WO2018214166A1 - 无人机航向确定方法和无人机 - Google Patents
无人机航向确定方法和无人机 Download PDFInfo
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- WO2018214166A1 WO2018214166A1 PCT/CN2017/086196 CN2017086196W WO2018214166A1 WO 2018214166 A1 WO2018214166 A1 WO 2018214166A1 CN 2017086196 W CN2017086196 W CN 2017086196W WO 2018214166 A1 WO2018214166 A1 WO 2018214166A1
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- heading angle
- angle
- heading
- function value
- trigonometric function
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- B64D47/08—Arrangements of cameras
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
Definitions
- the present invention relates to the field of drones, and in particular to a method for determining a heading of a drone and a drone.
- the drone To achieve autonomous navigation, the drone must be able to obtain the position and heading of the drone.
- the position of the drone is generally obtained by GPS (Global Positioning System, the abbreviation of Global Positioning System).
- the heading of the drone is generally driven by the electronic compass. It is obtained by fusion with IMU (Inertial Measurement Unit), or based on dual antenna RTK (real-time dynamic difference method, Real-time kinematic abbreviation) system.
- the electronic compass itself is easily disturbed and causes heading errors.
- the electronic compass interference is divided into two types: one is that the drone suddenly enters a strong magnetic field, for example, suddenly close to a strong magnet, and the measured heading suddenly becomes large. Jumping, this situation is easy to detect the wrong course; another case is a slow change error, such as the drone slowly approaching a volcano or mine (the volcano or the mine is magnetic, there is a magnetic field, the closer The crater, the stronger the magnetic charge, in this case, it is difficult to judge based on the data of the inertial navigation itself and the data of the electronic compass; when using the dual antenna RTK to measure the heading, the measurement accuracy is better when the number of satellites is small. Poor, noisy, and when the positioning data cannot be transmitted to the RTK system, the heading situation cannot be measured.
- Embodiments of the present invention provide a method for determining a heading of a drone and a drone to solve at least the prior art, which is caused by interference or the like, so that an electronic compass or a real-time dynamic difference method is used to measure a heading angle.
- the technical problem of the measured heading error of the drone is not limited.
- a method for determining a heading of a drone includes: acquiring a current first heading angle of the drone by the first sensing system, and acquiring the drone by the second sensing system. The current second heading angle; determining whether the second heading angle is valid according to the first heading angle; if the second heading angle is invalid, determining A heading angle is the current heading angle of the drone.
- a storage medium is provided, characterized in that the storage medium comprises a stored program, wherein the device in which the storage medium is located is controlled to execute the above-described drone heading determining method when the program is running.
- a processor configured to execute a program, wherein the program execution method performs the above-described drone heading determining method.
- a drone including a flight control center, the flight control center including a flight controller, a first sensing system, a second sensing system, and a communication system;
- the sensing system is configured to acquire the current first heading angle of the drone and transmit the first heading angle information to the flight controller;
- the second sensing system is configured to acquire the current second heading angle of the drone, and the second The heading angle information is transmitted to the flight controller;
- the flight controller includes a storage medium for storing the program, wherein the program is used to acquire the current first heading angle of the drone through the first sensing system, and
- the second sensing system acquires the current second heading angle of the drone, determines whether the second heading angle is valid according to the first heading angle, and determines the first heading angle as the current heading angle of the drone when the second heading angle is invalid.
- the communication system is used for communication between the flight controller, the first sensing system, and the second sensing system.
- the first heading angle of the drone is obtained by the first sensing system, and the current second heading angle of the drone is obtained by the second sensing system; and the second direction is determined according to the first heading angle. Whether the heading angle is valid; if the second heading angle is invalid, determining the first heading angle as the current heading angle of the drone, and determining whether the second heading angle obtained by the second sensing system is valid and invalid in the second heading angle.
- the first heading angle obtained by the first sensing system is used instead of the second heading angle, the accuracy of the drone heading is improved, the safety and reliability of the drone are improved, and the drone is avoided.
- FIG. 1 is a schematic diagram of a method for determining a heading of a drone according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a coordinate system in accordance with an embodiment of the present invention.
- FIG. 3 is a schematic diagram of an optional method for determining a heading of a drone according to an embodiment of the present invention
- FIG. 4 is a schematic diagram of an optional method for determining a heading of a drone according to an embodiment of the present invention
- FIG. 5 is a schematic diagram of a drone heading determining apparatus according to an embodiment of the present invention.
- Figure 6 is a schematic illustration of a drone in accordance with an embodiment of the present invention.
- a method embodiment of a method for determining a heading of a drone is provided. It is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions. And, although the logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.
- FIG. 1 is a method for determining a heading of a drone according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
- Step S102 acquiring a current first heading angle of the drone by the first sensing system, and acquiring a current second heading angle of the drone by the second sensing system;
- Step S104 determining whether the second heading angle is valid according to the first heading angle
- Step S106 If the second heading angle is invalid, determine that the first heading angle is the current heading angle of the drone.
- the first heading angle of the drone is obtained by the first sensing system, and the current second heading angle of the drone is obtained by the second sensing system; and the second direction is determined according to the first heading angle. Whether the heading angle is valid; if the second heading angle is invalid, it is determined that the first heading angle is the current heading angle of the drone, and the second pass of detection is reached. Whether the second heading angle obtained by the sensing system is valid and when the second heading angle is invalid, the first heading angle obtained by the first sensing system is used instead of the second heading angle, thereby realizing the heading of the drone.
