WO2018018982A1

WO2018018982A1 - Yaw angle value calibration method and system for unmanned aerial vehicle

Info

Publication number: WO2018018982A1
Application number: PCT/CN2017/082975
Authority: WO
Inventors: 缪志豪
Original assignee: 广州亿航智能技术有限公司
Priority date: 2016-07-26
Filing date: 2017-05-04
Publication date: 2018-02-01
Also published as: CN111207736A; CN107655470B; CN107655470A; CN111207736B

Abstract

A yaw angle value calibration method and system for an unmanned aerial vehicle. The method comprises acquiring the magnetic declination value of both a mobile terminal and an unmanned aerial vehicle, using the difference between the two magnetic declination values to compensate a yaw angle value generated by the mobile terminal for operating the unmanned aerial vehicle, then sending the compensated yaw angle value to the unmanned aerial vehicle, the unmanned aerial vehicle adjusting the orientation of the nose according to the compensated yaw angle value. As the yaw angle value is compensated for, an included angle does not exist when the mobile terminal controls the orientation of the unmanned aerial vehicle nose, effectively improving the control accuracy of the unmanned aerial vehicle and ensuring the safe flight thereof.

Description

Calibration method and system for yaw angle value of drone

[0001] The present invention relates to the field of drone technology, and in particular, to a method and system for calibrating a yaw angle value of a drone.

Background technique

[0002] In the field of UAV technology, the accuracy of the yaw angle of the UAV is generally ensured by the magnetic field sensor calibration of the UAV and the mobile terminal, respectively, and is used in various mobile terminals. The accuracy of the sensor is uneven. Even after the calibration of the magnetic field sensor of many mobile terminals is completed, there is still a large deviation from the normal value. When the accuracy of the magnetic field sensor of the mobile terminal and the drone is inconsistent, the mobile terminal controls the head of the drone. There will be an angle, which makes it impossible to use the magnetic field sensor of the mobile terminal to accurately control the head orientation of the drone, which may lead to inaccurate drone control, even to the bomber.

technical problem

[0003] Based on this, it is necessary to provide a calibration method and system for the yaw angle value of the UAV, in view of the fact that the conventional magnetic field sensor using the mobile terminal cannot accurately control the head orientation of the UAV.

Problem solution

Technical solution

[0004] According to an aspect of the invention, a method for calibrating a yaw angle value of a drone includes the following steps:

[0005] when the mobile terminal is in a preset position aligned with the drone, obtaining a first magnetic offset angle value, where the first magnetic offset angle value is a magnetic bias angle value of the magnetic field sensor of the mobile terminal;

[0006] acquiring a second magnetic bias angle value, where the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the drone; [0007] calculating between the first magnetic bias angle value and the second magnetic bias angle value Difference

[0008] adding or subtracting the difference value of the yaw angle value generated by the mobile terminal to obtain the compensated yaw angle value; [0009] transmitting the compensated yaw angle value to the drone, wherein, The machine adjusts the head orientation according to the compensated yaw angle value. [0010] Preferably, before the step of acquiring the first magnetic offset angle value, the method further includes the following steps:

[0011] scanning the drone by a photographing device of the mobile terminal, and identifying an outline of the drone in a scan screen;

[0012] determining whether the contour matches a preset contour, and if so, determining that the mobile terminal is currently in a preset position aligned with the drone.

[0013] Preferably, before the step of acquiring the first magnetic offset angle value, the method further includes the following steps:

[0014] scanning the drone by a photographing device of the mobile terminal, and identifying an outline of the drone in a scan screen;

[0015] determining whether the deviation of the contour from the preset contour is within a preset range, and if yes, determining that the mobile terminal is in a preset position aligned with the drone.

[0016] Preferably, the step of acquiring the first magnetic bias angle value comprises the following steps:

And [0017] initializing a magnetic field sensor of the mobile terminal, monitoring sensing data of the magnetic field sensor of the mobile terminal, and acquiring the first magnetic bias angle value according to the sensing data.

