CN117392174A - Unmanned aerial vehicle flight parameter resolving method and system - Google Patents
Unmanned aerial vehicle flight parameter resolving method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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Abstract
The invention relates to the technical field of unmanned aerial vehicles. More particularly, the invention relates to a flight parameter resolving method and system for an unmanned aerial vehicle. The method comprises the following steps: controlling the unmanned aerial vehicle to be in a flying state; acquiring the angular speed of the unmanned aerial vehicle, aerial images of the unmanned aerial vehicle, atmospheric pressure, dynamic pressure and aerodynamic force of the unmanned aerial vehicle; calculating the actual flight speed of the unmanned aerial vehicle according to the angular speed and the aerial image, calculating the airflow angle of the unmanned aerial vehicle according to the atmospheric pressure, and calculating the lift coefficient and the resistance coefficient of the unmanned aerial vehicle according to the dynamic pressure and the aerodynamic force; the method can accurately calculate the flight speed of the unmanned aerial vehicle, the airflow angle of the unmanned aerial vehicle and the lift coefficient and the resistance coefficient of the unmanned aerial vehicle, thereby greatly improving the control precision of the unmanned aerial vehicle.
Description
Technical Field
The present invention relates generally to the field of unmanned aerial vehicle technology. More particularly, the invention relates to a flight parameter resolving method and system for an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle mainly controlled by a radio remote control or a self program. When the unmanned aerial vehicle needs to acquire flight parameters under the condition of no GPS so as to control the flight state of the unmanned aerial vehicle or guide the unmanned aerial vehicle, the flight parameters of the unmanned aerial vehicle comprise atmospheric parameters, aircraft control parameters, aerodynamic parameters, flight speed, flight height and the like under the flight condition.
When the unmanned aerial vehicle is controlled to hover, the flying speed of the unmanned aerial vehicle needs to be acquired to control the flying state of the unmanned aerial vehicle. Under the condition of no GPS, acquiring the flying speed of the unmanned aerial vehicle requires extracting simple characteristic points in an aerial image of the unmanned aerial vehicle, and then measuring the pixel speed by using a block matching method; and finally, calculating the flying speed of the unmanned aerial vehicle according to the height and the pixel speed obtained by the ultrasonic sensor. However, the method is easy to cause the problems of larger error and even complete error when calculating the pixel speed; secondly, the speed of one pixel can be measured at least by adopting a block matching method, the precision is low, and the situation that the calculated flight speed is zero when the unmanned aerial vehicle moves at a low speed can occur; again, the prior art corrects for the change in pixel speed due to rotation of the drone after calculating the pixel speed, which does not completely eliminate the effect on pixel speed due to rotation of the drone.
In addition, when the unmanned aerial vehicle is guided and controlled, the pneumatic parameters of the unmanned aerial vehicle need to be measured. In the prior art, due to lack of redundant configuration, when a certain hardware or algorithm fails, a measurement error is larger, so that guidance and control performance of the unmanned aerial vehicle are affected.
Disclosure of Invention
In order to solve one or more of the technical problems, the invention provides a method for calculating the pixel speed by extracting the corner point from the current frame image of the aerial image of the unmanned aerial vehicle, so as to obtain the actual flight speed of the unmanned aerial vehicle and improve the control performance of the unmanned aerial vehicle. To this end, the present invention provides solutions in various aspects as follows.
