WO2021078002A1 - 无人机航向角初值选取方法、装置及无人机 - Google Patents

无人机航向角初值选取方法、装置及无人机 Download PDF

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Publication number
WO2021078002A1
WO2021078002A1 PCT/CN2020/118848 CN2020118848W WO2021078002A1 WO 2021078002 A1 WO2021078002 A1 WO 2021078002A1 CN 2020118848 W CN2020118848 W CN 2020118848W WO 2021078002 A1 WO2021078002 A1 WO 2021078002A1
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Prior art keywords
heading angle
drone
initial value
heading
uav
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PCT/CN2020/118848
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English (en)
French (fr)
Inventor
李颖杰
张添保
陈刚
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深圳市道通智能航空技术有限公司
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Publication of WO2021078002A1 publication Critical patent/WO2021078002A1/zh

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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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • 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
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for selecting an initial value of the heading angle of an unmanned aerial vehicle and the unmanned aerial vehicle.
  • the heading control of a multi-rotor UAV is directly related to the flight stability and flight safety of the UAV.
  • the yaw angle that is, the heading angle
  • the magnetometer measures the earth's magnetic field data, and the three-axis magnetic readings it gives are very easily affected by the environment, so the given initial value often deviates from the true heading.
  • the drone flies other sensors participate in the heading angle fusion process, and accurate heading angle information will be obtained.
  • the aircraft When the heading angle has a large deviation from the initial heading angle given by the magnetometer, the aircraft will make a large amount of heading.
  • the correction is reflected in the flight process, that is, the heading angle will have a large change, ranging from flying slash, to serious, such as the loss of control caused by the large correction of the heading angle.
  • the accuracy of the initial value of the heading angle directly affects the flight safety and flight quality of the multi-rotor UAV from taking off to obtaining the multi-sensor fusion heading angle. Therefore, how to give the initial value of the heading angle to minimize and avoid The initial value error has become an important task.
  • embodiments of the present invention provide a method, device and drone for selecting the initial value of the drone's heading angle to improve the accuracy of the initial value of the drone's heading angle.
  • a method for selecting the initial value of the heading angle of the drone includes:
  • the heading of the drone is determined.
  • the flight environment information includes flight altitude
  • the method further includes:
  • the flying height threshold is 1.5-2m.
  • the given initial value of the heading angle according to the flight environment information includes:
  • the current heading angle of the drone is acquired, and the current heading angle is used as the initial value of the heading angle.
  • the determining the heading of the drone according to the corrected heading angle includes:
  • the updating the airframe attitude of the drone according to the current airframe attitude of the drone and the corrected heading angle includes:
  • r is the quaternion with the Z-axis of the drone as the axis of rotation
  • q 0 is the quaternion of the current body attitude of the drone
  • q is the updated body of the drone Posture quaternion.
  • the quaternion with the Z axis of the drone as the rotation axis is calculated by the following formula:
  • ⁇ 0 is the yaw angle
  • r is a quaternion with the UAV Z axis as the rotation axis.
  • the method before the acquiring flight environment information of the drone, the method further includes:
  • the flight environment information includes magnetic field information
  • the given initial value of the heading angle includes:
  • a device for selecting the initial value of the heading angle of the drone includes:
  • the environmental information detection module is used to obtain the flight environment information of the UAV
  • the heading angle setting module is used to set the initial value of the heading angle according to the flight environment information
  • the data fusion module is used to perform data fusion between the data collected by the sensor and the initial value of the heading angle to obtain the corrected heading angle;
  • the heading determination module is used to determine the heading of the UAV according to the corrected heading angle.
  • a storage module is further included, and the storage module is used to store the flying height threshold and the preset magnetic field condition.
  • the flying height threshold is 1.5-2m.
  • the magnetic field information includes a flying height
  • the heading angle setting module includes a flying height judging unit and a heading angle setting unit
  • the flying height determining unit is used to determine whether the flying height reaches the flying height threshold
  • the heading angle setting unit is used to obtain the current heading angle of the drone when the flying height of the drone reaches the flying height threshold, and use the current heading angle as the initial value of the heading angle.
  • the magnetic field information includes magnetic field information
  • the heading angle setting module further includes a magnetic field information judging unit and a heading angle determining unit;
  • the magnetic field information judging unit is used to judge whether the magnetic field information satisfies a preset magnetic field condition
  • the heading angle determination unit is used to obtain the current heading angle of the UAV, and use the current heading angle as the initial value of the heading angle.
  • the heading determination module includes a fuselage attitude update unit and a heading update unit;
  • the fuselage posture updating unit is used to update the fuselage posture of the drone according to the current fuselage posture of the drone and the corrected heading angle;
  • the heading update unit is used to determine the heading of the drone according to the updated body attitude of the drone.
  • the fuselage attitude update unit is specifically configured to obtain the quaternion of the fuselage attitude of the current drone
  • r is the quaternion with the Z-axis of the drone as the axis of rotation
  • q 0 is the quaternion of the current body attitude of the drone
  • q is the updated body of the drone Posture quaternion.
  • an unmanned aerial vehicle includes:
  • An arm connected to the fuselage
  • the power device is arranged on the arm and is used to provide power for the drone to fly;
  • a magnetometer set on the fuselage, used to obtain the initial value of the heading angle of the drone
  • a variety of sensors are provided on the fuselage for collecting corresponding flight data respectively.
  • the flight controller is located on the fuselage
  • the flight controller includes:
  • a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor can be used to execute the above The method of determining the heading of the UAV.
  • the method for selecting the initial value of the heading angle of the drone obtained by the embodiment of the present invention obtains the flight environment information of the drone, and then eliminates the influence of the external environment on the magnetometer according to the flight environment information.
  • the magnetometer can give a more accurate initial value of the heading angle to provide the UAV for data fusion, which enables the UAV to take off in a ground environment with magnetic interference.
  • the heading angle is still accurate, reducing the number of unmanned aircraft. The probability of the aircraft taking off in a ground environment with magnetic interference improves flight safety.
  • FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for selecting an initial value of a heading angle of a drone according to an embodiment of the present invention
  • FIG. 3 is a graph of UAV flight height versus flight time provided by an embodiment of the present invention.
  • FIG. 4 is a graph of three-axis readings of a UAV magnetometer versus flight time according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of one embodiment of S22 in FIG. 2;
  • FIG. 6 is a schematic flowchart of another embodiment of S22 in FIG. 2;
  • Fig. 7 is a schematic diagram of the flow of S24 in Fig. 2;
  • FIG. 8 is a schematic diagram of the flow of S241 in FIG. 7;
  • FIG. 9 is a structural block diagram of a device for selecting an initial value of a heading angle of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Fig. 10 is a structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a method and device for selecting the initial value of the heading angle of the drone.
  • the method and device can eliminate the influence of the external environment on the magnetometer by adjusting the flying height of the drone, so that the magnetometer can give A more accurate initial value of the heading angle is provided to the UAV 10 for data fusion, which realizes that the UAV 10 takes off in a ground environment with magnetic interference.
  • the heading angle still has a certain degree of accuracy, which reduces the UAV 10
  • the probability of a bomber taking off in a ground environment with magnetic interference improves flight safety.
  • the following examples illustrate the application environment of the method and device for selecting the initial value of the UAV heading angle.