[0018] Preferably, the step of acquiring the second magnetic bias angle value comprises the following steps:

[0019] acquiring the second magnetic bias angle value by wirelessly communicating with the drone.

[0020]

[0021] According to another aspect of the present invention, a calibration system for a UAV yaw angle value is provided, comprising the following units:

[0022] a first acquiring unit, configured to acquire a first magnetic bias angle value when the mobile terminal is in a preset position aligned with the drone, where the first magnetic bias angle value is a magnetic bias angle of the magnetic field sensor of the mobile terminal Value

[0023] a second obtaining unit, configured to acquire a second magnetic bias angle value, where the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the drone;

[0024] a compensation unit, configured to calculate a difference between the first magnetic bias angle value and the second magnetic bias angle value, and add or subtract the difference value from the yaw angle value generated by the mobile terminal to obtain the compensated bias Navigation angle value;

[0025] a sending unit, configured to send the compensated yaw angle value to the drone, wherein the drone adjusts the head orientation according to the compensated yaw angle value.

[0026] Preferably, the system further includes an identification unit and a first determining unit;

[0027] the identification unit is configured to scan the drone by a photographing device of the mobile terminal, and scan the drawing Identifying the outline of the drone in the face;

[0028] the first determining unit is configured to determine whether the contour matches a preset contour,

[0029] If yes, it is determined that the mobile terminal is currently in a preset position aligned with the drone.

[0030] Preferably, the system further includes an identification unit and a second determining unit;

[0031] the identification unit is configured to scan the drone by a photographing device of the mobile terminal, and identify an outline of the drone in a scan screen;

[0032] the second determining unit is configured to determine whether the deviation of the contour from the preset contour is within a preset range

And if so, determining that the mobile terminal is currently in a preset position aligned with the drone.

[0033] Preferably, the first acquiring unit is configured to initialize a magnetic field sensor of the mobile terminal, monitor sensing data of a magnetic field sensor of the mobile terminal, and acquire the first magnetic field according to the sensing data. Offset angle value.

[0034] Preferably, the second acquiring unit acquires the second magnetic eccentricity angle value by performing wireless communication with the drone.

Advantageous effects of the invention

Beneficial effect

[0035] According to the above-described method and system for calibrating the yaw angle value of the unmanned aerial vehicle, the magnetic bias angle values of the magnetic field sensors of the mobile terminal and the drone are respectively acquired, and the difference between the two is used to generate the mobile terminal The yaw angle value of the operating drone is compensated, and the compensated yaw angle value is sent to the drone, and the drone adjusts the head orientation according to the compensated yaw angle value, due to the yaw angle value The compensation is carried out, and the mobile terminal controls the head of the drone to face the 吋 without the angle, which effectively improves the precision of the drone control and ensures the flight safety of the drone.

Brief description of the drawing

DRAWINGS

1 is a schematic flow chart of a method for calibrating a yaw angle value of a drone according to an embodiment;

2 is a schematic view showing a practical application of a calibration method of a yaw angle value of a drone according to an embodiment;

3 is a schematic structural view of a calibration system of a UAV yaw angle value of one embodiment;

4 is a schematic structural view of a calibration system of a UAV yaw angle value of one embodiment; [0039] FIG.

[0040] FIG. 5 is a schematic structural diagram of a calibration system of a UAV yaw angle value of one embodiment. Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

[0042] Referring to FIG. 1, a flow chart of a method for calibrating a yaw angle value of a drone according to an embodiment of the present invention is shown. The method for calibrating the yaw angle value of the drone in this embodiment includes the following steps:

[0043] Step S101: When the mobile terminal is in a preset position aligned with the drone, the first magnetic offset angle value is obtained.

The first magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the mobile terminal;

[0044] Step S102: Acquire a second magnetic bias angle value, where the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the drone;

[0045] Step S103: calculating a difference between the first magnetic bias angle value and the second magnetic bias angle value;

[0046] Step S104: adding or subtracting a difference value from a yaw angle value generated by the mobile terminal to obtain a compensated yaw angle value;

[0047] Step S105: Send the compensated yaw angle value to the drone, wherein the drone adjusts the head orientation according to the compensated yaw angle value.