In a first aspect, the present invention provides a method for resolving flight parameters of an unmanned aerial vehicle, including:
controlling the unmanned aerial vehicle to be in a flying state;
acquiring the angular speed of the unmanned aerial vehicle, aerial images of the unmanned aerial vehicle, atmospheric pressure, dynamic pressure and aerodynamic force of the unmanned aerial vehicle;
calculating the actual flight speed of the unmanned aerial vehicle according to the angular speed and the aerial image, calculating the airflow angle of the unmanned aerial vehicle according to the atmospheric pressure, and calculating the lift coefficient and the resistance coefficient of the unmanned aerial vehicle according to the dynamic pressure and the aerodynamic force; the method for calculating the actual flight speed of the unmanned aerial vehicle comprises the following steps of:
extracting angular points in the current frame image of the aerial image;
estimating the position area of each angular point in the previous frame image according to the position of each angular point in the current frame image and the angular speed;
searching each angular point in the current frame image from the position area in the previous frame image, wherein the searching needs to be according to the position of each angular point in the current frame image;
calculating the angular point speed by combining the position of the angular point in the previous frame image and the position of the angular point in the current frame image, further calculating the pixel speed of the aerial image, and calculating according to the angular point speed;
and acquiring the actual flight speed of the unmanned aerial vehicle according to the height of the unmanned aerial vehicle and the pixel speed.
In another embodiment, the extracting the corner point in the current frame image of the aerial image includes the following steps:
dividing the aerial image of the current frame into multiple layers by adopting a pyramid layering method;
analyzing a top image layer of the aerial image of the current frame to obtain gray scale gradients of each pixel along the direction vertical to the ground and the direction parallel to the ground;
acquiring an integral graph corresponding to the top image layer, wherein the integral graph is acquired according to the gray level gradient;
and extracting the corner point of the current frame image according to the integral graph, wherein the corner point refers to a pixel point with Harris score larger than a preset threshold value in the aerial image of the current frame.
In another embodiment, the method further comprises:
collecting installation parameters of preset parts on an unmanned aerial vehicle, aerodynamic coefficients corresponding to the preset parts and relative positions between the mass center of the unmanned aerial vehicle and the pressing center of the preset parts;
acquiring interference force suffered by the preset part according to the installation parameters and aerodynamic coefficients corresponding to the preset part;
calculating the disturbance moment of the preset part, wherein the calculation is performed according to the relative position and the magnitude of disturbance force suffered by the preset part;
and calculating the control force and the control moment of the unmanned aerial vehicle according to the interference moment and the interference force.
In another embodiment, the preset part includes a cabin part and a tail wing, and the obtaining the disturbing force suffered by the preset part according to the installation parameter and the aerodynamic coefficient corresponding to the preset part includes the following steps:
acquiring a mounting angle of the tail wing, a dihedral angle of the tail wing, a side force line of the tail wing and a side force line of a cabin part;
respectively acquiring normal interference force caused by the installation angle and the dihedral angle of the tail wing;
respectively acquiring lateral interference force caused by the installation angle and the dihedral angle of the tail wing;
acquiring the lateral interference force of the cabin part.
In another embodiment, the method further comprises:
collecting flight Mach number information of the unmanned aerial vehicle provided by inertial navigation and static pressure of a measuring point arranged on the unmanned aerial vehicle, and calculating incoming flow static pressure of the unmanned aerial vehicle;
calculating virtual total pressure of the unmanned aerial vehicle according to incoming flow static pressure of the unmanned aerial vehicle;
and calculating the true value of the Mach number of the unmanned aerial vehicle, the true value of the sideslip angle of the unmanned aerial vehicle and the true value of the incoming flow attack angle of the unmanned aerial vehicle according to the static pressure of the measuring point and the virtual total pressure.
In another embodiment, the virtual total pressure P of the drone 0 The calculated expression of (2) is as follows:
B＝(γ+1) 2 M 2
C＝4γM 2 -2(γ-1)
γ＝1.4
in the above formulas, gamma represents the specific heat ratio of air, P ∞ Representing the incoming static pressure of the unmanned aerial vehicle.
In a second aspect, the invention provides an unmanned aerial vehicle flight parameter resolving system, which comprises an aircraft controller, a data acquisition device, an industrial control computer and a power socket for supplying power to each component of the resolving system, wherein the aircraft controller is used for controlling the flight state of an unmanned aerial vehicle, the data acquisition device is used for acquiring unmanned aerial vehicle flight data required by resolving flight parameters and transmitting the unmanned aerial vehicle flight data to the industrial control computer, and the computer is used for executing the unmanned aerial vehicle flight parameter resolving method.
