WO2018103192A1

WO2018103192A1 - Method and device for maintaining attitude of unmanned aerial vehicle

Info

Publication number: WO2018103192A1
Application number: PCT/CN2017/073112
Authority: WO
Inventors: 刘均; 宋朝忠
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-12-06
Filing date: 2017-02-08
Publication date: 2018-06-14
Also published as: CN106527464A

Abstract

A method and device for maintaining an attitude of an unmanned aerial vehicle. The method for maintaining an attitude of an unmanned aerial vehicle comprises: obtaining position data of a preset position of an unmanned aerial vehicle measured by attitude sensors, there being at least two attitude sensors located at different positions on the unmanned aerial vehicle (S101); calculating an attitude angle according to the position data (S102); and adjusting the attitude of the unmanned aerial vehicle at the preset position according to the attitude angle (S103). The method for maintaining an attitude of an unmanned aerial vehicle can monitor attitudes of an unmanned aerial vehicle at different positions in real time and adjust the attitudes at different positions, thereby more precisely maintaining the attitudes of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle attitude maintaining method and device

[0001] Technical Field

[0002] The present invention relates to the field of UAV control technology, and in particular, to a UAV attitude maintaining method and apparatus.

BACKGROUND

[0004] Unmanned aerial vehicles are referred to as "unmanned aerial vehicles" and are unmanned aircraft operated by radio remote control equipment and self-provided program control devices. They are widely used in aerial reconnaissance, surveillance, communication, anti-submarine, electronic interference and other fields.

[0005] At present, existing drones operate in the air, often need to maintain a certain posture in a period of time to facilitate better work, the prior art is mainly installed in the geometric center of the unmanned body. A sensing system consisting of a gyroscope and an accelerometer acquires the attitude data of the drone's flying raft, and then maintains the attitude of the drone by remote control or self-adjustment according to the posture data. However, the situation of the drone in the air is complicated and varied, and the posture of the drone cannot be accurately maintained according to the posture data.

SUMMARY OF THE INVENTION

[0007] Embodiments of the present invention provide a method and a device for maintaining a posture of a drone, which can monitor the posture of each of the drones and adjust the posture of each position to maintain the posture of the drone more accurately.

[0008] In a first aspect, the present invention provides a UAV attitude maintaining method, including:

[0009] acquiring position data of a preset position of the drone measured by the attitude sensor, wherein the attitude sensor has at least two, and the attitude sensor is located at different positions of the drone;

[0010] calculating an attitude angle according to the position data;

[0011] adjusting a posture of the preset position of the drone according to the posture angle.

[0012] Preferably, the location data is at least one of an acceleration and an angular velocity of the preset position of the drone

[0013] Preferably, the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.

[0014] Preferably, before the calculating the attitude angle according to the location data, the method further includes:

[0015] acquiring compensation data measured by the compensation sensor, wherein the compensation sensor is located within the attitude sensor distance threshold; [0016] The calculated attitude angle according to the location data is specifically:

[0017] calculating an attitude angle based on the position data and the compensation data.

[0018] Preferably, before the adjusting the posture of the preset position of the drone according to the posture angle,

Receiving a posture adjustment instruction of the user;

[0020] the posture of adjusting the preset position of the drone according to the posture angle is specifically:

And [0021] adjusting a posture of the preset position of the drone according to the posture angle and the posture adjustment instruction.

[0022] In a second aspect, the present invention provides a UAV attitude maintaining device, including:

[0023] a first acquiring module, configured to acquire position data of a preset position of the drone measured by the attitude sensor, where the at least two posture sensors are located at different positions of the drone

[0024] a calculation module, configured to calculate an attitude angle according to the position data;

[0025] an adjustment module, configured to adjust a posture of the preset position of the drone according to the posture angle.

[0026] Preferably, the location data is at least one of an acceleration and an angular velocity of the preset position of the drone.

[0027] Preferably, the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.

[0028] Preferably, the method further includes:

[0029] a second obtaining module, configured to acquire compensation data measured by the compensation sensor, where the compensation sensor is located within the attitude sensor distance threshold;

[0030] the calculation module is specifically configured to calculate a posture angle according to the position data and the compensation data

[0031] Preferably, the method further includes:

[0032] a receiving module, configured to receive a posture adjustment instruction of the user;

[0033] The adjustment module is specifically configured to adjust a posture of the preset position of the UAV according to the posture angle and the posture adjustment instruction.