[0048] The above steps S101 to S104 are all performed in the mobile terminal.

[0049] In this embodiment, the magnetic bias angle values of the magnetic field sensors of the mobile terminal and the drone are respectively obtained, and the difference between the two is used to compensate the yaw angle value of the operating drone generated by the mobile terminal, and then The compensated yaw angle value is sent to the drone, and the drone adjusts the head orientation according to the compensated yaw angle value. Because the yaw angle value is compensated, the mobile terminal and the drone head are between There is no angle, which effectively improves the accuracy of drone control and ensures the flight safety of the drone.

[0050] After obtaining the magnetic bias angle value of the magnetic field sensor of the mobile terminal and the drone, the mobile terminal is in a preset position aligned with the drone to avoid affecting the magnetic bias angle value due to the difference in position.

[0051] The mobile terminal includes a smart phone, a tablet, a laptop, and a personal digital assistant.

[0052] Specifically, the calibration method of the yaw angle value of the drone is implemented by a mobile terminal provided with an APP (application), and includes the following steps: [0053] When the mobile terminal is in a preset position aligned with the drone, the APP inside the mobile terminal acquires a first magnetic bias angle value A, and the first magnetic bias angle value A is a magnetic bias of the magnetic field sensor of the mobile terminal. Angle value

[0054] The APP in the mobile terminal acquires a second magnetic bias angle value B, and the second magnetic bias angle value B is a magnetic bias angle value of the magnetic field sensor of the drone;

[0055] The APP in the mobile terminal calculates a difference D between the first magnetic deviation angle value A and the second magnetic deviation angle value B, and the difference D may be the second magnetic deviation angle value B minus the first magnetic deviation angle The value of the value A may also be the value of the first magnetic bias angle value A minus the second magnetic bias angle value B;

[0056] When the drone performs the mission in the air, the mobile terminal will generate a yaw angle C value to control the nose direction of the drone, and the APP in the mobile terminal adds the yaw angle C value to the difference D to obtain a The new yaw angle value C' is the following formula: BA=D, C+D=C; or AB=D, CD=C; This step is to compensate the yaw angle value C;

[0057] The compensated yaw angle value C is sent to the drone, wherein the drone adjusts the head orientation according to the compensated yaw angle value C'.

[0058] The above processes are all performed in the APP of the mobile terminal.

[0059] In one embodiment, before the step of acquiring the first magnetic bias angle value, the method further includes the following steps: [0060] scanning the drone by the photographing device of the mobile terminal, and identifying the drone in the scan screen Outline

[0061] determining whether the contour matches the preset contour, and if so, determining that the mobile terminal is currently in a preset position aligned with the drone.

[0062] In this embodiment, the UAV is mainly scanned by the camera of the mobile terminal, and the UAV compares the contour and the preset contour of the UAV in the scanned image in the scanned image. Whether it matches, if it matches, it means that the mobile terminal is currently in the preset position aligned with the drone. The above process is essentially a dynamic identification of the drone image scanned by the camera, which ensures that the mobile terminal is in a preset position aligned with the drone quickly and conveniently.

[0063] Preferably, the process of determining that the mobile terminal is currently in a preset position aligned with the drone may be performed in a mobile terminal side, and the preset contour may be displayed on the screen of the mobile terminal, such as displaying a no in the center of the screen. The outline of the human-machine, the area in the outline of the drone is the area scanned by the camera (camera) of the mobile terminal, and after the camera scans the drone, as long as it is scanned The drone is identical to the outline of the drone displayed in the center of the screen, that is, the outline of the drone in the scanned image matches the preset contour, and it can be determined that the mobile terminal is currently aligned with the drone. The default location.

[0064] In one embodiment, the step of acquiring the first magnetic bias angle value further includes the following steps: [0065] scanning the drone by the photographing device of the mobile terminal, and identifying the drone in the scan screen Outline

[0066] determining whether the deviation of the contour from the preset contour is within a preset range, and if so, determining that the mobile terminal is in a preset position aligned with the drone.