- the first sensing system includes a visual positioning device and a satellite positioning device; the second sensing system includes a real-time dynamic differential device and/or an inertial measurement device.
- the satellite positioning device may be a GPS
- the real-time dynamic differential device may be an RTK system.
- the RTK system may be a dual-antenna RTK system
- the inertial measurement device may be an electronic compass, an IMU (Inertial Measurement Unit), or an electronic compass. Combined with IMU.
- the first sensing system is mainly used to acquire the current first heading angle of the drone, and in the case that the first sensing system includes a visual positioning device and a satellite positioning device, that is, through the visual positioning device And a satellite positioning device to obtain the current first heading angle of the drone, but the invention does not limit the manner in which the visual positioning device and the satellite positioning device are used to uniquely acquire the current first heading angle of the drone, and may also pass other devices.
- the current second flight angle of the drone can be obtained by other devices.
- the first sensing system includes a first heading measuring device and a second heading measuring device
- the step of acquiring the current first heading angle of the drone through the first sensing system in step S102 includes :
- Step S202 acquiring the speed of the drone in the world coordinate system by the first heading measuring device; and acquiring the speed of the drone in the body coordinate system by using the second heading measuring device;
- Step S204 determining the first heading angle according to the speed in the world coordinate system and the speed in the body coordinate system.
- the first heading measuring device may correspond to the satellite positioning device in the previous embodiment, that is, the speed of the drone in the world coordinate system is obtained by the method of satellite positioning
- the second heading measuring device may correspond to the previous implementation.
- the visual positioning device in the example obtains the speed of the drone in the body coordinate system by a visual method.
- obtaining the speed of the drone in the world coordinate system by the first heading measuring device may include the north direction speed and the east direction speed of the drone in the world coordinate system, and acquiring the drone in the air body by the second heading measuring device.
- the speed in the coordinate system may include the speed of the drone in the x-axis direction and the speed in the y-axis direction in the body coordinate system.
- step S204 includes:
- Step S302 determining a first trigonometric function value according to a speed in a world coordinate system and a speed in a body coordinate system;
- Step S304 determining a second trigonometric function value according to the speed in the world coordinate system and the speed in the body coordinate system;
- Step S306 determining a first heading angle according to the first trigonometric function value and the second trigonometric function value.
- the speed of the drone in the world coordinate system may include the northward speed and the eastward speed of the drone in the world coordinate system.
- the speed of the drone in the body coordinate system may include the speed of the drone in the x-axis direction of the body coordinate system and the speed of the y-axis direction, the speed of the drone in the world coordinate system, and the drone in the body
- W NOE represents the world coordinate system
- V n represents the northward speed of the drone in the world coordinate system
- V e represents the eastward speed of the drone in the world coordinate system
- V x represents the drone in The speed in the x-axis direction of the body coordinate system
- V y represents the speed of the drone in the y-axis direction of the body coordinate system
- ⁇ represents the first heading angle, that is, the angle between the direction of the drone's body and the north direction.
- V n , V e , V x , and V y are all known terms
- ⁇ is an unknown term.
- step S306 includes:
- Step S402 determining whether the first trigonometric function value and the second trigonometric function value are valid
- Step S404 if the first trigonometric function value and the second trigonometric function value are valid, calculating a first angle according to the first trigonometric function value, and obtaining a second angle according to the second trigonometric function value;
- Step S406 calculating a weighted average of the first angle and the second angle according to the preset weights of the first angle and the second angle, and determining that the weighted average is the first heading angle.
- the first angle obtained according to the first trigonometric function value under ideal conditions and the second angle calculated according to the second trigonometric function value should be equal.
- the first angle calculated according to the first trigonometric function value is not equal to the second angle calculated according to the second trigonometric function value, and when the first heading angle is obtained.
- the weights corresponding to the first angle and the second angle are preset, and the weighted average of the first angle and the second angle is taken as the first heading angle. It should be noted that the preset weights corresponding to the first angle and the second angle may be customized according to actual conditions.
- the speed of the drone in the world coordinate system may include a northbound speed and an eastward direction of the drone in the world coordinate system.
- Speed the speed of the drone in the body coordinate system may include the speed of the drone in the x-axis direction and the speed of the y-axis direction in the body coordinate system, and the above formula (2) may be further converted into the following formula (3) :
- ⁇ ' represents a second angle
- ⁇ " represents a first angle
- the corresponding ⁇ ' and ⁇ " can be obtained by obtaining an inverse sine and an inverse cosine, when the first angle and the second angle are
- the preset weight is 50%, that is, the mean value of the first angle and the second angle is determined as the first heading angle
- the formula for obtaining the first heading angle ⁇ is as follows:
- step S402 includes:
- Step S502 acquiring a first inverse trigonometric function value of the first trigonometric function value, and acquiring a second inverse trigonometric function value of the second trigonometric function value;
- Step S504 calculating a difference between the first inverse trigonometric function value and the second inverse trigonometric function value
- Step S506 determining whether the absolute value of the difference is smaller than a preset angle
- Step S508 if the absolute value is less than the preset angle, determining that the first trigonometric function value and the second trigonometric function value are valid.
- the preset angle can be customized according to the actual situation.
- the first trigonometric function value is a sine value and the second trigonometric function value is a cosine value.