[0034] Embodiments of the present invention, by acquiring position data of a preset position of a drone measured by an attitude sensor, calculating an attitude angle according to the position data, and adjusting the drone preset according to the posture angle The posture of the position can monitor the posture of each position of the drone and adjust the posture of each position. , to make the drone posture more accurate.

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are only some of the embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

1 is a flowchart of a method for maintaining a posture of a drone according to an embodiment of the present invention;

2 is a schematic diagram of a specific application scenario;

3 is a flowchart of another UAV attitude maintaining method according to an embodiment of the present invention;

4 is a schematic structural diagram of a UAV attitude maintaining device according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another UAV attitude maintaining device according to an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. example. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

[0044] It is to be understood that the terminology used in the embodiments of the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Referring to FIG. 1, FIG. 1 is a flowchart of a method for maintaining a posture of a drone according to an embodiment of the present invention, where the method includes the following steps:

[0046] S101: Acquire location data of a preset position of the drone measured by the attitude sensor, wherein the attitude sensor has at least two, and the attitude sensor is located at different positions of the drone.

[0047] The attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor. Wherein, the gyroscope is a sensing gyroscope, and outputs an angular velocity, and the angle is integrated to obtain an angle. Since the gyroscope still outputs in a zero input state, its output is a white noise and a slowly varying random function. Stack Force, affected by this, in the process of integration, the cumulative error will be introduced, the longer the integral time, the greater the error. Therefore, it is necessary to use an acceleration sensor to correct the gyroscope. The acceleration sensor uses the force decomposition principle to determine the tilt angle by the component of the gravity acceleration in different axial directions. Without the integral error, the error of the gyroscope can be effectively corrected.

[0048] The attitude sensors are at least two and located at different positions of the drone, and the specific position of the attitude sensor is determined according to the specific situation of the drone. In a specific embodiment, if the drone is a four-axis unmanned aerial vehicle, the attitude sensor may be separately mounted on the four axes and the axis of the drone, and the different parts of the four-axis unmanned aerial vehicle Perform posture monitoring. In another embodiment, if the drone is a two-wing unmanned aircraft, the attitude sensor can be mounted on each side of the drone.

[0049] In the embodiment, the position data is at least one of an acceleration and an angular velocity of the preset position of the UAV, wherein the acceleration is measured by an acceleration sensor in the attitude sensor. The angular velocity is measured by a gyroscope in the attitude sensor. In other embodiments, the location data may further include data related to the preset location, such as a height of the preset location from the ground, a distance from the ground control system, and the like.

[0050] S102: Calculating an attitude angle according to the location data.

[0051] In the present embodiment, the attitude angle is calculated by integrating the acceleration sensor and the output of the gyroscope in the attitude sensor, and the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle, the pitch The angle, the roll angle, and the yaw angle are respectively formed by the rotation of the preset positions of the drone around the X, Υ, and 轴 axes, and the pitch angle, the roll angle, and the yaw angle reflect the angle The position of the drone's preset position relative to the ground.

[0052] S103: Adjust a posture of the preset position of the drone according to the posture angle.

[0053] In the embodiment, the drone needs to maintain a posture in various situations. For example, when the drone performs a shooting operation, it is necessary to maintain a certain posture to stabilize the shooting image; In the case of bad weather conditions, the drone needs to maintain a certain posture during flight to improve the anti-interference ability of the drone and prevent the drone from being damaged or unstable.

[0054] Specifically, if the pitch angle of the preset position of the drone is too large, it indicates that the preset position of the drone is too large relative to the horizontal plane, and may be stabilized by reducing the pitch angle. The preset position If the roll angle of the preset position of the drone is too large, it indicates that the angle of the preset position of the drone is too large, and the posture of the preset position can be stabilized by reducing the roll angle. If the yaw angle of the preset position of the drone is too large, the preset position of the drone is deviated from the route, and the preset position of the drone may be adjusted according to the correct route.