The beneficial effects of the invention are as follows: according to the invention, the angular point is extracted from the current frame image of the aerial image, then the angular point in the previous frame image is estimated according to the angular velocity and the angular point in the current frame image, the pixel velocity is obtained according to the angular point in the current frame image and the angular point in the previous frame image, and finally the actual value of the flying speed of the unmanned aerial vehicle is obtained by combining the flying height of the unmanned aerial vehicle, so that the accuracy of measuring the flying speed of the unmanned aerial vehicle is greatly improved; in addition, the flight parameter resolving method not only can be used for resolving the flight speed of the unmanned aerial vehicle, but also can be used for resolving the airflow angle of the unmanned aerial vehicle, the lift coefficient and the resistance coefficient of the unmanned aerial vehicle, and the control precision of the unmanned aerial vehicle can be further improved.
Furthermore, the method of the invention also solves the control force and control moment of the unmanned aerial vehicle according to the installation parameters and aerodynamic coefficients of the preset parts on the unmanned aerial vehicle and the relative positions between the mass center of the unmanned aerial vehicle and the pressing center of the preset parts, thereby further improving the control precision and control performance of the unmanned aerial vehicle.
Furthermore, the method can also calculate the true value of the Mach number of the unmanned aerial vehicle, the true value of the sideslip angle of the unmanned aerial vehicle and the true value of the incoming flow attack angle of the unmanned aerial vehicle, thereby further improving the control precision and the control performance of the unmanned aerial vehicle.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the invention are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:
fig. 1 is a flowchart schematically illustrating a unmanned aerial vehicle flight parameter calculation method according to an embodiment of the present invention;
FIG. 2 is a flow chart schematically illustrating a method of calculating an actual flight speed of a drone according to an embodiment of the present invention;
FIG. 3 is a flow chart schematically illustrating a method of extracting corner points in a current frame image of the aerial image according to an embodiment of the present invention;
FIG. 4 is a flow chart schematically illustrating a method of calculating control forces and control moments for a drone according to an embodiment of the present invention;
FIG. 5 is a flow chart schematically illustrating a method of acquiring disturbance force experienced by the predetermined component in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart schematically illustrating a method of resolving Mach number, sideslip angle and incoming flow angle of attack for an unmanned aerial vehicle in accordance with an embodiment of the present invention;
fig. 7 is a schematic structural diagram schematically showing a unmanned aerial vehicle flight parameter calculation system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Unmanned aerial vehicle flight parameter resolving method embodiment:
as shown in fig. 1, the unmanned aerial vehicle flight parameter resolving method of the invention comprises the following steps:
s1, controlling the unmanned aerial vehicle to be in a flying state;
unmanned aerial vehicle can be controlled through flight control. Flight control, also known as flight control, is a component used to assist or fully autonomously control other systems and components of an aircraft during take-off, cruise, landing, etc. Commonly used with components such as Inertial Measurement Units (IMUs), barometers, magnetic compasses, and the like, to form a flight control system. In the flight process of the aircraft, the flight control perceives the flight height, speed, angle and position information of the aircraft, and different systems of the aircraft are controlled to make corresponding actions according to a preset flight plan or a temporarily received flight instruction, and control surfaces and the like are adjusted for a fixed wing aircraft, and the output power and the like of each power are adjusted for a multi-rotor aircraft, so that the aim of changing the flight attitude is achieved.
S2, acquiring the angular speed of the unmanned aerial vehicle, the aerial image of the unmanned aerial vehicle, the atmospheric pressure, dynamic pressure and aerodynamic force of the unmanned aerial vehicle;
s3, calculating the actual flight speed of the unmanned aerial vehicle according to the angular speed and the aerial image, calculating the airflow angle of the unmanned aerial vehicle according to the atmospheric pressure, and calculating the lift coefficient and the resistance coefficient of the unmanned aerial vehicle according to the dynamic pressure and the aerodynamic force.