- step S402 includes:
- Step S602 determining whether the sum of the squares of the first trigonometric function value and the second trigonometric function value is within a preset range
- Step S604 if the sum of squares is within a preset range, determining that the first trigonometric function value and the second trigonometric function value are valid.
- the first heading angle derived by the first trigonometric function value and the second trigonometric function can be guaranteed to be valid, and the second heading angle is invalid if the second heading angle is invalid.
- the second heading angle ensures that the drone can fly stably.
- the first trigonometric function value is a sine value
- the second trigonometric function value is a cosine value
- the speed of the drone in the world coordinate system may include the northward speed and the eastward speed of the drone in the world coordinate system.
- the speed of the drone in the body coordinate system may include the speed of the unmanned aircraft in the x-axis direction and the speed of the y-axis direction in the body coordinate system.
- a performance function formula may be preset, The performance function formula determines whether the first trigonometric function value and the second trigonometric function value are valid.
- the performance function formula may be a sum of squares of the sine and cosine values, that is, the following formula:
- the accuracy of the first heading angle can be determined by the magnitude of f.
- the preset range can be set between 0.9 and 1.1, and the sum of the square of the first trigonometric function value and the second trigonometric function value is considered to be
- the first heading angle determined by a trigonometric function value and a second trigonometric function value is accurate. It should be noted here that the preset range can be customized according to the actual situation.
- the determining method further includes the following steps: Step S108, if the second heading angle is valid, calculating the first heading angle and the first according to the preset weights of the first heading angle and the second heading angle The weighted average of the two heading angles and determines that the weighted average is the current heading angle of the drone.
- the first heading angle when the second heading angle is valid, the first heading angle may be used as the current heading angle of the drone, or the second heading angle may be used as the current heading angle of the drone, but in order to improve the current heading of the drone
- the weights of the first heading angle and the second heading angle may be preset, and the weighted average of the first heading angle and the second heading angle is taken as the current heading angle of the drone. It should be noted that the preset weights corresponding to the first heading angle and the second heading angle can be customized according to actual conditions.
- the step of determining, according to the first heading angle, whether the second heading angle is valid according to the step S104 includes:
- Step S702 determining whether an error occurs in the second heading angle according to an angle between the first heading angle and the second heading angle
- Step S704 if an error occurs in the second heading angle, it is determined that the second heading angle is invalid.
- step S702 includes:
- Step S802 determining whether an angle between the first heading angle and the second heading angle is greater than a preset threshold
- Step S804 if the angle between the first heading angle and the second heading angle is greater than a preset threshold, it is determined that an error occurs in the second heading angle.
- the preset threshold can be customized according to the actual situation. For example, the preset threshold can be set to 5 degrees, 10 degrees, etc., if the angle between the first head angle and the second head angle is greater than a preset threshold. , the second heading angle is wrong, the current heading of the drone is abnormal. If the angle between the first heading angle and the second heading angle is less than or equal to the preset threshold, the second heading angle is correct, and the current heading of the drone normal.
- step S702 includes:
- Step S902 determining, in the preset time period, whether an angle between the first heading angle and the second heading angle continues to be greater than a preset threshold
- Step S904 if the angle between the first heading angle and the second heading angle continues to be greater than a preset threshold, it is determined that an error occurs in the second heading angle.
- the preset time period can be customized according to the actual situation, for example, it can be set to 2 seconds.
- the step of acquiring the current first heading angle of the drone in step S102 includes: step S1002, acquiring the current first heading angle of the drone at a preset frequency.
- the preset frequency can be customized according to the actual situation.
- the speed of the drone in the world coordinate system may be acquired by the first heading measuring device, and specifically may include the north direction of the drone in the world coordinate system of the drone. And the eastward speed, and then the speed of the drone in the body coordinate system is obtained by the second heading measuring device, specifically the speed of the drone in the x-axis and the y-axis direction of the body coordinate system, and then according to the drone in the world.
- the relationship between the velocity in the coordinate system, the velocity in the body coordinate system and the first heading angle, according to the speed in the world coordinate system and the coordinate system The speed determines the first heading angle, and determines the accuracy of the first heading angle according to the performance function formula.
- the first calculated result is obtained.
- the heading angle is accurate. After that, as shown in FIG. 4, after determining the first heading angle according to the speed in the world coordinate system and the speed in the body coordinate system, the first heading angle can be calculated and passed through the real-time dynamic difference device and/or Or the second sensing system of the inertial measurement device acquires the angle of the obtained second heading angle, and determines whether the angle is greater than a certain threshold value V1, such as 5 degrees, and if so, the first heading angle is wrong, and is used at this time. The first heading angle replaces the second heading angle.
- V1 a certain threshold value
- the step of determining the first heading angle according to the speed in the world coordinate system and the speed in the body coordinate system may be returned. Perform the calculation and judgment steps of the angle of the heading angle calculated by the two methods.
- FIG. 5 is a drone heading determining apparatus according to an embodiment of the present invention.
- the apparatus includes a first acquiring module. a first determining module, wherein the first obtaining module is configured to acquire a current first heading angle of the drone through the first sensing system, and acquire the current current state of the drone through the second sensing system a second heading angle; the first determining module is configured to determine whether the second heading angle is valid according to the first heading angle; and the first determining module is configured to determine that the first heading angle is a drone when the second heading angle is invalid Current heading angle.