[0055] In the embodiment, different posture sensors are provided at different positions on the drone, and the postures of the different positions are respectively adjusted to maintain the posture of each position of the drone, thereby maintaining the posture of the unmanned body. .

[0056] In order to facilitate the understanding of the embodiments of the present invention, the following describes the specific application scenarios.

[0057] When the drone is performing the shooting work, it is necessary to maintain the posture to ensure that the shooting picture is clear and stable, but suddenly encounters a downward wind during the shooting process, causing the drone head to deviate downward, resulting in no shooting picture. Stable, and may cause the drone to fly out of control and damage. Assuming that the drone is equipped with an attitude sensor at the head position, the attitude sensor can measure the position data of the drone head during the flight of the drone, When the nose of the machine head is deviated, the pitch angle of the nose of the drone can be calculated, and the drone can adjust the attitude of the nose according to the pitch angle to maintain the flight attitude. Refer to Figure 2, which is a schematic diagram of a specific application scenario.

[0058] As described above, a UAV attitude maintaining method according to an embodiment of the present invention obtains a position angle according to a preset position of a UAV measured by an attitude sensor, and calculates an attitude angle according to the position data, according to the The posture angle adjusts the posture of the preset position of the drone, and can effectively monitor the posture of each position of the drone, and adjust the posture of each position, so that the posture of the drone is kept more precise.

Referring to FIG. 3, FIG. 3 is a flowchart of another UAV posture maintaining method according to an embodiment of the present invention, where the method includes the following steps:

[0060] S301: Acquire location data of a preset position of the drone measured by the attitude sensor, wherein the attitude sensor has at least two, and the attitude sensor is located at different positions of the drone.

[0061] The attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor. Wherein, the gyroscope is a sensing gyroscope, and outputs an angular velocity, and the angle is integrated to obtain an angle. Since the gyroscope still outputs in a zero input state, its output is a white noise and a slowly varying random function. The stacking force is affected by this. In the process of integration, the cumulative error will be introduced. The longer the integral time, the larger the error. Therefore, it is necessary to use an acceleration sensor to correct the gyroscope, and the acceleration sensor is advantageous. Based on the principle of force decomposition, the inclination of the gravitational acceleration in different axial directions is used to judge the inclination. Without the integral error, the error of the gyroscope can be effectively corrected.

[0062] The attitude sensors are at least two and located at different positions of the drone, and the specific position of the attitude sensor is determined according to the specific situation of the drone. In a specific embodiment, if the drone is a four-axis unmanned aerial vehicle, the attitude sensor may be separately mounted on the four axes and the axis of the drone, and the different parts of the four-axis unmanned aerial vehicle Perform posture monitoring. In another embodiment, if the drone is a two-wing unmanned aircraft, the attitude sensor can be mounted on each side of the drone.

[0063] In the embodiment, the position data is at least one of an acceleration and an angular velocity of the preset position of the drone, wherein the acceleration is measured by an acceleration sensor in the attitude sensor. The angular velocity is measured by a gyroscope in the attitude sensor. In other embodiments, the location data may further include data related to the preset location, such as a height of the preset location from the ground, a distance from the ground control system, and the like.

[0064] S302: Acquire compensation data measured by the compensation sensor, wherein the compensation sensor is located within the attitude sensor distance threshold.

[0065] S303: Calculate an attitude angle according to the location data and the compensation data.

[0066] In the embodiment, the compensation sensor is located within the attitude sensor distance threshold, and may be configured to equidistantly set a plurality of compensation sensors within the measurement range of the attitude sensor, the composition of the compensation sensor and the The attitude sensor is the same and is used to measure the position data of the position where the compensation sensor is located. Since the flight condition of the UAV is very complicated, the position data provided by the compensation sensor is used as the compensation data of the position data measured by the attitude sensor, and by the compensation filtering process, a more accurate attitude angle can be calculated.

[0067] In the present embodiment, the attitude angle is calculated by integrating the output of the attitude sensor and the compensation sensor, and the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle, the pitch The angle, the roll angle, and the yaw angle are respectively formed by the rotation of the preset positions of the drone around the X, Υ, and 轴 axes, and the pitch angle, the roll angle, and the yaw angle reflect the angle The position of the drone's preset position relative to the ground.