  • FIG. 1 is a schematic diagram of the application environment of the system for selecting the initial value of the UAV heading angle provided by the embodiment of the present invention; as shown in FIG. 1, the application scenario includes the UAV 10, the wireless network 20, the intelligent terminal 30 and the user 40 .
  • the user 40 can operate the smart terminal 30 to control the drone 10 through the wireless network 20.
  • the UAV 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary wing UAV, a fixed wing UAV, an umbrella wing UAV, a flapping wing UAV, and a helicopter model.
  • a multi-rotor drone is taken as an example for presentation.
  • the unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use.
  • One or more functional modules may be added to the UAV 10 to enable the UAV 10 to implement corresponding functions.
  • the drone 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.
  • the unmanned aerial vehicle 10 is provided with an information receiving device, which receives and processes the information collected by the at least one sensor described above.
  • the unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use.
  • One or more sensors may be added to the UAV 10 to enable the UAV 10 to implement corresponding functions.
  • the drone 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.
  • the UAV 10 also includes a flight controller, which serves as the control core of the UAV flight and data transmission, and integrates one or more modules to execute corresponding logic control programs.
  • a flight controller which serves as the control core of the UAV flight and data transmission, and integrates one or more modules to execute corresponding logic control programs.
  • the smart terminal 30 may be any type of smart device used to establish a communication connection with the drone 10, such as a mobile phone, a tablet computer, or a smart remote control.
  • the smart terminal 30 may be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.
  • buttons, display screens, touch screens, speakers, and remote control joysticks include but are not limited to: buttons, display screens, touch screens, speakers, and remote control joysticks.
  • the smart terminal 30 may be equipped with a touch screen, through which the user 40 receives the remote control instruction of the drone 10 and displays the image information obtained by aerial photography to the user 40 through the touch screen. The user 40 can also Switch the image information currently displayed on the display screen through the remote control touch screen.
  • the UAV 10 and the smart terminal 30 can also integrate existing image visual processing technologies to further provide more intelligent services.
  • the UAV 10 may collect images through a dual-lens camera, and the smart terminal 30 may analyze the images, so as to realize the gesture control of the UAV 10 by the user 40.
  • the wireless network 20 may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof located in different signal frequency bands.
  • Fig. 2 is an embodiment of a method for selecting an initial value of a heading angle of a drone provided by an embodiment of the present invention. As shown in Figure 2, the method for selecting the initial value of the UAV heading angle includes the following steps:
  • the flight environment information refers to the take-off point of the UAV 10 or the surrounding environment information during take-off, and the flight environment information includes, but is not limited to, flight altitude, magnetic field strength, wind speed, air pressure, temperature, weather, and so on.
  • the flight environment information can be obtained through different detection devices according to different flight environment information.
  • the detection device can be any one of a barometer, an electronic compass, a wind speed sensor, an air pressure sensor, a temperature sensor, a humidity and a detector, etc. There are multiple, and the present invention does not make specific restrictions. Since different detection devices can perform different detections on the flight environment, different flight environment information can be obtained.
  • the initial value of the heading angle can be obtained through a variety of sensors, such as an electronic compass, a magnetometer, an acceleration sensor, etc., but the aforementioned multiple sensors are all easily affected by the external environment ,
  • the heading angle cannot be obtained accurately, which affects the stability and reliability of the attitude estimation. Since such errors are random, they cannot be eliminated in advance.
  • the magnetometer is susceptible to interference from the magnetic field generated by the surrounding environment (such as high-voltage lines, iron ore factories, etc.), thereby affecting the output of the heading angle. Since such errors are random, they cannot be eliminated in advance.
  • other reasons such as ground fluctuations and the shaking of the UAV 10 body cause the turbulence of the carrier attached to the electronic compass, and the heading angle obtained by the electronic compass shows large fluctuations.
  • the influence of the external environment on the magnetometer is eliminated by adjusting the flight environment information, so that the magnetometer can give more accurate magnetic field information, so that the updated initial value of the heading angle is also more accurate.
  • the heading angle obtained by the electronic compass may also be processed and corrected by using the median method and the Kalman filter to obtain a more accurate heading angle.
  • the above-mentioned sensors include at least one of an accelerometer, a magnetometer, a gyroscope, a locator, and a vision sensor.
  • the technology of data fusion is to analyze, sort, and fuse the data collected by sensors.
  • Multi-sensor fusion data can correct the initial value of the heading angle, thereby giving more accurate heading angle data.
  • the data collected by the sensor and the initial value of the heading angle can be processed by a variety of different data fusion algorithms, such as: weighted average method, normalized weighted average method, Kalman filter, and extended Kalman filter.
  • data fusion is performed on the data collected by multiple sensors based on the weighted average method.
  • the first step is to initialize the various software and hardware to be used, such as sensor initialization and Kalman filter initialization, etc.
  • the second step is to obtain IMU data, and then use this part of the data to make a judgment to see if Attitude angle compensation is required. If compensation is required, what is the specific value
  • the third step is to obtain the data collected by sensors such as accelerometer, magnetometer, gyroscope, locator and vision sensor, and perform relevant weighting for this part of the data value.
  • the averaging operation performs Kalman filtering on the obtained data value to generate the corrected heading angle.
  • a body coordinate system needs to be established before the drone heading is determined.
  • the body coordinate system is fixedly connected to the drone, the body coordinate system conforms to the right-hand rule, the origin is at the center of gravity of the drone, and the X axis Point to the forward direction of the drone, the Y axis points from the origin to the right side of the drone, and the Z axis direction is determined by the right-hand rule according to the X and Y axes.
  • a sixth-order EKF Extended Kalman Filter
  • the heading of the drone can also be determined according to the current quaternion of the fuselage attitude of the drone 10 and the yaw angle. There is no limitation here.
  • the flight environment information of the drone is obtained, and then the influence of the external environment on the magnetometer is eliminated according to the flight environment information, so that the magnetometer can give a more accurate initial value of the heading angle to the drone.
  • the human-machine data fusion realizes that the drone takes off in a ground environment with magnetic interference, and the heading angle is still accurate, which reduces the probability of drones taking off in a ground environment with magnetic interference, and improves Flight safety.
  • before acquiring the flight environment information of the drone it includes: after the drone is turned on, initializing the initial value of the heading angle, and the initial value of the heading angle is given by a magnetometer.
  • the method before acquiring the flight environment information of the drone, the method further includes: presetting the flying height threshold of the drone 10.
  • the flying height threshold of the drone 10 is 1.5-2 m, and the flying height threshold is derived from the existing flight data of the drone 10.
  • Figure 3 shows the altitude information of the drone during a flight
  • Figure 4 shows the corresponding three-axis readings of the magnetometer during the flight.
  • the UAV 10 only changes the altitude, and does not perform actions in the roll and pitch channels.
  • hAGL represents the fusion altitude
  • hBaro represents the barometer altitude.
  • X represents the magnetic induction reading of the X axis of the magnetometer
  • Y represents the magnetic induction reading of the Y axis of the magnetometer
  • the Z axis represents the magnetic induction reading of the Z axis of the magnetometer.
  • the initial value of the heading angle can be updated by judging the flying height of the drone.