As shown in fig. 2, the calculating the actual flight speed of the unmanned aerial vehicle includes:
s201, extracting corner points in a current frame image of the aerial image;
s202, estimating the position area of each angular point in the previous frame image according to the position of each angular point in the current frame image and the angular speed;
s203, searching each corner point in the current frame image from the position area in the previous frame image, wherein the position of each corner point in the current frame image is needed to be used in searching;
s204, calculating the angular point speed by combining the position of the angular point in the previous frame image and the position of the angular point in the current frame image, and further calculating the pixel speed of the aerial image, wherein the angular point speed is calculated according to the angular point speed;
s205, acquiring the actual flight speed of the unmanned aerial vehicle according to the height of the unmanned aerial vehicle and the pixel speed.
According to the invention, the angular point is extracted from the current frame image of the aerial image, then the angular point in the previous frame image is estimated according to the angular velocity and the angular point in the current frame image, the pixel velocity is obtained according to the angular point in the current frame image and the angular point in the previous frame image, and finally the actual value of the flying speed of the unmanned aerial vehicle is obtained by combining the flying height of the unmanned aerial vehicle, so that the accuracy of measuring the flying speed of the unmanned aerial vehicle is greatly improved; in addition, the flight parameter resolving method not only can be used for resolving the flight speed of the unmanned aerial vehicle, but also can be used for resolving the airflow angle of the unmanned aerial vehicle, the lift coefficient and the resistance coefficient of the unmanned aerial vehicle, and the control precision of the unmanned aerial vehicle can be further improved.
In another embodiment, as shown in fig. 3, the extracting the corner points in the current frame image of the aerial image includes the following steps:
s301, dividing an aerial image of a current frame into multiple layers by adopting a pyramid layering method;
s302, analyzing a top image layer of an aerial image of a current frame to obtain gray scale gradients of each pixel along a direction vertical to the ground and a direction parallel to the ground;
s303, acquiring an integral graph corresponding to the top image layer, wherein the integral graph is acquired according to the gray level gradient;
s304, extracting the corner point of the current frame image according to the integral image, wherein the corner point refers to a pixel point with Harris score larger than a preset threshold value in the aerial image of the current frame.
As shown in fig. 4, in another embodiment, further includes:
s401, collecting installation parameters of preset parts on an unmanned aerial vehicle, aerodynamic coefficients corresponding to the preset parts and relative positions between the mass center of the unmanned aerial vehicle and the press center of the preset parts;
the installation parameters of the preset parts on the unmanned aerial vehicle body comprise a dihedral angle and an installation angle.
S402, acquiring interference force suffered by the preset part according to the installation parameters and aerodynamic coefficients corresponding to the preset part;
s403, calculating the disturbance moment of the preset part, wherein the calculation is performed according to the relative position and the magnitude of disturbance force received by the preset part;
s404, calculating the control force and the control moment of the unmanned aerial vehicle according to the interference moment and the interference force.
According to the method, the control force and the control moment of the unmanned aerial vehicle are calculated according to the installation parameters and aerodynamic coefficients of the preset parts on the unmanned aerial vehicle and the relative positions between the mass center of the unmanned aerial vehicle and the pressing center of the preset parts, so that the control precision and the control performance of the unmanned aerial vehicle can be further improved.
In another embodiment, as shown in fig. 5, the preset part includes a cabin part and a tail wing, and the obtaining the disturbing force suffered by the preset part according to the installation parameter and the aerodynamic coefficient corresponding to the preset part includes the following steps:
s501, acquiring a mounting angle of the tail wing, a dihedral angle of the tail wing, a side force line of the tail wing and a side force line of a cabin section part;
s502, respectively acquiring normal interference force caused by the installation angle and the dihedral angle of the tail wing;
s503, respectively acquiring lateral interference force caused by the installation angle and the dihedral angle of the tail wing;
s504, acquiring the lateral interference force of the cabin part.