[0068] S304: Receive a posture adjustment instruction of the user. [0069] In this embodiment, the user may issue an attitude adjustment command to the drone through a control terminal, such as a drone remote controller or a ground control system, and the user may according to the actual situation of the flight area of the drone, For example, a weather condition, a number of drones, a geographical situation, etc., to issue an attitude adjustment command to the drone, so that the drone adjusts the flight attitude according to the actual situation of the flight area or the user's demand.

[0070] S305: Adjust a posture of the preset position of the drone according to the posture angle and the posture adjustment instruction

[0071] In the embodiment, the drone needs to maintain a posture in various situations. For example, when the drone performs a photographing operation, it is necessary to maintain a certain posture to stabilize the photographing image; In the case of bad weather conditions, the drone needs to maintain a certain posture during flight to improve the anti-interference ability of the drone and prevent the drone from being damaged or unstable.

[0072] Specifically, if the pitch angle of the preset position of the drone is too large, it indicates that the preset position of the drone is too large relative to the horizontal plane, and may be stabilized by reducing the pitch angle. The attitude of the preset position; if the roll angle of the preset position of the drone is too large, it indicates that the angle of the preset position of the drone is too large, and the roll angle can be reduced to stabilize the The posture of the preset position; if the yaw angle of the preset position of the drone is too large, the preset position of the drone is deviated from the route, and the preset position of the drone may be adjusted according to the preset position The correct route travels.

[0073] In the embodiment, the attitude angle indicates a flight attitude of the drone, and different posture sensors on the unmanned aerial vehicle have different attitude sensors, and respectively adjust postures of different positions to maintain an unmanned position. The posture of each position of the machine, thereby maintaining the posture of the unmanned body, and the unmanned aerial vehicle adjusting the posture according to the posture adjustment command sent by the user can adapt the drone to the flight environment and the user's demand, Adjusting the man-machine according to the posture angle and the posture adjustment command can better maintain the posture of the preset position of the drone.

[0074] As described above, a UAV attitude maintaining method according to an embodiment of the present invention acquires compensation data measured by a compensation sensor by acquiring position data of a preset position of the UAV measured by the attitude sensor, according to the position data and The compensation data calculates an attitude angle, receives a posture adjustment instruction of the user, adjusts a posture of the preset position of the drone according to the posture angle and the posture adjustment instruction, and can effectively monitor each position of the drone Attitude situation, and posture adjustment of each position to maintain the attitude of the drone More precise.

The method of the embodiments of the present invention has been described in detail above. In order to facilitate the better implementation of the above embodiments of the embodiments of the present invention, correspondingly, an apparatus for implementing the above solutions is provided below.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of a UAV attitude maintaining device according to an embodiment of the present invention. The device is applied to a UAV, and the device 400 includes the following functional modules:

[0077] The first obtaining module 410 is configured to acquire location data of a preset position of the drone measured by the attitude sensor

The attitude sensor has at least two, and the attitude sensor is located at different positions of the drone.

[0078] The attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor. Wherein, the gyroscope is a sensing gyroscope, and outputs an angular velocity, and the angle is integrated to obtain an angle. Since the gyroscope still outputs in a zero input state, its output is a white noise and a slowly varying random function. The stacking force is affected by this. In the process of integration, the cumulative error will be introduced. The longer the integral time, the larger the error. Therefore, it is necessary to use an acceleration sensor to correct the gyroscope. The acceleration sensor uses the force decomposition principle to determine the tilt angle by the component of the gravity acceleration in different axial directions. Without the integral error, the error of the gyroscope can be effectively corrected.

[0079] The attitude sensors are at least two and located at different positions of the drone, and the specific position of the attitude sensor is determined according to the specific situation of the drone. In a specific embodiment, if the drone is a four-axis unmanned aerial vehicle, the attitude sensor may be separately mounted on the four axes and the axis of the drone, and the different parts of the four-axis unmanned aerial vehicle Perform posture monitoring. In another embodiment, if the drone is a two-wing unmanned aircraft, the attitude sensor can be mounted on each side of the drone.

[0080] In the embodiment, the position data is at least one of an acceleration and an angular velocity of the preset position of the drone, wherein the acceleration is measured by an acceleration sensor in the attitude sensor, The angular velocity is measured by a gyroscope in the attitude sensor. In other embodiments, the location data may further include data related to the preset location, such as a height of the preset location from the ground, a distance from the ground control system, and the like.