  • S22 includes the following steps:
  • S221 Determine whether the flying height reaches the flying height threshold.
  • an air pressure detecting device may be used to detect the flight height of the drone 10, which includes a barometer, a sensor protection cover and a pipe.
  • the barometer is sealed in the sensor protection cover, and is installed in the sensor protection cover together with the sensor protection cover.
  • On the human-machine 10, one end of the conduit is connected with the sensor protection cover, and the other end extends upward after passing through the sensor protection cover.
  • the sensor protection cover and duct are provided, and the nozzle position at the top of the duct is set to extend upward, so as to effectively isolate the external environment of the barometer from the turbulence generated by the rotation of the blades, thereby avoiding the barometer from being inadequate. Stabilize the interference of the atmospheric pressure environment, which helps to ensure the accurate detection of the atmospheric pressure height.
  • At least two sensors such as air pressure detection device, accelerometer, GPS and ultrasonic can be used at the same time, and then complementary filtering or Kalman filtering can be used to fuse the data of these sensors to correct each other, and finally obtain the flight of UAV 10 height.
  • a magnetometer is used to detect the magnetic field parameters of the drone 10, and the magnetic field parameters include magnetic field strength and magnetic field inclination.
  • the flying height threshold of the drone 10 is 1.5-2m.
  • the flying height of the drone reaches the flying height threshold, the impact of the take-off ground environment on the magnetometer is already very weak.
  • the heading angle obtained by the magnetometer is more accurate, and this heading angle is used as the initial value of the heading angle to complete the update of the initial value of the heading angle.
  • the flying height of the UAV is much higher than the altitude of 1.5-2m, so updating the initial value of the heading angle at the altitude of 1.5-2m will not affect the normal flight.
  • the flying height threshold can be set according to the take-off ground environment. For example, when the take-off ground environment contains a lot of metal or other magnetic objects (such as high-voltage lines, iron ore factories, etc.), the take-off ground environment has a negative impact on the magnetic force. The magnetic field interference generated by the meter is strong, and the flying height threshold can be increased, for example, to 3-5m. For another example, when the take-off ground environment contains less metal or other magnetic objects, and the magnetic field generated by the magnetometer is weakly interfered by the take-off ground environment, the flying height threshold can be reduced, for example, to 1-1.4m .
  • the influence of the external environment on the magnetometer is eliminated by adjusting the flying height of the drone, so that the magnetometer can give a more accurate initial value of the heading angle and provide the drone 10 for data fusion. Therefore, the UAV 10 takes off in a ground environment with magnetic interference, and the heading angle still has a certain degree of accuracy, which reduces the probability of bombing of the UAV 10 taking off in a ground environment with magnetic interference, and improves flight safety.
  • the initial value of the heading angle can be updated by judging the magnetic field information.
  • S22 includes the following steps:
  • the magnetic field information includes information such as magnetic flux density, magnetomotive force, and magnetic field strength in the surrounding environment of the drone.
  • the magnetic flux density is proportional to the magnetic field strength.
  • the above-mentioned magnetic field information can be measured by torque magnetometers, rotating coil magnetometers, fluxgate magnetometers, Hall effect magnetometers, Hall effect magnetometers, nuclear magnetic resonance magnetometers and magnetic potential meters, etc. Obtained by a magnetic field detection device.
  • the preset magnetic field conditions can be preset according to actual conditions, for example, the preset magnetic field strength is 45 ⁇ T, and then the magnetic field strength in the obtained magnetic field information is compared with the preset magnetic field strength.
  • the judgment condition that the magnetic field information satisfies the preset magnetic field condition can be set as required.
  • at least one magnetic field parameter of the magnetic flux density, magnetomotive force, and magnetic field intensity can be preset, and then the obtained magnetic field information can be compared with the preset magnetic flux density, magnetomotive force, and magnetic field intensity at least one magnetic field parameter. Then it is determined whether the magnetic field information satisfies a preset magnetic field condition.
  • the magnetic field information when the obtained current magnetic field strength is greater than the preset magnetic field strength, it is determined that the magnetic field information does not meet the preset magnetic field conditions; when the obtained current magnetic field strength is less than or equal to the preset magnetic field strength, then It is determined that the magnetic field information has met the preset magnetic field condition.
  • the influence of the external environment on the magnetometer is eliminated according to the magnetic field information, so that the magnetometer can give a more accurate initial value of the heading angle and provide the drone 10 for data fusion, thereby realizing unmanned
  • the heading angle still has a certain degree of accuracy, which reduces the probability of bombing the drone 10 taking off in a ground environment with magnetic interference and improves flight safety.
  • S24 includes the following steps:
  • S241 Update the airframe attitude of the drone according to the current airframe attitude of the drone and the corrected heading angle.
  • S242 Determine the heading of the drone according to the updated body attitude of the drone.
  • S241 includes the following steps:
  • the quaternion with the Z axis of the drone as the rotation axis is calculated by the following formula:
  • ⁇ 0 is the yaw angle
  • r is a quaternion with the UAV Z axis as the rotation axis.
  • r is the quaternion with the Z-axis of the drone as the axis of rotation
  • q 0 is the quaternion of the current body attitude of the drone
  • q is the updated body of the drone Posture quaternion.
  • the embodiment of the present application provides a device 90 for selecting the initial value of the heading angle of the drone.
  • the device 90 for selecting the initial value of the UAV heading angle includes: an environmental information detection module 91, a heading angle setting module 92, a data fusion module 93, and a heading determination module 94.
  • the environment information detection module 91 is used to obtain flight environment information of the drone.
  • the heading angle setting module 92 is used for setting the initial value of the heading angle according to the flight environment information.
  • the data fusion module 93 is used to perform data fusion between the data collected by the sensor and the initial value of the heading angle to obtain the corrected heading angle.
  • the heading determination module 94 is configured to determine the heading of the UAV 10 according to the corrected heading angle.
  • the heading angle setting module 92 when the heading angle setting module 92 receives the environmental information detected by the environment information detection module 91, the heading angle setting module 92 updates the initial value of the heading angle according to the environmental information of the drone; Then the data fusion module 93 respectively performs data fusion between the received initial value of the heading angle and the data collected by the sensor to obtain the corrected heading angle; finally, the heading determination module 94 is used to determine the heading angle according to the corrected heading angle.
  • the flight environment information of the drone is acquired, and then the influence of the external environment on the magnetometer is eliminated according to the flight environment information, so that the magnetometer can provide more accurate initial value of the heading angle.
  • Data fusion for the UAV realizes that the UAV takes off in a ground environment with magnetic interference, and the heading angle still has a certain degree of accuracy, which reduces the probability of the UAV taking off in a ground environment with magnetic interference. Improved flight safety.
  • the device 90 for selecting the initial value of the UAV heading angle further includes a storage module 95 for storing the flying height threshold and the preset magnetic field condition.
  • the flying height threshold is 1.5-2m.
  • the heading angle setting module 92 includes a flying height judging unit and a heading angle setting unit.
  • the flying height determining unit is used to determine whether the flying height reaches the flying height threshold.
  • the heading angle setting unit is used to obtain the current heading angle of the drone when the flying height of the drone reaches the flying height threshold, and use the current heading angle as the initial value of the heading angle.
  • the heading angle given module 92 further includes a magnetic field information judging unit and a heading angle determining unit.
