WO2018103192A1 - Procédé et dispositif de maintien d'attitude de véhicule aérien sans pilote - Google Patents

Procédé et dispositif de maintien d'attitude de véhicule aérien sans pilote Download PDF

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Publication number
WO2018103192A1
WO2018103192A1 PCT/CN2017/073112 CN2017073112W WO2018103192A1 WO 2018103192 A1 WO2018103192 A1 WO 2018103192A1 CN 2017073112 W CN2017073112 W CN 2017073112W WO 2018103192 A1 WO2018103192 A1 WO 2018103192A1
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WIPO (PCT)
Prior art keywords
posture
drone
attitude
angle
sensor
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Application number
PCT/CN2017/073112
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English (en)
Chinese (zh)
Inventor
刘均
宋朝忠
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深圳市元征科技股份有限公司
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Publication of WO2018103192A1 publication Critical patent/WO2018103192A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability

Definitions

  • the present invention relates to the field of UAV control technology, and in particular, to a UAV attitude maintaining method and apparatus.
  • 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.
  • 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.
  • the present invention provides a UAV attitude maintaining method, including:
  • the location data is at least one of an acceleration and an angular velocity of the preset position of the drone
  • the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.
  • the method before the calculating the attitude angle according to the location data, the method further includes:
  • the posture of adjusting the preset position of the drone according to the posture angle is specifically:
  • the present invention provides a UAV attitude maintaining device, including:
  • 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
  • an adjustment module configured to adjust a posture of the preset position of the drone according to the posture angle.
  • the location data is at least one of an acceleration and an angular velocity of the preset position of the drone.
  • the attitude angle includes at least one of a pitch angle, a roll angle, and a yaw angle.
  • the method further includes:
  • 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;
  • the calculation module is specifically configured to calculate a posture angle according to the position data and the compensation data
  • the method further includes:
  • 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 UAV according to the posture angle and the posture adjustment instruction.
  • 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.
  • FIG. 1 is a flowchart of a method for maintaining a posture of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a specific application scenario
  • FIG. 3 is a flowchart of another UAV attitude maintaining method according to an embodiment of the present invention.
  • FIG. 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.
  • 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:
  • 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.
  • the attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor.
  • 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.
  • 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.
  • 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.
  • the attitude sensor can be mounted on each side of the drone.
  • 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.
  • 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.
  • S102 Calculating an attitude angle according to the location data.
  • 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, ⁇ , and ⁇ 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.
  • S103 Adjust a posture of the preset position of the drone according to the posture angle.
  • 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.
  • 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.
  • 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. .
  • a UAV attitude maintaining method 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.
  • 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:
  • 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.
  • the attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor.
  • 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.
  • 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.
  • 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.
  • the attitude sensor can be mounted on each side of the drone.
  • 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.
  • 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.
  • S302 Acquire compensation data measured by the compensation sensor, wherein the compensation sensor is located within the attitude sensor distance threshold.
  • S303 Calculate an attitude angle according to the location data and the compensation data.
  • 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.
  • 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, ⁇ , and ⁇ 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.
  • S304 Receive a posture adjustment instruction of the user.
  • 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.
  • a control terminal such as a drone remote controller or a ground control system
  • 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.
  • 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.
  • the attitude angle indicates a flight attitude of the drone
  • 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.
  • a UAV attitude maintaining method 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.
  • 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:
  • 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.
  • the attitude sensor is a combined sensor composed of a gyroscope and an acceleration sensor.
  • 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.
  • 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.
  • 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.
  • the attitude sensor can be mounted on each side of the drone.
  • 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.
  • 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.
  • the calculation module 420 is configured to calculate an attitude angle according to the location data.
  • 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, ⁇ ,
  • 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.
  • the adjustment module 430 is configured to adjust a posture of the preset position of the drone according to the posture angle.
  • 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.
  • 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.
  • 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. .
  • a UAV attitude maintaining device 400 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.
  • a UAV attitude maintaining device 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.
  • 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:
  • 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;
  • the calculation module is specifically configured to calculate a posture angle according to the position data and the compensation data
  • 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.
  • 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, ⁇ , and ⁇ 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.
  • the receiving module 450 is 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 UAV according to the posture angle and the posture adjustment instruction.
  • 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.
  • a control terminal such as a drone remote controller or a ground control system
  • the attitude angle indicates a flight attitude of the drone
  • 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.
  • 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
  • a UAV attitude maintaining device 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.
  • the storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only)
  • ROM Read Only Memory
  • RAM Random Access Memory