[0067] In this embodiment, the UAV is mainly scanned by the camera of the mobile terminal, and the UAV determines the contour and the preset contour of the UAV in the scanned image in the scanned image. Whether the deviation is within a preset range, and if so, indicates that the mobile terminal is currently in a preset position aligned with the drone. The above process is essentially a dynamic identification of the image of the drone scanned by the camera, which ensures that the mobile terminal is in a preset position aligned with the drone quickly and conveniently. In addition, in this embodiment, a deviation range associated with the preset contour is set in advance, and as long as the range is properly set, the calculation of the difference between the magnetic offset angle values of the mobile terminal and the drone does not cause a large error. Moreover, since the deviation range is set, it is possible to more flexibly determine that the mobile terminal is in a preset position aligned with the drone.

[0068] In one of the embodiments, the step of obtaining the first magnetic bias angle value comprises the steps of:

And [0069] initializing the magnetic field sensor of the mobile terminal, monitoring the sensing data of the magnetic field sensor of the mobile terminal, and acquiring the first magnetic deviation angle value according to the sensing data.

[0070] In this embodiment, acquiring the magnetic bias angle value of the magnetic field sensor of the mobile terminal firstly needs to initialize the magnetic field sensor of the mobile terminal, and then calculating the magnetic field of the mobile terminal according to the sensing data of the magnetic field sensor of the mobile terminal. The value of the magnetic bias angle of the sensor. Since the magnetic bias angle value of the magnetic field sensor may change during use due to various factors, after determining that the mobile terminal is in a preset position aligned with the drone, the magnetic field sensor that initializes the mobile terminal can acquire the latest one. The magnetic bias angle value of the magnetic field sensor eliminates the influence of various factors during the use of the magnetic field sensor.

[0071] In one of the embodiments, the step of obtaining the second magnetic bias angle value comprises the steps of:

[0072] Acquiring a second magnetic bias angle value by wirelessly communicating with the drone.

[0073] In this embodiment, the drone has a wireless communication function, and can perform the magnetic declination of its own magnetic field sensor. The degree value is sent out by wireless communication, and the external device can obtain the magnetic bias angle value of the magnetic field sensor of the drone by wirelessly communicating with the drone, and does not need to be wired to the drone, which can be very Quickly and easily obtain the magnetic bias angle value of the magnetic field sensor of the drone.

[0074] In a specific embodiment, the calibration method of the yaw angle value of the drone can be applied to the mobile phone application software. As shown in FIG. 2, the mobile terminal can be a magnetic field sensor of the mobile phone, the mobile terminal, and the drone. Both can be magnetic compasses, and users can control the application software of the drone in the mobile phone. The application software has the UAV yaw angle value calibration function, and the magnetic compass assists the calibration interface. The magnetic compass assists the calibration interface to display the outline of a drone. The user places the mobile phone above the drone, and the front end of the mobile phone body is aligned with the head of the drone, and the drone is flat. Placed on the ground, the camera of the mobile phone is aimed at the drone, and the UAV is scanned in real time. When the mobile phone moves to a certain position, the UAV shape and the magnetic compass assisted calibration interface in the screen scanned by the mobile phone The outline of the displayed drone matches, and the handset is in alignment with the drone. After the mobile phone is in the position aligned with the drone, the application software initializes the magnetic compass of the mobile phone, monitors the data related to the magnetic compass, and calculates the magnetic declination of the magnetic compass, and then wirelessly communicates with the drone. Obtaining the magnetic declination of the drone; compensating for the yaw angle sent to the drone according to the difference between the magnetic declination of the magnetic compass of the mobile phone and the magnetic declination of the magnetic compass of the drone; the yaw angle is used In controlling the head orientation of the drone, an important parameter of the yaw angle is the magnetic declination. The front end of the mobile phone represents the head direction of the drone. The specific operation is as follows. Initially, if the user holds the mobile phone, the screen level Upward, the front end of the mobile phone is facing the front of the user (assuming the north direction), and the head direction of the corresponding aircraft is also facing the front of the user (north direction). Next, if the user rotates the mobile phone in the horizontal plane, the front end Pointing to the user's left-hand direction (ie, the west direction), the corresponding aircraft's nose will also rotate in its horizontal plane until it points in the west direction. Or, if the user rotates the phone in a horizontal plane with the front end pointing 45 degrees to the left front of the user (ie, 45 degrees northwest), the nose of the corresponding aircraft will also rotate in the plane in which it is located until pointing The northwest is 45 degrees. The scheme compensates for the yaw angle. The mobile phone controls the head of the drone to face the 吋, there is no angle, which effectively improves the accuracy of the drone control and ensures the flight safety of the drone.