  • the flying height determining unit is used to determine whether the magnetic field information satisfies a preset magnetic field condition.
  • the heading angle setting unit is used to obtain the current heading angle of the UAV, and use the current heading angle as the initial value of the heading angle.
  • the heading determination module 94 includes a fuselage attitude update unit and a heading update unit.
  • the fuselage posture updating unit is used to update the fuselage posture of the drone 10 according to the current fuselage posture of the drone 10 and the corrected heading angle.
  • the heading update unit is used to determine the heading of the drone 10 according to the updated body attitude of the drone 10.
  • the fuselage attitude update unit is specifically used to obtain the current quaternion q 0 of the fuselage attitude of the drone 10; according to the initial value of the heading angle and the corrected heading angle, the heading deflection angle ⁇ is obtained 0 ; According to the yaw angle ⁇ 0 , the quaternion with the UAV 10Z axis as the rotation axis is obtained:
  • FIG. 10 is a structural block diagram of the unmanned aerial vehicle 10 provided by an embodiment of the present invention.
  • the drone 10 can be used to implement all or part of the functions of the main control chip.
  • the drone 10 may include: the drone 10 may include: a fuselage, an arm, a power unit, a magnetometer, various sensors, a flight controller, and a communication module 130.
  • the flight controller includes a processor 110 and a memory 120.
  • the arm is connected with the fuselage; the power device is arranged on the arm, and is used to provide power for the drone to fly.
  • the magnetometer is used to obtain the initial value of the heading angle of the drone.
  • the multiple types of sensors are used to collect corresponding flight data, and the multiple types of sensors may be accelerometers, gyroscopes, magnetometers, GPS navigators, and vision sensors.
  • the processor 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.
  • the processor 110 may be of any type, and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.
  • the memory 120 can be used to store non-transient software programs, non-transitory computer executable programs and modules, such as the method for selecting the initial value of the drone heading angle in the embodiment of the present invention Corresponding program instructions/modules (for example, the environmental information detection module 91, the heading angle given module 92, the data fusion module 93, the heading determination module 94, and the storage module 95 shown in FIG. 9).
  • the processor 110 executes various functional applications and data processing of the UAV heading angle initial value selection device 90 by running the non-transient software programs, instructions, and modules stored in the memory 120, that is, realizing any of the foregoing method embodiments The method of selecting the initial value of the UAV heading angle.
  • the memory 120 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store the use of the selection device 90 according to the initial value of the UAV heading angle. Created data, etc.
  • the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 120 may optionally include memories remotely provided with respect to the processor 110, and these remote memories may be connected to the drone 10 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the memory 120 stores instructions that can be executed by the at least one processor 110; the at least one processor 110 is used to execute the instructions to implement the method for selecting the initial value of the drone heading angle in any of the foregoing method embodiments For example, the steps 21, 22, 23, 24, etc. of the method described above are executed to realize the functions of the modules 91-95 in FIG. 9.
  • the communication module 130 is a functional module used to establish a communication connection and provide a physical channel.
  • the communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.