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de maintien d'une attitude d'un véhicule aérien sans pilote. Le procédé de maintien d'une attitude d'un véhicule aérien sans pilote comprend les étapes suivantes consistant : à obtenir des données de position d'une position prédéfinie d'un véhicule aérien sans pilote mesurée par des capteurs d'attitude, au moins deux capteurs d'attitude étant situés à différentes positions sur le véhicule aérien sans pilote (S101) ; à calculer un angle d'attitude en fonction des données de position (S102) ; et à régler l'attitude du véhicule aérien sans pilote à la position prédéfinie en fonction de l'angle d'attitude (S103). Le procédé de maintien d'une attitude d'un véhicule aérien sans pilote peut surveiller les attitudes d'un véhicule aérien sans pilote à différentes positions en temps réel et régler les attitudes à différentes positions, ce qui permet de maintenir plus précisément les attitudes du véhicule aérien sans pilote.
PCT/CN2017/073112 2016-12-06 2017-02-08 Procédé et dispositif de maintien d'attitude de véhicule aérien sans pilote WO2018103192A1 (fr)

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CN201611126229.5A CN106527464A (zh) 2016-12-06 2016-12-06 一种无人机姿态保持方法及装置
CN201611126229.5 2016-12-06

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Publication number Priority date Publication date Assignee Title
WO2019056172A1 (fr) * 2017-09-19 2019-03-28 深圳市大疆创新科技有限公司 Procédé de commande de vol de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations lisible par machine
CN112327895A (zh) * 2020-10-27 2021-02-05 北京三快在线科技有限公司 配送无人机控制方法、装置、电子设备

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US3819135A (en) * 1972-12-15 1974-06-25 Bendix Corp System for augmenting aircraft attitude stability using vertical vane type sensors
CN104503466A (zh) * 2015-01-05 2015-04-08 北京健德乾坤导航系统科技有限责任公司 一种微小型无人机导航装置
US20150360775A1 (en) * 2013-10-30 2015-12-17 Yusho Arai Vertical take-off and landing flight vehicle
CN205068169U (zh) * 2015-09-25 2016-03-02 南京航空航天大学 基于双余度姿态传感器的六旋翼无人机
CN105955305A (zh) * 2016-07-07 2016-09-21 苏州大学 一种四轴无人机
CN205675221U (zh) * 2016-02-22 2016-11-09 深圳市大疆创新科技有限公司 机架及使用该机架的无人机

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3819135A (en) * 1972-12-15 1974-06-25 Bendix Corp System for augmenting aircraft attitude stability using vertical vane type sensors
US20150360775A1 (en) * 2013-10-30 2015-12-17 Yusho Arai Vertical take-off and landing flight vehicle
CN104503466A (zh) * 2015-01-05 2015-04-08 北京健德乾坤导航系统科技有限责任公司 一种微小型无人机导航装置
CN205068169U (zh) * 2015-09-25 2016-03-02 南京航空航天大学 基于双余度姿态传感器的六旋翼无人机
CN205675221U (zh) * 2016-02-22 2016-11-09 深圳市大疆创新科技有限公司 机架及使用该机架的无人机
CN105955305A (zh) * 2016-07-07 2016-09-21 苏州大学 一种四轴无人机

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