- the first acquiring module acquires the current first heading angle of the drone through the first sensing system, and acquires the current second heading angle of the drone through the second sensing system; the first determining module Determining whether the second heading angle is valid according to the first heading angle; if the second heading angle is invalid, the first determining module determines that the first heading angle is the current heading angle of the drone, and the second obtained by detecting the second sensing system is obtained.
- the first heading angle obtained by the first sensing system is used instead of the second heading angle, thereby realizing the accuracy of ensuring the heading of the drone and improving the unmanned
- the safety and reliability of the machine avoids the danger of the drone, enabling the drone to safely stabilize the technical effect of the flight, thereby solving the problem of the prior art, causing the electronic compass or real-time dynamic difference due to interference and other factors.
- the technical problem of the measured heading error of the drone When measuring the heading angle, etc., the technical problem of the measured heading error of the drone.
- the first acquiring module, the first determining module, and the first determining module may be run in a computer terminal as part of the device, and the function implemented by the module may be executed by a processor in the computer terminal, the computer
- the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a mobile Internet device (MID), a PAD, and the like.
- the first sensing system includes a visual positioning device and a satellite positioning device; the second sensing system includes a real-time dynamic differential device and/or an inertial measurement device.
- the first sensing system includes a first heading measuring device and a second heading measuring device
- the first acquiring module includes: a second acquiring module, configured to acquire the unmanned by the first heading measuring device The speed of the machine in the world coordinate system; and the speed of the drone in the body coordinate system is obtained by the second heading measuring device; the second determining module is configured to determine the speed according to the world coordinate system and the speed in the body coordinate system First heading angle.
- the foregoing second obtaining module and the second determining module may be run in a computer terminal as part of the device, and the functions implemented by the above module may be performed by a processor in the computer terminal, and the computer terminal may also be intelligent.
- Mobile devices such as Android phones, iOS phones, etc.
- tablets such as Samsung Galaxy Tabs, Samsung Galaxy Tabs, etc.
- mobile Internet devices Mobile Internet Devices, MID
- PAD PAD and other terminal devices.
- the second determining module includes: a third determining module, configured to determine a first trigonometric function value according to a speed in a world coordinate system and a speed in a body coordinate system; and a fourth determining module, The second trigonometric function value is determined according to the speed in the world coordinate system and the speed in the body coordinate system; and the fifth determining module is configured to determine the first heading angle according to the first trigonometric function value and the second trigonometric function value.
- the third determining module, the fourth determining module, and the fifth determining module may be run in the computer terminal as part of the device, and the function implemented by the module may be performed by a processor in the computer terminal, the computer
- the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a mobile Internet device (MID), a PAD, and the like.
- the fifth determining module includes: a second determining module, configured to determine whether the first trigonometric function value and the second trigonometric function value are valid; and the first calculating module, configured to be in the first trigonometric function When the value and the second trigonometric function value are valid, the first angle is obtained according to the first trigonometric function value, the second angle is obtained according to the second trigonometric function value, and the sixth determining module is configured to be used according to the first angle and the second angle.
- the preset weight calculates a weighted average of the first angle and the second angle, and determines that the weighted average is the first heading angle.
- the foregoing second determining module, the first calculating module and the sixth determining module may be run in a computer terminal as part of the device, and the function implemented by the module may be executed by a processor in the computer terminal, the computer
- the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a mobile Internet device (MID), a PAD, and the like.
- the second determining module includes: a third obtaining module, configured to acquire a first inverse trigonometric function value of the first trigonometric function value, and obtain a second inverse trigonometric function of the second trigonometric function value a second calculation module, configured to calculate a difference between the first inverse trigonometric function value and the second inverse trigonometric function value; and a third determining module, configured to determine whether the absolute value of the difference value is smaller than a preset angle; the seventh determining module And determining that the first trigonometric function value and the second trigonometric function value are valid when the absolute value is less than the preset angle.
- the fixed module can be run in the computer terminal as part of the device, and the functions implemented by the above module can be executed by a processor in the computer terminal, and the computer terminal can also be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm. Computers and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- the first trigonometric function value is a sine value and the second trigonometric function value is a cosine value.
- the second determining module includes: a fourth determining module, configured to determine whether a sum of squares of the first trigonometric function value and the second trigonometric function value is in a preset range; When the sum of squares is within a preset range, it is determined that the first trigonometric function value and the second trigonometric function value are valid.
- the fourth determining module and the eighth determining module may be run in a computer terminal as part of the device, and the functions implemented by the foregoing module may be performed by a processor in the computer terminal, and the computer terminal may also be intelligent.
- Mobile devices such as Android phones, iOS phones, etc.
- tablets such as Samsung Galaxy Tabs, Samsung Galaxy Tabs, etc.
- mobile Internet devices Mobile Internet Devices, MID
- PAD PAD and other terminal devices.
- the preset range is from 0.9 to 1.1.
- the determining device further includes a ninth determining module, configured to calculate the first heading angle according to the preset weights of the first heading angle and the second heading angle when the second heading angle is valid A weighted average of the second heading angle and determining the weighted average as the current heading angle of the drone.
- the ninth determining module may be run in a computer terminal as part of the device, and the function implemented by the module may be performed by a processor in the computer terminal, and the computer terminal may also be a smart phone (such as an Android mobile phone). , iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- a smart phone such as an Android mobile phone. , iOS phones, etc.
- tablets PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- the first determining module includes: a tenth determining module, configured to determine whether an error occurs in the second heading angle according to an angle between the first heading angle and the second heading angle; the eleventh determining module For determining that the second heading angle is invalid if an error occurs in the second heading angle.