  • the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors.
  • 110 is executed, for example, executed by a processor 110 in FIG. 6, so that the above-mentioned one or more processors 110 can execute the method for selecting the initial value of the drone heading angle in any of the above-mentioned method embodiments, for example, execute the above-described method Steps 21, 22, 23, 24, etc. realize the functions of modules 91-95 in FIG. 9.
  • the device embodiments described above are merely illustrative.
  • 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, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product.
  • the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
  • the above-mentioned products can execute the method for selecting the initial value of the heading angle of the drone provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the method for selecting the initial value of the heading angle of the drone.
  • the method for selecting the initial value of the heading angle of the drone provided in the embodiment of the present invention.

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Abstract

一种无人机（10）航向角初始值选取方法、装置及无人机（10）。方法包括获取无人机（10）的飞行环境信息（S21）；根据飞行环境信息，给定航向角初值（S22）；将传感器采集的传感器数据与航向角初值进行数据融合，得到修正后的航向角（S23）；根据修正后的航向角，确定无人机（10）的航向（S24）。方法通过获取无人机（10）的飞行环境信息，进而根据飞行环境信息来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机（10）进行数据融合，实现了无人机（10）在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机（10）在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。

Description

无人机航向角初值选取方法、装置及无人机
本申请要求于2019年10月22日提交中国专利局、申请号为201911006614.X、申请名称为“无人机航向角初值选取方法、装置及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及无人机技术领域，尤其涉及一种无人机航向角初值选取方法、装置及无人机。
【背景技术】
多旋翼无人机航向控制，直接关系到无人机的飞行稳定性和飞行安全性。无人机滚转、俯仰、偏航三个姿态通道中，偏航角度，即航向角，由磁力计给出初值，其他传感器对其进行后期修正最终得到融合后的航向角。磁力计测量地磁场数据，其给出的三轴磁读数极易受环境影响，所以其给定的初值往往会偏离真正的航向。随着无人机飞行，其他传感器参与航向角融合过程，准确的航向角信息会被获得，当该航向角与磁力计给定的初始航向角具有较大偏差时，飞机会对航向进行大幅度修正，体现在飞行过程中，就是航向角会出现较大的变化，轻则飞斜线，重则出现诸如航向角大幅修正导致的失控炸机。
航向角初始值的准确程度直接影响了多旋翼无人机从起飞到获得多传感器融合航向角这一过程中的飞行安全和飞行品质，因此，如何给定航向角初值，尽量减小和避免初值误差，成为一项重要工作。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种提高无人机的航向角初始值精确度的无人机航向角初值选取方法、装置及无人机。
为解决上述技术问题，本发明实施例提供以下技术方案：一种无人机航向角初值选取方法。所述无人机航向角初始值选取方法包括：
获取无人机的飞行环境信息；
根据所述飞行环境信息，给定航向角初值；
将传感器采集的传感器数据与所述航向角初值进行数据融合，得到修正后的航向角；
根据所述修正后的航向角，确定所述无人机的航向。
可选地，所述飞行环境信息包括飞行高度；
在所述获取无人机的飞行环境信息之前，所述方法还包括：
初始化所述无人机的飞行高度阈值。
可选地，所述飞行高度阈值为1.5-2m。
可选地，所述根据所述飞行环境信息，给定航向角初值，包括：
判断所述飞行高度是否达到所述飞行高度阈值；
当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
可选地，所述根据所述修正后的航向角，确定所述无人机的航向，包括：
根据无人机的当前机身姿态和所述修正后的航向角，更新所述无人机的机身姿态；
根据更新后的所述无人机的机身姿态，确定所述无人机的航向。
可选地，所述根据无人机的当前机身姿态和所述修正后的航向角，更新所述无人机的机身姿态，包括：
获取所述无人机的当前机身姿态的四元数；
根据所述航向角初值和所述修正后的航向角，得到航向偏角；
根据所述航向偏角，得到以无人机Z轴为转轴的四元数：
通过如下算式，确定更新后的所述无人机的机身姿态四元数：q＝r*q 0；
其中，r为以所述无人机Z轴为转轴的四元数，q 0为当前所述无人机的机身姿态的四元数，q为更新后的所述无人机的机身姿态四元数。
可选地，通过如下算式，计算得到以所述无人机Z轴为转轴的四元数：
Figure PCTCN2020118848-appb-000001
其中，ψ 0为所述航向偏角，r为以所述无人机Z轴为转轴的四元数。
可选地，在所述获取无人机的飞行环境信息之前，所述方法还包括：
所述无人机开机后，初始化所述航向角初值。
可选地，所述飞行环境信息包括磁场信息；
所述根据所述飞行环境信息，给定航向角初值，包括：
判断所述磁场信息是否满足预设磁场条件；
若是，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值；
若否，继续获取无人机的磁场信息。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人机航向角初值选取装置。所述无人机航向角初值选取装置包括：
环境信息检测模块，用于获取无人机的飞行环境信息；
航向角给定模块，用于根据所述飞行环境信息，给定航向角初值；
数据融合模块，用于将传感器采集的数据与所述航向角初值进行数据融合，得到修正后的航向角；
航向确定模块，用于根据所述修正后的航向角，确定所述无人机的航向。
可选地，还包括存储模块，所述存储模块用于存储飞行高度阈值和预设磁场条件。
可选地，所述飞行高度阈值为1.5-2m。
可选地，所述磁场信息包括飞行高度，所述航向角给定模块包括飞行高度判断单元和航向角给定单元；
所述飞行高度判断单元用于判断所述飞行高度是否达到所述飞行高度阈值；
所述航向角给定单元用于当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
可选地，所述磁场信息包括磁场信息，所述航向角给定模块还包括磁场信息判断单元和航向角确定单元；
所述磁场信息判断单元用于判断所述磁场信息是否满足预设磁场条件；
所述航向角确定单元用于获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
可选地，航向确定模块包括机身姿态更新单元和航向更新单元；
所述机身姿态更新单元用于根据当前无人机的机身姿态和所述修正后的航向角，更新所述无人机的机身姿态；
所述航向更新单元用于根据更新后的所述无人机的机身姿态，确定所述无人机的航向。
可选地，机身姿态更新单元具体用于获取当前所述无人机的机身姿态的四元数；
根据所述航向角初值和所述修正后的航向角，得到航向偏角；
根据所述航向偏角，得到以无人机Z轴为转轴的四元数：
通过如下算式，确定更新后的所述无人机的机身姿态四元数：
q＝r*q 0；
其中，r为以所述无人机Z轴为转轴的四元数，q 0为当前所述无人机的机身姿态的四元数，q为更新后的所述无人机的机身姿态四元数。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人机。所述无人机包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂，用于给所述无人机提供飞行的动力；