[0081] The calculation module 420 is configured to calculate an attitude angle according to the location data.

[0082] In the present embodiment, the output of the acceleration sensor and the gyroscope in the attitude sensor is integrated to calculate Obtaining an attitude angle, wherein the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle, wherein the pitch angle, the roll angle, and the yaw angle are respectively preset positions of the drone around X, Υ, The angle formed by the rotation of the three axes respectively, the pitch angle, the roll angle, and the yaw angle reflect the posture of the preset position of the drone relative to the ground.

[0083] The adjustment module 430 is configured to adjust a posture of the preset position of the drone according to the posture angle.

[0084] In the embodiment, the drone needs to maintain a posture in various situations. For example, when the drone performs a shooting operation, it is necessary to maintain a certain posture to stabilize the shooting image; In the case of bad weather conditions, the drone needs to maintain a certain posture during flight to improve the anti-interference ability of the drone and prevent the drone from being damaged or unstable.

[0085] Specifically, if the pitch angle of the preset position of the drone is too large, it indicates that the preset position of the drone is too large relative to the horizontal plane, and may be stabilized by reducing the pitch angle. The attitude of the preset position; if the roll angle of the preset position of the drone is too large, it indicates that the angle of the preset position of the drone is too large, and the roll angle can be reduced to stabilize the The posture of the preset position; if the yaw angle of the preset position of the drone is too large, the preset position of the drone is deviated from the route, and the preset position of the drone may be adjusted according to the preset position The correct route travels.

[0086] In the embodiment, different posture sensors are provided at different positions on the drone, and the postures of the different positions are respectively adjusted to maintain the posture of each position of the drone, thereby maintaining the posture of the unmanned body. .

[0087] A UAV attitude maintaining device 400 according to an embodiment of the present invention can implement the UAV attitude maintaining method as shown in FIG. 1. For details, refer to FIG. 1 and related embodiments, and details are not described herein again.

[0088] As described above, a UAV attitude maintaining device according to an embodiment of the present invention obtains a position angle according to a preset position of a UAV measured by an attitude sensor, and calculates an attitude angle according to the position data, according to the The posture angle adjusts the posture of the preset position of the drone, and can effectively monitor the posture of each position of the drone, and adjust the posture of each position, so that the posture of the drone is kept more precise.

[0089] Referring to FIG. 5, FIG. 5 is another UAV attitude maintaining device according to an embodiment of the present invention. The device is applied to a UAV, and the difference between the device 500 and the device 400 shown in FIG. It also includes the following functional modules:

[0090] a second obtaining module 440, configured to acquire compensation data measured by the compensation sensor, where the compensation transmission The sensor is located within the attitude sensor distance threshold;

[0091] The calculation module is specifically configured to calculate a posture angle according to the position data and the compensation data

[0092] In this embodiment, the compensation sensor is located within the attitude sensor distance threshold, and may be configured to equidistantly set a plurality of compensation sensors within the measurement range of the attitude sensor, the composition of the compensation sensor and the The attitude sensor is the same and is used to measure the position data of the position where the compensation sensor is located. Since the flight condition of the UAV is very complicated, the position data provided by the compensation sensor is used as the compensation data of the position data measured by the attitude sensor, and by the compensation filtering process, a more accurate attitude angle can be calculated.

[0093] In the present embodiment, the attitude angle is calculated by integrating the output of the attitude sensor and the compensation sensor, and the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle, the pitch The angle, the roll angle, and the yaw angle are respectively formed by the rotation of the preset positions of the drone around the X, Υ, and 轴 axes, and the pitch angle, the roll angle, and the yaw angle reflect the angle The position of the drone's preset position relative to the ground.

[0094] The receiving module 450 is configured to receive a posture adjustment instruction of the user;

[0095] The adjustment module is specifically configured to adjust a posture of the preset position of the UAV according to the posture angle and the posture adjustment instruction.