As shown in fig. 6, in another embodiment, further includes:
s601, acquiring flight Mach number information of the unmanned aerial vehicle provided by inertial navigation and static pressure of a measuring point arranged on the unmanned aerial vehicle, and calculating incoming flow static pressure of the unmanned aerial vehicle;
s602, calculating virtual total pressure P of the unmanned aerial vehicle according to incoming flow static pressure of the unmanned aerial vehicle 0 ；
Virtual total pressure P of unmanned aerial vehicle 0 The calculated expression of (2) is as follows:
B＝(γ+1) 2 M 0 (3)
C＝4γM 2 -2(γ-1) (4)
γ＝1.4 (6)
in the formulas (1) to (6), gamma represents the specific heat ratio of air, P ∞ Representing the incoming static pressure of the unmanned aerial vehicle.
And S603, calculating the true value of the Mach number of the unmanned aerial vehicle, the true value of the sideslip angle of the unmanned aerial vehicle and the true value of the incoming flow attack angle of the unmanned aerial vehicle according to the static pressure of the measuring point and the virtual total pressure.
The method can also calculate the true value of the Mach number of the unmanned aerial vehicle, the true value of the sideslip angle of the unmanned aerial vehicle and the true value of the incoming flow attack angle of the unmanned aerial vehicle, thereby further improving the control precision and the control performance of the unmanned aerial vehicle.
Unmanned aerial vehicle flight parameter calculation system embodiment:
as shown in fig. 7, in order to implement the unmanned aerial vehicle flight parameter resolving method of the present invention, the present invention further provides an unmanned aerial vehicle flight parameter resolving system, which includes an aircraft controller, a data acquisition device, an industrial control computer, and a power socket for powering each component of the resolving system, where the aircraft controller is used to control the flight state of the unmanned aerial vehicle, the data acquisition device is used to acquire unmanned aerial vehicle flight data required for resolving the flight parameter and transmit the unmanned aerial vehicle flight data to the industrial control computer, and the computer is used to execute the unmanned aerial vehicle flight parameter resolving method of the present invention.
In the description of the present specification, the meaning of "a plurality", "a number" or "a plurality" is at least two, for example, two, three or more, etc., unless explicitly defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Many modifications, changes, and substitutions will now occur to those skilled in the art without departing from the spirit and scope of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention.
Claims (7)
1. The unmanned aerial vehicle flight parameter resolving method is characterized by comprising the following steps of:
controlling the unmanned aerial vehicle to be in a flying state;
acquiring the angular speed of the unmanned aerial vehicle, aerial images of the unmanned aerial vehicle, atmospheric pressure, dynamic pressure and aerodynamic force of the unmanned aerial vehicle;
calculating the actual flight speed of the unmanned aerial vehicle according to the angular speed and the aerial image, calculating the airflow angle of the unmanned aerial vehicle according to the atmospheric pressure, and calculating the lift coefficient and the resistance coefficient of the unmanned aerial vehicle according to the dynamic pressure and the aerodynamic force; the method for calculating the actual flight speed of the unmanned aerial vehicle comprises the following steps of:
extracting angular points in the current frame image of the aerial image;
estimating the position area of each angular point in the previous frame image according to the position of each angular point in the current frame image and the angular speed;
searching each angular point in the current frame image from the position area in the previous frame image, wherein the searching needs to be according to the position of each angular point in the current frame image;
calculating the angular point speed by combining the position of the angular point in the previous frame image and the position of the angular point in the current frame image, further calculating the pixel speed of the aerial image, and calculating according to the angular point speed;
and acquiring the actual flight speed of the unmanned aerial vehicle according to the height of the unmanned aerial vehicle and the pixel speed.