[0075] According to the calibration method of the yaw angle value of the unmanned aerial vehicle, the present invention also provides a calibration system for the yaw angle value of the unmanned aerial vehicle, and the following is an implementation of the calibration system for the yaw angle value of the unmanned aerial vehicle of the present invention. Example for details Description.

Referring to FIG. 3, it is a schematic structural view of a calibration system for a yaw angle value of an unmanned aerial vehicle according to an embodiment of the present invention. The calibration system for the yaw angle value of the drone in this embodiment includes the following units:

[0077] The first obtaining unit 210 is configured to acquire a first magnetic bias angle value when the mobile terminal is in a preset position aligned with the drone, and the first magnetic bias angle value is a magnetic bias of the magnetic field sensor of the mobile terminal. Angle value

[0078] The second obtaining unit 220 is configured to obtain a second magnetic bias angle value, where the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the drone;

[0079] The compensation unit 230 is configured to calculate a difference between the first magnetic bias angle value and the second magnetic bias angle value, and add or subtract the difference value from the yaw angle value generated by the mobile terminal to obtain the compensated Yaw angle value;

[0080] The sending unit 240 is configured to send the compensated yaw angle value to the drone, wherein the drone adjusts the head orientation according to the compensated yaw angle value.

[0081] In one embodiment, as shown in FIG. 4, the calibration system of the yaw angle value of the drone further includes an identification unit 250 and a first determining unit 260;

[0082] The identification unit 250 is configured to scan the drone by the photographing device of the mobile terminal, and identify the outline of the drone in the scan screen;

[0083] The first determining unit 260 is configured to determine whether the contour matches the preset contour, and if so, determine that the mobile terminal is currently in a preset position aligned with the drone.

[0084] In one embodiment, as shown in FIG. 5, the calibration system of the UAV yaw angle value further includes an identification unit 250 and a second determination unit 270;

[0085] The identification unit 250 is configured to scan the drone by the photographing device of the mobile terminal, and identify the outline of the drone in the scan screen;

[0086] The second determining unit 270 is configured to determine whether the deviation of the contour from the preset contour is within a preset range, and if yes, determine that the mobile terminal is currently in a preset position aligned with the drone.

In one embodiment, the first obtaining unit 210 is configured to initialize a magnetic field sensor of the mobile terminal, monitor sensing data of the magnetic field sensor of the mobile terminal, and acquire a first magnetic bias angle value according to the sensing data.

[0088] In one of the embodiments, the second acquisition unit 220 acquires the second magnetic bias angle value by wirelessly communicating with the drone.

[0089] The calibration system for the yaw angle value of the UAV of the present invention and the calibrator of the yaw angle value of the UAV of the present invention The technical features and the beneficial effects described in the embodiments of the above-described UAV yaw angle value calibration method are all applicable to the embodiment of the UAV yaw angle value calibration system.

[0090] The technical features of the above-described embodiments may be combined in any combination. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of these technical features is not There are contradictions and should be considered as the scope of this manual.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Industrial applicability

[0092] The method and system for calibrating the yaw angle value of the unmanned aerial vehicle according to the present invention, which are respectively obtaining the magnetic eccentricity angle values of the magnetic field sensors of the mobile terminal and the drone, and generating the mobile terminal by using the difference between the two The yaw angle value of the operating drone is compensated, and the compensated yaw angle value is sent to the drone, and the drone adjusts the head orientation according to the compensated yaw angle value, due to the yaw angle value The compensation is carried out, and the mobile terminal controls the head of the drone to face the 吋 without the angle, which effectively improves the precision of the drone control and ensures the flight safety of the drone.