[0096] In this embodiment, the user may issue an attitude adjustment command to the drone through a control terminal, such as a drone remote controller or a ground control system, and the user may according to the actual situation of the flight area of the drone, For example, a weather condition, a number of drones, a geographical situation, etc., to issue an attitude adjustment command to the drone, so that the drone adjusts the flight attitude according to the actual situation of the flight area or the user's demand.

[0097] In the embodiment, the attitude angle indicates a flight attitude of the drone, and different posture sensors on the unmanned aerial vehicle have different attitude sensors, and respectively adjust attitudes of different positions to maintain an unmanned position. The posture of each position of the machine, thereby maintaining the posture of the unmanned body, and the unmanned aerial vehicle adjusting the posture according to the posture adjustment command sent by the user can adapt the drone to the flight environment and the user's demand, Adjusting the man-machine according to the posture angle and the posture adjustment command can better maintain the posture of the preset position of the drone. [0098] It can be understood that the UAV posture maintaining device 500 of the embodiment of the present invention can implement the UAV attitude maintaining method as shown in FIG. 3, and specifically refer to FIG. 3 and related embodiments, where Repeat

[0099] As described above, a UAV attitude maintaining device according to an embodiment of the present invention acquires compensation data measured by a compensation sensor by acquiring position data of a preset position of the UAV measured by the attitude sensor, according to the position data and The compensation data calculates an attitude angle, receives a posture adjustment instruction of the user, adjusts a posture of the preset position of the drone according to the posture angle and the posture adjustment instruction, and can effectively monitor each position of the drone Attitude situation, and posture adjustment of each position, so that the attitude of the drone is kept more precise.

[0100] Those skilled in the art can understand that all or part of the process of implementing the above embodiments may be completed by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium. The program, after execution, may include the flow of an embodiment of the methods as described above. The storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only)

Memory, ROM) or Random Access Memory (RAM).

The above disclosure is only a preferred embodiment of the present invention, and of course, the scope of the present invention is not limited thereto, and those skilled in the art can understand all or part of the process of implementing the above embodiments, and Equivalent variations of the claims of the invention are still within the scope of the invention.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Attach 1] A method for maintaining a posture of a drone, comprising:

Obtaining position data of a preset position of the drone measured by the attitude sensor, wherein the attitude sensor has at least two, the posture sensor is located at different positions of the drone; and calculating a posture according to the position data Horn

Adjusting the posture of the preset position of the drone according to the posture angle.

[Claim 2] The method according to claim 1, wherein the position data is at least one of an acceleration and an angular velocity of the preset position of the UAV.

[Claim 3] The method according to claim 1, wherein the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.

[Claim 4] The method according to claim 1, wherein before the calculating the posture angle according to the position data, the method further includes:

Acquiring compensation data measured by the compensation sensor, wherein the compensation sensor is located within the attitude sensor distance threshold;

The calculating the attitude angle according to the position data is specifically: calculating an attitude angle according to the position data and the compensation data.

[Claim 5] The method according to claim 1, wherein before the adjusting the posture of the preset position of the drone according to the posture angle, the method further includes:

Receiving a posture adjustment instruction of the user;

The adjusting the posture of the preset position of the drone according to the posture angle is specifically: adjusting an attitude of the preset position of the drone according to the posture angle and the posture adjustment instruction.

[Claim 6] A UAV attitude maintaining device, comprising:

a first acquiring module, configured to acquire position data of a preset position of the drone measured by the attitude sensor, where the at least two posture sensors are located at different positions of the drone;

a calculation module, configured to calculate an attitude angle according to the position data;

And an adjustment module, configured to adjust a posture of the preset position of the drone according to the posture angle.

[Clave 7] The apparatus according to claim 6, wherein the position data is at least one of an acceleration and an angular velocity of the preset position of the UAV.

[Claim 8] The apparatus according to claim 6, wherein the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.

[Claim 9] The device according to claim 6, further comprising:

a second acquiring module, configured to acquire compensation data of the compensation sensor measurement, where the compensation sensor is located within the attitude sensor distance threshold;

The calculation module is specifically configured to calculate an attitude angle according to the position data and the compensation data.

[Claim 10] The device according to claim 6, further comprising:

a receiving module, configured to receive a posture adjustment instruction of the user;

The adjustment module is specifically configured to adjust a posture of the preset position of the drone according to the posture angle and the posture adjustment instruction.