- the tenth determining module and the eleventh determining module may be run in a computer terminal as part of the device, and the functions implemented by the foregoing module may be performed by a processor in the computer terminal, and the computer terminal may also be Smartphones (such as Android phones, iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- the eleventh determining module includes: a fifth determining module, configured to determine whether an angle between the first heading angle and the second heading angle is greater than a preset threshold; When the angle between the first heading angle and the second heading angle is greater than a preset threshold, it is determined that an error occurs in the second heading angle.
- the fifth determining module and the twelfth determining module may be run in a computer terminal as part of the device, and the functions implemented by the foregoing module may be performed by a processor in the computer terminal, and the computer terminal may also be Smartphones (such as Android phones, iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- Smartphones such as Android phones, iOS phones, etc.
- tablets such as PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- the eleventh determining module includes: a sixth determining module, configured to determine, in the preset time period, whether an angle between the first heading angle and the second heading angle continues to be greater than a preset threshold And a thirteenth determining module, configured to determine that an error occurs in the second heading angle if an angle between the first heading angle and the second heading angle continues to be greater than a preset threshold.
- the sixth judging module and the thirteenth determining module may be run in a computer terminal as part of the device, and the functions implemented by the module may be performed by a processor in the computer terminal, and the computer terminal may also be Smartphones (such as Android phones, iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- Smartphones such as Android phones, iOS phones, etc.
- tablets such as Samsung Galaxy S, etc.
- PDAs personal digital assistants
- mobile Internet devices Mobile Internet Devices, MID
- PAD PAD and other terminal devices.
- the first obtaining module includes: a fourth acquiring module, configured to acquire a current first heading angle of the drone at a preset frequency.
- the foregoing fourth obtaining module may be run in a computer terminal as part of the device, and the function implemented by the above module may be executed by a processor in the computer terminal, and the computer terminal may also be a smart phone (such as an Android mobile phone). , iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- a smart phone such as an Android mobile phone. , iOS phones, etc.), tablets, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal devices.
- a product embodiment of a storage medium comprising a stored program, wherein the device in which the storage medium is located is controlled to execute the above-described drone heading determination method when the program is running.
- a product embodiment of a processor for running a program wherein the program execution method performs the above-described drone heading determination method.
- a product implementation of a terminal includes a first obtaining module, a first determining module, a first determining module, and a processor, where the first obtaining module is configured to pass the first pass
- the sensing system acquires the current first heading angle of the drone, and acquires the current second heading angle of the drone through the second sensing system
- the first determining module is configured to determine whether the second heading angle is valid according to the first heading angle
- a first determining module configured to determine a first heading angle as a current heading angle of the drone if the second heading angle is invalid
- a processor a processor running program, wherein the program is running from the first acquiring module, a judging module and a first determining module output
- the data is executed by the above-described drone determination method.
- a product implementation of a terminal includes a first obtaining module, a first determining module, a first determining module, and a storage medium, where the first obtaining module is configured to pass the first pass.
- the sensing system acquires the current first heading angle of the drone, and acquires the current second heading angle of the drone through the second sensing system;
- the first determining module is configured to determine whether the second heading angle is valid according to the first heading angle a first determining module, configured to determine a first heading angle as a current heading angle of the drone if the second heading angle is invalid, and a storage medium for storing the program, wherein the program is in operation from the first acquiring module,
- the data output by the first determining module and the first determining module performs the above-described drone heading determining method.
- FIG. 6 is a drone according to an embodiment of the present invention.
- the drone includes a flight control center, and the flight control center includes a flight controller, a first sensing system, a second sensing system, and a communication system;
- the first sensing system is configured to acquire a current first heading angle of the drone, and transmit the first heading angle information to the flight controller;
- the second sensing system is configured to acquire a current second heading angle of the drone and transmit the second heading angle information to the flight controller;
- the flight controller includes a storage medium, and the storage medium is used to store the program, wherein the program runs
- the first heading angle of the drone is obtained by the first sensing system, and the current second heading angle of the drone is obtained by the second sensing system, and whether the second heading angle is valid according to the first heading angle is determined.
- the communication system is used for communication between the flight controller
- the first sensing system includes a visual positioning device and a satellite positioning device; the second sensing system includes a real-time dynamic differential device and/or an inertial measurement device.
- the first sensing system includes a first heading measuring device and a second heading measuring device; the first heading measuring device is configured to acquire a speed of the drone in the world coordinate system; The measuring device is configured to acquire the speed of the drone in the body coordinate system; the flight controller is configured to acquire the drone through the first heading measuring device when acquiring the current first heading angle of the drone through the first sensing system.
- the speed in the world coordinate system, and the speed of the drone in the body coordinate system are obtained by the second heading measuring device, and the first heading angle is determined according to the speed in the world coordinate system and the speed in the body coordinate system.
- the flight controller is configured to use the speed in the world coordinate system and the speed in the body coordinate system when determining the first heading angle according to the speed in the world coordinate system and the speed in the body coordinate system. Determining a first trigonometric function value; determining a second trigonometric function value according to the velocity in the world coordinate system and the velocity in the body coordinate system; determining the first heading angle according to the first trigonometric function value and the second trigonometric function value.