磁力计，设于所述机身，用于获取所述无人机的航向角初值；
多种传感器，设于所述机身，用于分别采集相应的飞行数据；以及
飞行控制器，设于所述机身；
所述飞行控制器包括：
处理器；以及
与所述处理器通信连接的存储器；其中，所述存储器存储有可被所述处理器执行的指令，所述指令被所述处理器执行，以使所述处理器能够用于执行如上所述的无人机航向确定方法。
与现有技术相比较，本发明实施例的提供无人机航向角初始值选取方法通过获取无人机的飞行环境信息，进而根据所述飞行环境信息来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机进行数据融合，实现了无人机在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明实施例的应用环境示意图；
图2为本发明实施例提供的无人机航向角初值选取方法的流程示意图；
图3为本发明实施例提供的无人机飞行高度-飞行时间的曲线图；
图4为本发明实施例提供的无人机的磁力计三轴读数-飞行时间的曲线图；
图5是图2中S22的其中一实施例的流程示意图；
图6是图2中S22的另一实施例的流程示意图；
图7是图2中S24的流程示意图；
图8是图7中S241的流程示意图；
图9为本发明实施例提供的无人机航向角初值选取装置的结构框图；
图10为本发明实施例提供的无人机的结构框图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。 本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
本发明实施例提供了一种无人机航向角初值选取方法和装置，所述方法和装置可以通过调整所述无人机飞行高度来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机10进行数据融合，实现了无人机10在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机10在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。以下举例说明所述无人机航向角初值选取方法和装置的应用环境。
图1是本发明实施例提供的无人机航向角初值选取系统的应用环境的示意图；如图1所示，所述应用场景包括无人机10、无线网络20、智能终端30以及用户40。用户40可操作智能终端30通过无线网络20操控所述无人机10。
无人机10可以是以任何类型的动力驱动的无人飞行载具，包括但不限于旋翼无人机、固定翼无人机、伞翼无人机、扑翼无人机以及直升机模型等。在本实施例中以多旋翼无人机为例进行陈述。
该无人机10可以根据实际情况的需要，具备相应的体积或者动力，从而提供能够满足使用需要的载重能力、飞行速度以及飞行续航里程等。无人机10上还可以添加有一种或者多种功能模块，令无人机10能够实现相应的功能。
例如，在本实施例中，该无人机10设置有加速度计、陀螺仪、磁力计、GPS导航仪和视觉传感器中的至少一种传感器。相对应地，该无人机10设置有信息接收装置，接收并处理上述至少一种传感器采集的信息。
该无人机10可以根据实际情况的需要，具备相应的体积或者动力，从而提供能够满足使用需要的载重能力、飞行速度以及飞行续航里程等。无人机10上还可以添加有一种或者多种传感器，令无人机10能够实现相应的功能。
例如，在本实施例中，该无人机10设置有加速度计、陀螺仪、磁力计、GPS导航仪和视觉传感器中的至少一种传感器。
无人机10还包括飞行控制器，作为无人机飞行和数据传输等的控制核心，整合一个或者多个模块，以执行相应的逻辑控制程序。
智能终端30可以是任何类型，用以与无人机10建立通信连接的智能装置，例如手机、平板电脑或者智能遥控器等。该智能终端30可以装配有一种或者多种不同的用户40交互装置，用以采集用户40指令或者向用户40展示和反馈信息。
这些交互装置包括但不限于：按键、显示屏、触摸屏、扬声器以及遥控操作杆。例如，智能终端30可以装配有触控显示屏，通过该触控显示屏接收用户40对无人机10的遥控指令并通过触控显示屏向用户40展示航拍获得的图像信息，用户40还可以通过遥控触摸屏切换显示屏当前显示的图像信息。
在一些实施例中，无人机10与智能终端30之间还可以融合现有的图像视觉处理技术，进一步的提供更智能化的服务。例如无人机10可以通过双光相机采集图像的方式，由智能终端30对图像进行解析，从而实现用户40对于无人机10的手势控制。
无线网络20可以是基于任何类型的数据传输原理，用于建立两个节点之间的数据传输信道的无线通信网络，例如位于不同信号频段的蓝牙网络、WiFi网络、无线蜂窝网络或者其结合。
图2为本发明实施例提供的无人机航向角初值选取方法的实施例。如图2所示，该无人机航向角初值选取方法包括如下步骤：
S21：获取无人机的飞行环境信息。
所述飞行环境信息是指无人机10起飞点或起飞中的周围环境信息，所述飞行环境信息包括但不限于飞行高度、磁场强度、风速、气压、温度及天气等等。
同时可以根据不同的飞行环境信息，通过不同的检测装置获取飞行环境信息，例如：所述检测装置可以为气压计、电子罗盘、风速传感器、气压传感器、温度传感器、湿度及探测器等任意一个或多个，本发明不做具体限制。 由于不同的检测装置能够对飞行环境进行不同的检测，获得不同的飞行环境信息。
S22：根据所述飞行环境信息，给定航向角初值。
具体地，当所述飞行环境信息满足预设条件时，可通过多种传感器获得上述航向角初值，如电子罗盘、磁力计和加速度传感器等，但是上述多种传感器均易受到外界环境的影响，不能准确的获取航向角，影响了姿态估算的稳定性和可靠性。由于此类误差是随机的，无法预先消除。例如，磁力计易受周围环境(如高压线、铁矿厂等)所产生的磁场干扰，从而影响航向角的输出，由于此类误差是随机的，无法预先消除。又例如，地面的波动及无人机10本体的抖动等其他原因造成电子罗盘所附载体的颠簸，由电子罗盘得到的航向角显示出较大波动。
在本实施例中，通过调整所述飞行环境信息来消除外界环境对磁力计的影响，使磁力计能够给出更加准确的磁场信息，从而使更新的航向角初值也更加准确。
在一些实施例中，也可对电子罗盘获取的航向角采用中值法和卡尔曼滤波器进行处理修正，以得到更为精确的航向角。
S23：将传感器采集的传感器数据与所述航向角初值进行数据融合，得到修正后的航向角。
上述传感器包括加速度计、磁力计、陀螺仪、定位仪和视觉传感器中的至少一种传感器。
数据融合的技术是对传感器采集的数据进行分析，整理，融合等一系列的操作处理，多传感器融合数据能够实现对航向角初值的修正，从而给出更为准确的航向角数据。
传感器采集的数据与所述航向角初值可采用多种不同的数据融合算法进行处理，例如：加权平均法、归一化加权平均法、卡尔曼滤波和扩展卡尔曼滤波。
在本实施例中，基于加权平均法对多传感器采集的数据进行数据融合。具体地，第一步就要将所要使用到的各种软硬件进行初始化操作，如传感器初始化以及卡尔曼滤波初始化等；第二步要获取IMU数据，再通过这部分数据信息做判断，看是否需要做姿态角补偿，若是需要补偿，具体数值为多少； 第三步要获取加速度计、磁力计、陀螺仪、定位仪和视觉传感器等传感器采集的数据，针对这部分数据值，做相关的加权平均操作，把得到的数据值进行卡尔曼滤波，从而产生修正后的航向角。
S24：根据所述修正后的航向角，确定所述无人机的航向。
具体地，在无人机航向确定之前需要建立机体坐标系，所述机体坐标系与所述无人机固联，所述机体坐标系符合右手法则，原点在无人机的重心处，X轴指向无人机前进方向，Y轴由原点指向无人机右侧，Z轴方向根据X、Y轴由右手法则确定。
具体地，可以应用6阶EKF(ExtendedKalman Filter，扩展卡尔曼滤波)方法根据所述修正后的航向角，确定所述无人机的航向。也可根据当前所述无人机10的机身姿态的四元数和航向偏角，确定所述无人机的航向。在此不做限定。
在本实施例中，通过获取无人机的飞行环境信息，进而根据所述飞行环境信息来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机进行数据融合，实现了无人机在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。
在一些实施例中，在所述获取无人机的飞行环境信息之前，包括：所述无人机开机后，初始化所述航向角初值，所述航向角初值由磁力计给出。
在一些实施例中，在所述获取无人机的飞行环境信息之前，还包括：预设所述无人机10的飞行高度阈值。优选地，所述无人机10的所述飞行高度阈值为1.5-2m，所述飞行高度阈值是由无人机10现有飞行数据基础上得出。
具体地，请一并参阅图3和图4，图3给出了一次飞行中无人机高度信息，图4给出了该飞行中相应的磁力计三轴读数。在本次飞行中，无人机10仅做高度变化，在滚转和俯仰通道不做动作。图3中hAGL代表融合高度，hBaro代表气压计高度。图4中X代表磁力计X轴的磁感应强度读数，Y代表磁力计Y轴的磁感应强度读数，Z轴代表磁力计Z轴的磁感应强度读数。对比图3和图4可以看出，随着无人机高度的升高，其磁力计读数也随之变化。分析原因，是由于无人机起飞地面对磁场产生影响，导致磁力计读数变化。通常情况下，起飞地面对磁场的影响普遍存在，在含有金属或其他磁性物体的环 境中，这种影响更加剧烈。而以往对无人机10航向角的初值给定，往往是在地面完成的，这就导致了初值的不准确。