Claims

Claim

A method for calibrating a yaw angle value of a drone includes the following steps:

Obtaining a first magnetic bias angle value when the mobile terminal is in a preset position aligned with the drone, wherein the first magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the mobile terminal; acquiring the second magnetic a bias value, wherein the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the drone;

Calculating a difference between the first magnetic bias angle value and the second magnetic bias angle value; adding or subtracting the difference value from a yaw angle value generated by the mobile terminal to obtain a compensated bias Navigation angle value;

And transmitting the compensated yaw angle value to the drone such that the drone adjusts the head orientation according to the compensated yaw angle value.

The method for calibrating a yaw angle value of the unmanned aerial vehicle according to claim 1, wherein the step of acquiring the first magnetic eccentricity angle value further comprises the following steps:

Scanning the drone by a photographing device of the mobile terminal, and identifying an outline of the drone in a scan screen;

It is judged whether the contour matches the preset contour, and if so, it is determined that the mobile terminal is currently in a preset position aligned with the drone.

It is judged whether the deviation of the contour from the preset contour is within a preset range, and if so, it is determined that the mobile terminal is in a preset position aligned with the drone.

The method for calibrating a yaw angle value of a drone according to any one of claims 1 to 3, wherein the step of acquiring the first magnetic eccentricity angle value comprises the following steps:

Initializing a magnetic field sensor of the mobile terminal, monitoring sensing data of the magnetic field sensor of the mobile terminal, and acquiring the first magnetic bias angle value according to the sensing data.

The method for calibrating a yaw angle value of a drone according to any one of claims 1 to 3, The step of acquiring the second magnetic bias angle value includes the following steps: acquiring the second magnetic bias angle value by performing wireless communication with the drone.

[Claim 6] A calibration system for a UAV yaw angle value, comprising the following units:

a first acquiring unit, configured to acquire a first magnetic bias angle value when the mobile terminal is in a preset position aligned with the drone, wherein the first magnetic bias angle value is a magnetic bias of the magnetic field sensor of the mobile terminal Angle value

a second acquiring unit, configured to acquire a second magnetic bias angle value, where the second magnetic bias angle value is a magnetic bias angle value of the magnetic field sensor of the unmanned aerial vehicle;

a compensation unit, configured to calculate a difference between the first magnetic bias angle value and the second magnetic bias angle value, and add or subtract the difference value from a yaw angle value generated by the mobile terminal, Obtaining the yaw angle value after compensation;

And a sending unit, configured to send the compensated yaw angle value to the drone, wherein the drone adjusts the head orientation according to the compensated yaw angle value.

[Claim 7] The calibration system for the yaw angle value of the unmanned aerial vehicle according to claim 6, wherein the system further comprises an identification unit and a first determination unit;

The identification unit is configured to scan the drone by a photographing device of the mobile terminal, and identify an outline of the drone in a scan screen;

The first determining unit is configured to determine whether the contour matches a preset contour, and if yes, determine that the mobile terminal is currently in a preset position aligned with the drone.

[Claim 8] The calibration system for the yaw angle value of the unmanned aerial vehicle according to claim 6, wherein the system further comprises an identification unit and a second determination unit;

The second determining unit is configured to determine whether the deviation of the contour from the preset contour is within a preset range, and if yes, determine that the mobile terminal is currently in a preset position aligned with the drone.

[Claim 9] The calibration system for the yaw angle value of the unmanned aerial vehicle according to any one of claims 6 to 8, wherein the first acquisition unit is configured to initialize a magnetic field sensor of the mobile terminal, Listening to the sensing data of the magnetic field sensor of the mobile terminal, and acquiring the first magnetic bias angle value according to the sensing data.

[Claim 10] The calibration system for the yaw angle value of the unmanned aerial vehicle according to any one of claims 6 to 8, wherein the second acquisition unit acquires the wireless communication by performing wireless communication with the unmanned aerial vehicle The second magnetic bias angle value is described.