- the flight controller is configured to determine whether the first trigonometric function value and the second trigonometric function value are valid when determining the first heading angle according to the first trigonometric function value and the second trigonometric function value;
- the first trigonometric function value and the second trigonometric function value are valid, the first angle is obtained according to the first trigonometric function value, and the second angle is obtained according to the second trigonometric function value;
- the preset weight according to the first angle and the second angle A weighted average of the first angle and the second angle is calculated and the weighted average is determined to be the first heading angle.
- the flight controller is configured to obtain a first inverse trigonometric function value of the first trigonometric function value and obtain a second triangle when determining whether the first trigonometric function value and the second trigonometric function value are valid a second inverse trigonometric function value of the function value; calculating a difference between the first inverse trigonometric function value and the second inverse trigonometric function value; determining whether the absolute value of the difference value is less than a preset angle; if the absolute value is less than the preset angle, determining A trigonometric function value and a second trigonometric function value are valid.
- the first trigonometric function value is a sine value and the second trigonometric function value is a cosine value.
- the flight controller is configured to determine whether the sum of the squares of the first trigonometric function value and the second trigonometric function value is preset when determining whether the first trigonometric function value and the second trigonometric function value are valid. Range; if the sum of squares is in the preset range, it is determined that the first trigonometric function value and the second trigonometric function value are valid.
- the preset range is from 0.9 to 1.1.
- the flight controller is further configured to calculate the first heading angle and the second heading angle according to the preset weights of the first heading angle and the second heading angle when the second heading angle is valid The weighted average is determined and the weighted average is determined to be the current heading angle of the drone.
- the flight controller determines whether the second heading angle is incorrect according to the angle between the first heading angle and the second heading angle when determining whether the second heading angle is valid according to the first heading angle. If an error occurs in the second heading angle, it is determined that the second heading angle is invalid.
- the flight controller is configured to determine the first heading angle and the second heading angle when determining whether the second heading angle is in error according to the angle between the first heading angle and the second heading angle. Whether the angle is greater than a preset threshold; if the angle between the first heading angle and the second heading angle is greater than a preset threshold, determining that the second heading angle is in error.
- the flight controller determines the first heading angle for a preset period of time when determining whether the second heading angle has an error according to the angle between the first heading angle and the second heading angle. Whether the angle between the second heading angle and the second heading angle continues to be greater than a preset threshold; if the angle between the first heading angle and the second heading angle continues to be greater than a preset threshold, determining that the second heading angle is in error.
- the first sensing system is configured to acquire the current first heading angle of the drone at a preset frequency when acquiring the current first heading angle of the drone.
- the various functional units provided by the embodiments of the present application may be operated in a mobile terminal, a computer terminal, or the like, or may be stored as part of a storage medium.
- embodiments of the present invention may provide a computer terminal, which may be any computer terminal device in a group of computer terminals.
- a computer terminal may also be replaced with a terminal device such as a mobile terminal.
- the computer terminal may be located in at least one network device of the plurality of network devices of the computer network.
- the computer terminal may execute the program code of the following steps in the unmanned aircraft heading determining method: acquiring the current first heading angle of the drone through the first sensing system, and acquiring the second sensing system by the second sensing system The current second heading angle of the man-machine; determining whether the second heading angle is valid according to the first heading angle; if the second heading angle is invalid, determining that the first heading angle is the current heading angle of the drone.
- the computer terminal can include: one or more processors, memory, and transmission means.
- the memory can be used to store the software program and the module, such as the unmanned aircraft heading determining method and the program instruction/module corresponding to the device in the embodiment of the present invention, and the processor executes the software program and the module stored in the memory, thereby executing each A functional application and data processing, that is, the above-described method for determining the heading of the drone.
- the memory may include a high speed random access memory, and may also include non-volatile memory such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
- the memory can further include memory remotely located relative to the processor, which can be connected to the terminal over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
- the above transmission device is for receiving or transmitting data via a network.
- Specific examples of the above network may include a wired network and a wireless network.
- the transmission device includes a Network Interface Controller (NIC) that can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network.
- the transmission device is a Radio Frequency (RF) module for communicating with the Internet wirelessly.
- NIC Network Interface Controller
- RF Radio Frequency
- the memory is used to store preset action conditions and information of the preset rights user, and an application.
- the processor can call the memory stored information and the application by the transmitting device to execute the program code of the method steps of each of the alternative or preferred embodiments of the above method embodiments.
- the computer terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a mobile Internet device (MobileInternetDevices, Terminal devices such as MID) and PAD.
- a smart phone such as an Android phone, an iOS phone, etc.
- a tablet computer such as a Samsung Galaxy Tabs, etc.
- a mobile Internet device MobileInternetDevices, Terminal devices such as MID) and PAD.
- Embodiments of the present invention also provide a storage medium.
- the foregoing storage medium may be used to save the program code executed by the unmanned aircraft heading determining method provided by the foregoing method embodiment and the device embodiment.
- the foregoing storage medium may be located in any one of the computer terminal groups in the computer network, or in any one of the mobile terminal groups.
- the storage medium is configured to store program code for performing the following steps: acquiring the current first heading angle of the drone by the first sensing system, and acquiring by the second sensing system The current second heading angle of the drone; determining whether the second heading angle is valid according to the first heading angle; if the second heading angle is invalid, determining the first heading angle as the current heading angle of the drone.
- the storage medium may also be configured to store program code for various preferred or optional method steps provided by the drone heading determination method.