结合图3和图4分析可以得出，由于地面环境的不确定会导致磁力计给出的磁场信息不准确，从而导致航向角初值不准确。这种影响与距离的二次方成反比，通过检测无人机实时高度发现，当无人机高度达到1.5-2m时，磁力计读数不再发生明显变化，此时起飞地面环境对磁力计的影响已经十分微弱，此时磁力计能够给出更加准确的磁场信息，从而使更新的航向角初始值也更加准确，因此本发明将所述无人机10的所述飞行高度阈值设为1.5-2m。而且通常情况下，无人机飞行高度远高1.5-2m高度，因此在1.5-2m高度更新航向角初值不会对正常飞行造成影响。
为了使更新的航向角初值更为精确，在一些实施例中，可通过判断所述无人机飞行高度，以更新航向角初值。请参阅图5，S22包括如下步骤：
S221：判断所述飞行高度是否达到所述飞行高度阈值。
具体地，可以采用气压检测装置来检测无人机10的飞行高度，该气压检测装置包括气压计、传感器保护罩及导管，气压计密封设于传感器保护罩内，并连同传感器保护罩安装于无人机10上，导管的一端与传感器保护罩连通，另一端从传感器保护罩穿出后向上延伸。
通过设有传感器保护罩及导管，并将导管的顶端的管口位置设置成向上延伸，以能将气压计的所在外部环境与桨叶旋转产生的扰流进行有效隔离，进而避免气压计受不稳定气压环境的干扰，利于确保气压高度的精确检测。
在一些实施例中，可同时采用气压检测装置、加速度计、GPS和超声波等至少二种传感器，然后使用互补滤波或者卡尔曼滤波融合这些传感器的数据，互相修正，最后得到无人机10的飞行高度。
具体地，采用磁力计检测无人机10的磁场参数，所述磁场参数包括磁场强度和磁场倾角。
S223：当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
具体地，所述无人机10的所述飞行高度阈值为1.5-2m，当所述无人机飞 行高度达到所述飞行高度阈值时，此时起飞地面环境对磁力计的影响已经十分微弱，此时通过磁力计获取到的航向角更加准确，并将此航向角作为航向角初值，以完成航向角初值的更新。而且通常情况下，无人机飞行高度远高于1.5-2m高度，因此在1.5-2m高度更新航向角初值不会对正常飞行造成影响。
在一些实施例中，所述飞行高度阈值可根据起飞地面环境进行设置，例如当起飞地面环境中含有较多金属或其他磁性物体(如高压线、铁矿厂等)，此时起飞地面环境对磁力计所产生的磁场干扰较强，可将所述飞行高度阈值增大，比如增大至3-5m。又例如当起飞地面环境中含有较少金属或其他磁性物体，此时起飞地面环境对磁力计所产生的磁场干扰较弱，可将所述飞行高度阈值减小，比如减小至1-1.4m。
在本实施例中，通过调整所述无人机飞行高度来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机10进行数据融合，实现了无人机10在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机10在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。
为了使更新的航向角初值更为精确，在一些实施例中，可通过判断磁场信息，以更新航向角初值。请参阅图6，S22包括如下步骤：
S222：判断所述磁场信息是否满足预设磁场条件。
具体地，所述磁场信息包括无人机周围环境中的磁通密度、磁通势、磁场强度等信息。磁通密度与磁场强度成比例关系。上述磁场信息的测量可通过力矩磁强计、旋转线圈磁强计、磁通门磁强计、霍耳效应磁强计、霍耳效应磁强计、核磁共振磁强计及磁位计等等磁场检测装置获得。
所述预设磁场条件可根据实际情况预设，例如预设磁场强度为45μT，然后根据获取的磁场信息中的磁场强度与预设磁场强度作对比。
S224：若是，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值；若否，继续获取无人机的磁场信息。
具体地，所述磁场信息满足预设磁场条件的判断条件可根据需要进行设定。例如可分别预设磁通密度、磁通势和磁场强度中的至少一个磁场参数， 然后根据获取的磁场信息与预设磁通密度、磁通势和磁场强度中的至少一个磁场参数作对比，进而判断所述磁场信息是否满足预设磁场条件。
在本实施例中，当获取的当前的磁场强度大于预设磁场强度时，则判定所述磁场信息未满足预设磁场条件；当获取的当前的磁场强度小于或等于预设磁场强度时，则判定所述磁场信息已满足预设磁场条件。
在本实施例中，通过根据所述磁场信息来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机10进行数据融合，实现了无人机10在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机10在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。
为了根据所述修正后的航向角，更为准确的确定所述无人机的航向，在一些实施例中，请参阅图7，S24包括如下步骤：
S241:根据无人机的当前机身姿态和所述修正后的航向角，更新所述无人机的机身姿态。
S242:根据更新后的所述无人机的机身姿态，确定所述无人机的航向。
为了根据无人机的当前机身姿态和所述修正后的航向角，准确更新所述无人机的机身姿态，在一些实施例中，请参阅图8，S241包括如下步骤：
S2411:获取所述无人机的当前机身姿态的四元数。
S2412:根据所述航向角初值和所述修正后的航向角，得到航向偏角。
S2413:根据所述航向偏角，得到以无人机Z轴为转轴的四元数。
具体地，通过如下算式，计算得到以所述无人机Z轴为转轴的四元数：
Figure PCTCN2020118848-appb-000002
其中，ψ 0为所述航向偏角，r为以所述无人机Z轴为转轴的四元数。
S2414:通过如下算式，确定更新后的所述无人机的机身姿态四元数。
q＝r*q 0；
其中，r为以所述无人机Z轴为转轴的四元数，q 0为当前所述无人机的机身姿态的四元数，q为更新后的所述无人机的机身姿态四元数。
需要说明的是，在上述各个实施例中，上述各步骤之间并不必然存在一 定的先后顺序，本领域普通技术人员，根据本申请实施例的描述可以理解，不同实施例中，上述各步骤可以有不同的执行顺序，亦即，可以并行执行，亦可以交换执行等等。
作为本申请实施例的另一方面，本申请实施例提供一种无人机航向角初值选取装置90。请参阅图9，该无人机航向角初值选取装置90包括：环境信息检测模块91、航向角给定模块92、数据融合模块93以及航向确定模块94。
环境信息检测模块91用于获取无人机的飞行环境信息。
航向角给定模块92用于根据所述飞行环境信息，给定航向角初值。
数据融合模块93用于将传感器采集的数据与所述航向角初值进行数据融合，得到修正后的航向角。
航向确定模块94用于根据所述修正后的航向角，确定所述无人机10的航向。
具体地，在本实施例中，当航向角给定模块92接收到环境信息检测模块91检测到的环境信息，航向角给定模块92根据所述无人机的环境信息更新航向角初值；然后数据融合模块93分别将接收到的航向角初值与传感器采集的数据进行数据融合，得到修正后的航向角；最后航向确定模块94用于根据所述修正后的航向角，确定所述无人机10的航向。
因此，在本实施例中，通过获取无人机的飞行环境信息，进而根据所述飞行环境信息来消除外界环境对磁力计的影响，使磁力计能够给出更为准确的航向角初值提供给无人机进行数据融合，实现了无人机在具有磁干扰的地面环境中起飞，航向角仍具有一定的准确程度，减少了无人机在具有磁干扰地面环境中起飞的炸机概率，提高了飞行安全性。
在一些实施例中，无人机航向角初值选取装置90还包括存储模块95，所述存储模块95用于存储飞行高度阈值和预设磁场条件。优选地，所述飞行高度阈值为1.5-2m。
其中，在一些实施例中，所述航向角给定模块92包括飞行高度判断单元和航向角给定单元。所述飞行高度判断单元用于判断所述飞行高度是否达到所述飞行高度阈值。所述航向角给定单元用于当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
其中，在一些实施例中，所述航向角给定模块92还包括磁场信息判断单元和航向角确定单元。所述飞行高度判断单元用于判断所述磁场信息是否满足预设磁场条件。所述航向角给定单元用于获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
其中，在一些实施例中，航向确定模块94包括机身姿态更新单元和航向更新单元。所述机身姿态更新单元用于根据当前所述无人机10的机身姿态和所述修正后的航向角，更新所述无人机10的机身姿态。所述航向更新单元用于根据更新后的所述无人机10的机身姿态，确定所述无人机10的航向。
其中，机身姿态更新单元具体用于获取当前所述无人机10的机身姿态的四元数q 0；根据所述航向角初值和所述修正后的航向角，得到航向偏角ψ 0；根据所述航向偏角ψ 0，得到以所述无人机10Z轴为转轴的四元数：
Figure PCTCN2020118848-appb-000003
根据以所述无人机10以Z轴为转轴的四元数r与当前所述无人机10的机身姿态的四元数q 0，得到新的所述无人机10的机身姿态q＝r*q 0。
图10为本发明实施例提供的无人机10的结构框图。该无人机10可以用于实现所述主控芯片中的全部或者部分功能模块的功能。如图6所示，该无人机10可以包括：该无人机10可以包括：机身、机臂、动力装置、磁力计、多种传感器、飞行控制器以及通信模块130。其中，飞行控制器包括处理器110和存储器120。
所述机臂与所述机身相连；所述动力装置设于所述机臂，用于给所述无人机提供飞行的动力。
所述磁力计用于获取所述无人机的航向角初值。多种所述传感器用于分别采集相应的飞行数据，多种所述传感器可为加速度计、陀螺仪、磁力计、GPS导航仪和视觉传感器中的多种。
