架，两个所述支撑脚架与竖直方向呈一锐角设置。6 . The high-stability and high-precision geographic information surveying and mapping device according to claim 1 , wherein the bottom of the body is provided with at least two supporting legs, and the two supporting legs are connected to the vertical direction. 7 . Set at an acute angle. 7.根据权利要求3所述一种高稳定性的高精度地理信息测绘装置，其特征在于：还包括无线通信模块，所述无线通信模块与远程操控与显示器通信连接，所述远程操控与显示器能够通过所述无线通信模块来接收所述控制器的计算的波动幅度以及所述测绘仪的测绘信息。7. The high-stability high-precision geographic information surveying and mapping device according to claim 3, further comprising a wireless communication module, the wireless communication module is connected to a remote control and a display for communication, and the remote control is connected to the display The calculated fluctuation amplitude of the controller and the mapping information of the plotter can be received through the wireless communication module. 8.根据权利要求7所述一种高稳定性的高精度地理信息测绘装置，其特征在于：还包括视觉摄像头，所述视觉摄像头安装在所述机体上，所述视觉摄像头通过所述无线通信模块连接至所述远程操控与显示器。8. The high-stability and high-precision geographic information surveying and mapping device according to claim 7, further comprising a visual camera, the visual camera is mounted on the body, and the visual camera communicates through the wireless communication A module is connected to the remote control and display. 9.根据权利要求8所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述主螺旋桨组机构、副螺旋桨组机构上均设置有用于检测各种的螺旋桨叶转速的转速传感器，所述转速传感器采用磁电式、电容式或者变磁阻式转速传感器；所述主螺旋桨组机构、副螺旋桨组机构不在同一高度上。9. a kind of high-stability high-precision geographic information mapping device according to claim 8, is characterized in that: described main propeller group mechanism, auxiliary propeller group mechanism are all provided with the rotating speed that is used to detect various propeller blade rotating speed Sensor, the rotational speed sensor adopts magnetoelectric, capacitive or variable reluctance type rotational speed sensor; the main propeller group mechanism and the auxiliary propeller group mechanism are not at the same height. 10.根据权利要求9所述一种高稳定性的高精度地理信息测绘装置，其特征在于：所述俯仰角度传感器组采用三轴陀螺仪，所述三轴陀螺仪能够输出三个正交轴上的俯仰角度，所述单位时间内的波动幅度为T+ΔT时刻下三个正交轴中每个轴的俯仰角度输出值的平方和的二分之一次方与T时刻下三个正交轴中每个轴的俯仰角度输出值的平方和的二分之一次方之差的绝对值，其中，ΔT为一个所述单位时间；所述副螺旋桨组机构位于所述主螺旋桨组机构的上方。10 . The high-stability and high-precision geographic information surveying and mapping device according to claim 9 , wherein the pitch angle sensor group adopts a three-axis gyroscope, and the three-axis gyroscope can output three orthogonal axes. 11 . The pitch angle at , the fluctuation amplitude in the unit time is the power of one-half the sum of the squares of the pitch angle output values of each of the three orthogonal axes at the time of T+ΔT and the three positive values at the time of T. The absolute value of the difference between the square sum of the pitch angle output values of each axis in the quadrature axis and the square of the half square, where ΔT is one of the unit time; the auxiliary propeller group mechanism is located in the main propeller group mechanism above.
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