- the drone heading determining device comprises a processor and a memory, wherein the first obtaining module, the first determining determining module and the first determining module are stored in the memory as a program unit, and the program unit stored in the memory is executed by the processor. .
- the processor contains a kernel, and the kernel removes the corresponding program unit from the memory.
- the kernel can be set to one or more, and it is possible to aggregate access paths of any length by adjusting the kernel parameters.
- the memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory (flash RAM), the memory including at least one Memory chip.
- RAM random access memory
- ROM read only memory
- flash RAM flash memory
- the present application also provides an embodiment of a computer program product, when executed on a data processing device, adapted to perform program code initialization with the following method steps: acquiring the current first of the drone through the first sensing system a heading angle, and obtaining a current second heading angle of the drone through the second sensing system; determining whether the second heading angle is valid according to the first heading angle; if the second heading angle is invalid, determining the first heading angle as a drone The current heading angle.
- the disclosed technical contents may be implemented in other manners.
- the device embodiments described above are only schematic.
- the division of the unit may be a logical function division.
- there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
- the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
- the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
- a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
- the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .
Abstract
Description
Claims (30)
- 一种无人机航向确定方法,其特征在于,包括如下步骤:通过第一传感系统获取无人机当前的第一航向角,以及通过第二传感系统获取所述无人机当前的第二航向角;根据所述第一航向角判断所述第二航向角是否有效;若所述第二航向角无效,确定所述第一航向角为所述无人机的当前航向角。
- 根据权利要求1所述的确定方法,其特征在于:所述第一传感系统包括视觉定位装置和卫星定位装置;所述第二传感系统包括实时动态差分装置和/或惯性测量装置。
- 根据权利要求1所述的确定方法,其特征在于,所述第一传感系统包括第一航向测量装置和第二航向测量装置,所述通过第一传感系统获取无人机当前的第一航向角的步骤包括:通过所述第一航向测量装置获取所述无人机在世界坐标系下的速度;以及通过所述第二航向测量装置获取所述无人机在机体坐标系下的速度;根据所述世界坐标系下的速度、所述机体坐标系下的速度确定所述第一航向角。
- 根据权利要求3所述的确定方法,其特征在于,所述根据所述世界坐标系下的速度、所述机体坐标系下的速度确定所述第一航向角的步骤包括:根据所述世界坐标系下的速度、所述机体坐标系下的速度确定第一三角函数值;根据所述世界坐标系下的速度、所述机体坐标系下的速度确定第二三角函数值;根据所述第一三角函数值和所述第二三角函数值确定所述第一航向角。
- 根据权利要求4所述的确定方法,其特征在于,所述根据所述第一三角函数值和所述第二三角函数值确定所述第一航向角的步骤包括:判断所述第一三角函数值和所述第二三角函数值是否有效;若所述第一三角函数值和所述第二三角函数值有效,根据所述第一三角函数值计算获得第一角度,根据所述第二三角函数值计算获得第二角度;根据所述第一角度和所述第二角度的预设权值计算所述第一角度和所述第二角度的加权平均值,并确定该加权平均值为所述第一航向角。
- 根据权利要求5所述的确定方法,其特征在于,所述判断所述第一三角函数值和所述第二三角函数值是否有效的步骤包括:获取所述第一三角函数值的第一反三角函数值,以及获取所述第二三角函数值的第二反三角函数值;计算所述第一反三角函数值与所述第二反三角函数值的差值;判断所述差值的绝对值是否小于预设角度;若所述绝对值小于所述预设角度,确定所述第一三角函数值和所述第二三角函数值有效。
- 根据权利要求4-6中任意一项所述的确定方法,其特征在于,所述第一三角函数值为正弦值,所述第二三角函数值为余弦值。
- 根据权利要求5或6所述的确定方法,其特征在于,所述判断所述第一三角函数值和所述第二三角函数值是否有效的步骤包括:判断所述第一三角函数值与所述第二三角函数值的平方和是否在预设范围;若所述平方和在预设范围,确定所述第一三角函数值和所述第二三角函数值有效。