所述处理器110、存储器120以及通信模块130之间通过总线的方式，建立任意两者之间的通信连接。
处理器110可以为任何类型，具备一个或者多个处理核心的处理器110。其可以执行单线程或者多线程的操作，用于解析指令以执行获取数据、执行 逻辑运算功能以及下发运算处理结果等操作。
存储器120作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序以及模块，如本发明实施例中的无人机航向角初值选取方法对应的程序指令/模块(例如，附图9所示的环境信息检测模块91、航向角给定模块92、数据融合模块93、航向确定模块94、存储模块95)。处理器110通过运行存储在存储器120中的非暂态软件程序、指令以及模块，从而执行无人机航向角初值选取装置90的各种功能应用以及数据处理，即实现上述任一方法实施例中无人机航向角初值选取方法。
存储器120可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据无人机航向角初值选取装置90的使用所创建的数据等。此外，存储器120可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器120可选包括相对于处理器110远程设置的存储器，这些远程存储器可以通过网络连接至无人机10。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述存储器120存储有可被所述至少一个处理器110执行的指令；所述至少一个处理器110用于执行所述指令，以实现上述任意方法实施例中无人机航向角初值选取方法，例如，执行以上描述的方法步骤21、22、23、24等等，实现图9中的模块91-95的功能。
通信模块130是用于建立通信连接，提供物理信道的功能模块。通信模块130以是任何类型的无线或者有线通信模块130，包括但不限于WiFi模块或者蓝牙模块等。
进一步地，本发明实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器110执行，例如，被图6中的一个处理器110执行，可使得上述一个或多个处理器110执行上述任意方法实施例中无人机航向角初值选取方法，例如，执行以上描述的方法步骤21、22、23、24等等，实现图9中的模块91-95的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明 的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序产品中的计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非暂态计算机可读取存储介质中，该计算机程序包括程序指令，当所述程序指令被相关设备执行时，可使相关设备执行上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
上述产品可执行本发明实施例所提供的无人机航向角初值选取方法，具备执行无人机航向角初值选取方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明实施例所提供的无人机航向角初值选取方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (17)

  1. 一种无人机航向角初值选取方法，其特征在于，包括：
    获取无人机的飞行环境信息；
    根据所述飞行环境信息，给定航向角初值；
    将传感器采集的传感器数据与所述航向角初值进行数据融合，得到修正后的航向角；
    根据所述修正后的航向角，确定所述无人机的航向。
  2. 根据权利要求1所述的方法，其特征在于，所述飞行环境信息包括飞行高度；
    在所述获取无人机的飞行环境信息之前，所述方法还包括：
    初始化所述无人机的飞行高度阈值。
  3. 根据权利要求2所述的方法，其特征在于，
    所述飞行高度阈值为1.5-2m。
  4. 根据权利要求2所述的方法，其特征在于，
    所述根据所述飞行环境信息，给定航向角初值，包括：
    判断所述飞行高度是否达到所述飞行高度阈值；
    当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
  5. 根据权利要求1所述的方法，其特征在于，
    所述根据所述修正后的航向角，确定所述无人机的航向，包括：
    根据无人机的当前机身姿态和所述修正后的航向角，更新所述无人机的机身姿态；
    根据更新后的所述无人机的机身姿态，确定所述无人机的航向。
  6. 根据权利要求5所述的方法，其特征在于，所述根据无人机的当前机身姿态和所述修正后的航向角，更新所述无人机的机身姿态，包括：
    获取所述无人机的当前机身姿态的四元数；
    根据所述航向角初值和所述修正后的航向角，得到航向偏角；
    根据所述航向偏角，得到以无人机Z轴为转轴的四元数：
    通过如下算式，确定更新后的所述无人机的机身姿态四元数：q＝r*q 0；
    其中，r为以所述无人机Z轴为转轴的四元数，q 0为当前所述无人机的机身姿态的四元数，q为更新后的所述无人机的机身姿态四元数。
  7. 根据权利要求6所述的方法，其特征在于，通过如下算式，计算得到以所述无人机Z轴为转轴的四元数：
    Figure PCTCN2020118848-appb-100001
    其中，ψ 0为所述航向偏角，r为以所述无人机Z轴为转轴的四元数。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，
    在所述获取无人机的飞行环境信息之前，所述方法还包括：
    所述无人机开机后，初始化所述航向角初值。
  9. 根据权利要求1所述的方法，其特征在于，所述飞行环境信息包括磁场信息；
    所述根据所述飞行环境信息，给定航向角初值，包括：
    判断所述磁场信息是否满足预设磁场条件；
    若是，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值；
    若否，继续获取无人机的磁场信息。
  10. 一种无人机航向角初值选取装置，其特征在于，包括：
    环境信息检测模块，用于获取无人机的飞行环境信息；
    航向角给定模块，用于根据所述飞行环境信息，给定航向角初值；
    数据融合模块，用于将传感器采集的数据与所述航向角初值进行数据融合，得到修正后的航向角；
    航向确定模块，用于根据所述修正后的航向角，确定所述无人机的航向。
  11. 根据权利要求10所述的一种无人机航向角初值选取装置，其特征在于，
    还包括存储模块，所述存储模块用于存储飞行高度阈值和预设磁场条件。
  12. 根据权利要求11所述的一种无人机航向角初值选取装置，其特征在于，
    所述飞行高度阈值为1.5-2m。
  13. 根据权利要求11所述的一种无人机航向角初值选取装置，其特征在于，所述磁场信息包括飞行高度，所述航向角给定模块包括飞行高度判断单元和航向角给定单元；
    所述飞行高度判断单元用于判断所述飞行高度是否达到所述飞行高度阈值；
    所述航向角给定单元用于当所述无人机飞行高度达到所述飞行高度阈值时，获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
  14. 根据权利要求11所述的一种无人机航向角初值选取装置，其特征在于，所述磁场信息包括磁场信息，所述航向角给定模块还包括磁场信息判断单元和航向角确定单元；
    所述磁场信息判断单元用于判断所述磁场信息是否满足预设磁场条件；
    所述航向角确定单元用于获取所述无人机的当前航向角，并将所述当前航向角作为航向角初值。
  15. 根据权利要求10所述的一种无人机航向角初值选取装置，其特征在于，
    航向确定模块包括机身姿态更新单元和航向更新单元；
    所述机身姿态更新单元用于根据当前无人机的机身姿态和所述修正后的航向角，更新所述无人机的机身姿态；
    所述航向更新单元用于根据更新后的所述无人机的机身姿态，确定所述无人机的航向。
  16. 根据权利要求15所述的一种无人机航向角初值选取装置，其特征在于，
    机身姿态更新单元具体用于获取当前所述无人机的机身姿态的四元数；
    根据所述航向角初值和所述修正后的航向角，得到航向偏角；
    根据所述航向偏角，得到以无人机Z轴为转轴的四元数：
    通过如下算式，确定更新后的所述无人机的机身姿态四元数：
    q＝r*q 0；
    其中，r为以所述无人机Z轴为转轴的四元数，q 0为当前所述无人机的机身姿态的四元数，q为更新后的所述无人机的机身姿态四元数。
  17. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂，用于给所述无人机提供飞行的动力；
    磁力计，设于所述机身，用于获取所述无人机的航向角初值；
    多种传感器，设于所述机身，用于分别采集相应的飞行数据；以及
    飞行控制器，设于所述机身；
    所述飞行控制器包括：
    处理器；以及
    与所述处理器通信连接的存储器；其中，所述存储器存储有可被所述处理器执行的指令，所述指令被所述处理器执行，以使所述处理器能够用于执行如权利要求1-9中任一项所述的无人机航向确定方法。
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