2. The unmanned aerial vehicle flight parameter resolving method of claim 1, wherein the extracting the corner points in the current frame image of the aerial image comprises the steps of:
dividing the aerial image of the current frame into multiple layers by adopting a pyramid layering method;
analyzing a top image layer of the aerial image of the current frame to obtain gray scale gradients of each pixel along the direction vertical to the ground and the direction parallel to the ground;
acquiring an integral graph corresponding to the top image layer, wherein the integral graph is acquired according to the gray level gradient;
and extracting the corner point of the current frame image according to the integral graph, wherein the corner point refers to a pixel point with Harris score larger than a preset threshold value in the aerial image of the current frame.
3. The unmanned aerial vehicle flight parameter resolution method of claim 1, further comprising:
collecting installation parameters of preset parts on an unmanned aerial vehicle, aerodynamic coefficients corresponding to the preset parts and relative positions between the mass center of the unmanned aerial vehicle and the pressing center of the preset parts;
acquiring interference force suffered by the preset part according to the installation parameters and aerodynamic coefficients corresponding to the preset part;
calculating the disturbance moment of the preset part, wherein the calculation is performed according to the relative position and the magnitude of disturbance force suffered by the preset part;
and calculating the control force and the control moment of the unmanned aerial vehicle according to the interference moment and the interference force.
4. The unmanned aerial vehicle flight parameter resolving method according to claim 3, wherein the preset parts comprise cabin parts and tail wings, and the obtaining the interference force suffered by the preset parts according to the installation parameters and aerodynamic coefficients corresponding to the preset parts comprises the following steps:
acquiring a mounting angle of the tail wing, a dihedral angle of the tail wing, a side force line of the tail wing and a side force line of a cabin part;
respectively acquiring normal interference force caused by the installation angle and the dihedral angle of the tail wing;
respectively acquiring lateral interference force caused by the installation angle and the dihedral angle of the tail wing;
acquiring the lateral interference force of the cabin part.
5. The unmanned aerial vehicle flight parameter resolution method of any of claims 1 to 4, further comprising:
collecting flight Mach number information of the unmanned aerial vehicle provided by inertial navigation and static pressure of a measuring point arranged on the unmanned aerial vehicle, and calculating incoming flow static pressure of the unmanned aerial vehicle;
calculating virtual total pressure of the unmanned aerial vehicle according to incoming flow static pressure of the unmanned aerial vehicle;
and calculating the true value of the Mach number of the unmanned aerial vehicle, the true value of the sideslip angle of the unmanned aerial vehicle and the true value of the incoming flow attack angle of the unmanned aerial vehicle according to the static pressure of the measuring point and the virtual total pressure.
6. The unmanned aerial vehicle flight parameter calculation method of claim 5, wherein the virtual total pressure P of the unmanned aerial vehicle 0 The calculated expression of (2) is as follows:
B＝(γ+1) 2 M 2
C＝4γM 2 -2(γ-1)
γ＝1.4
in the above formulas, gamma represents the specific heat ratio of air, P ∞ Representing the incoming static pressure of the unmanned aerial vehicle.
7. An unmanned aerial vehicle flight parameter resolving system, comprising an aircraft controller, a data acquisition device, an industrial computer and a power socket for supplying power to each component of the resolving system, wherein the aircraft controller is used for controlling the flight state of an unmanned aerial vehicle, the data acquisition device is used for acquiring unmanned aerial vehicle flight data required by resolving flight parameters and transmitting the unmanned aerial vehicle flight data to the industrial computer, and the computer is used for executing the unmanned aerial vehicle flight parameter resolving method according to any one of claims 1-6.
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| CN202311268136.6A Pending CN117392174A (en) | 2023-09-27 | 2023-09-27 | Unmanned aerial vehicle flight parameter resolving method and system |
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