- 根据权利要求8所述的确定方法,其特征在于:所述预设范围为0.9-1.1。
- 根据权利要求1所述的确定方法,其特征在于,还包括如下后续步骤:若所述第二航向角有效,根据所述第一航向角和所述第二航向角的预设权值计算所述第一航向角和所述第二航向角的加权平均值,并确定该加权平均值为所述无人机的当前航向角。
- 根据权利要求1所述的确定方法,其特征在于,所述根据所述第一航向角判断所述第二航向角是否有效的步骤包括:根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生 错误;若所述第二航向角发生错误,则确定所述第二航向角无效。
- 根据权利要求11所述的确定方法,其特征在于,所述根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生错误的步骤包括:判断所述第一航向角和所述第二航向角的夹角是否大于预设阈值;若所述第一航向角和所述第二航向角的夹角大于所述预设阈值,确定所述第二航向角发生错误。
- 根据权利要求12所述的确定方法,其特征在于,所述根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生错误的步骤包括:在预设时间段内,判断所述第一航向角和所述第二航向角的夹角是否持续大于所述预设阈值;若所述第一航向角和所述第二航向角的夹角持续大于所述预设阈值,确定所述第二航向角发生错误。
- 根据权利要求1所述的确定方法,其特征在于,所述获取无人机当前的第一航向角的步骤包括:以预设频率获取所述无人机当前的第一航向角。
- 一种存储介质,其特征在于,所述存储介质包括存储的程序,其中,在所述程序运行时控制所述存储介质所在设备执行权利要求1至14中任意一项所述的无人机航向确定方法。
- 一种处理器,其特征在于,所述处理器用于运行程序,其中,所述程序运行时执行权利要求1至14中任意一项所述的无人机航向确定方法。
- 一种无人机,其特征在于,所述无人机包括飞行控制中心,所述飞行控制中心包括飞行控制器、第一传感系统、第二传感系统和通讯系统;所述第一传感系统用于获取所述无人机当前的第一航向角,并将所述第一航向角信息传输至所述飞行控制器;所述第二传感系统用于获取所述无人机当前的第二航向角,并将所述第二航向角信息传输至所述飞行控制器;所述飞行控制器,包括存储介质,该存储介质用于存储程序,其中所述程序 运行时用于通过所述第一传感系统获取所述无人机当前的第一航向角,以及通过所述第二传感系统获取所述无人机当前的第二航向角,根据所述第一航向角判断所述第二航向角是否有效,并在所述第二航向角无效时确定所述第一航向角为所述无人机的当前航向角;所述通讯系统用于所述飞行控制器、所述第一传感系统、所述第二传感系统之间的通讯。
- 根据权利要求17所述的无人机,其特征在于:所述第一传感系统包括视觉定位装置和卫星定位装置;所述第二传感系统包括实时动态差分装置和/或惯性测量装置。
- 根据权利要求17所述的无人机,其特征在于,所述第一传感系统包括第一航向测量装置和第二航向测量装置;所述第一航向测量装置用于获取所述无人机在世界坐标系下的速度;所述第二航向测量装置用于获取所述无人机在机体坐标系下的速度;所述飞行控制器在通过第一传感系统获取无人机当前的第一航向角时,用于通过所述第一航向测量装置获取所述无人机在世界坐标系下的速度,以及通过所述第二航向测量装置获取所述无人机在机体坐标系下的速度,根据所述世界坐标系下的速度、所述机体坐标系下的速度确定所述第一航向角。
- 根据权利要求19所述的无人机,其特征在于,所述飞行控制器在根据所述世界坐标系下的速度、所述机体坐标系下的速度确定所述第一航向角时用于根据所述世界坐标系下的速度、所述机体坐标系下的速度确定第一三角函数值;根据所述世界坐标系下的速度、所述机体坐标系下的速度确定第二三角函数值;根据所述第一三角函数值和所述第二三角函数值确定所述第一航向角。
- 根据权利要求20所述的无人机,其特征在于,所述飞行控制器在根据所述第一三角函数值和所述第二三角函数值确定所述第一航向角时用于判断所述第一三角函数值和所述第二三角函数值是否有效;若所述第一三角函数值和所述第二三角函数值有效,根据所述第一三角函数值计算获得第一角度,根据所述第二三角函数值计算获得第二角度;根据所述第一角度和所述第二角度的预设权值计算所述第一角度和所述第二角度的加权平均值,并确定所述加权平均值为所述第一航向角。
- 根据权利要求21所述的无人机,其特征在于,所述飞行控制器在判断所述第一三 角函数值和所述第二三角函数值是否有效时用于获取所述第一三角函数值的第一反三角函数值,以及获取所述第二三角函数值的第二反三角函数值;计算所述第一反三角函数值与所述第二反三角函数值的差值;判断所述差值的绝对值是否小于预设角度;若所述绝对值小于所述预设角度,确定所述第一三角函数值和所述第二三角函数值有效。
- 根据权利要求20-22中任意一项所述的无人机,其特征在于,所述第一三角函数值为正弦值,所述第二三角函数值为余弦值。
- 根据权利要求21或22所述的无人机,其特征在于,所述飞行控制器在判断所述第一三角函数值和所述第二三角函数值是否有效时用于判断所述第一三角函数值与所述第二三角函数值的平方和是否在预设范围;若所述平方和在预设范围,确定所述第一三角函数值和所述第二三角函数值有效。
- 根据权利要求24所述的无人机,其特征在于:所述预设范围为0.9-1.1。
- 根据权利要求17所述的无人机,其特征在于,所述飞行控制器还用于在所述第二航向角有效时,根据所述第一航向角和所述第二航向角的预设权值计算所述第一航向角和所述第二航向角的加权平均值,并确定该加权平均值为所述无人机的当前航向角。
- 根据权利要求17所述的无人机,其特征在于,所述飞行控制器在根据所述第一航向角判断所述第二航向角是否有效时用于根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生错误;若所述第二航向角发生错误,则确定所述第二航向角无效。
- 根据权利要求27所述的无人机,其特征在于,所述飞行控制器在根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生错误时用于判断所述第一航向角和所述第二航向角的夹角是否大于预设阈值;若所述第一航向角和所述第二航向角的夹角大于所述预设阈值,确定所述第二航向角发生错误。
- 根据权利要求28所述的无人机,其特征在于,所述飞行控制器在根据所述第一航向角和所述第二航向角的夹角确定所述第二航向角是否发生错误时用于在预设时间段内,判断所述第一航向角和所述第二航向角的夹角是否持续大于所述预设阈值;若所述第一航向角和所述第二航向角的夹角持续大于所述预设阈值,确定所述第二航向角发生错误。
- 根据权利要求17所述的无人机,其特征在于,所述第一传感系统在获取无人机当前的第一航向角时用于以预设频率获取所述无人机当前的第一航向角。
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