WO2021078166A1 - 一种飞行姿态的控制方法、装置、无人机和存储介质 - Google Patents

一种飞行姿态的控制方法、装置、无人机和存储介质 Download PDF

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Publication number
WO2021078166A1
WO2021078166A1 PCT/CN2020/122543 CN2020122543W WO2021078166A1 WO 2021078166 A1 WO2021078166 A1 WO 2021078166A1 CN 2020122543 W CN2020122543 W CN 2020122543W WO 2021078166 A1 WO2021078166 A1 WO 2021078166A1
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Prior art keywords
attitude
parameters
uav
drone
flight
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English (en)
French (fr)
Inventor
张添保
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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

Definitions

  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a method, a device, an unmanned aerial vehicle, and a storage medium for controlling a flight attitude.
  • the existing adaptive attitude control method of the drone usually continuously estimates that the drone encounters the drone during the flight.
  • the upper limit of interference the upper limit of interference has certain uncertainty.
  • the current estimated upper limit of interference is resisted, so that the UAV remains normal. Attitude flight improves the anti-jamming performance of the controller.
  • the actual interference of the UAV during flight usually does not reach the upper limit of the estimated interference, and the control amount required to resist the interference needs to be slightly larger than the upper limit of the interference to ensure that the interference is completely suppressed.
  • the controller generates The control amount of the UAV will exceed the actual interference, resulting in a waste of the control amount, and it is easy to increase the jitter amplitude of the UAV fuselage.
  • the embodiments of the present invention provide a method, a device, an unmanned aerial vehicle and a storage medium for controlling the flying attitude, which reduce the body shake of the unmanned aerial vehicle during the flight and improve the control accuracy of the flying attitude of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a method for controlling a flight attitude, the method including:
  • the drone is controlled to fly according to the target flight attitude parameter.
  • an embodiment of the present invention provides a flight attitude control device, which includes:
  • the conversion parameter determination module is used to determine the conversion control parameters of the UAV according to the current flight attitude parameters of the UAV, the attitude adjustment parameters and the remote control attitude parameters set by the remote control device for the UAV;
  • the target attitude determination module is configured to compensate the flight attitude of the UAV according to the conversion control parameters and current flight allocation parameters of the UAV to obtain the target flight attitude parameters of the UAV;
  • the attitude control module is used to control the flight of the UAV according to the target flight attitude parameters.
  • an embodiment of the present invention provides an unmanned aerial vehicle, the unmanned aerial vehicle including:
  • One or more processors are One or more processors;
  • Storage device for storing one or more programs
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the flight attitude control method according to any embodiment of the present invention.
  • an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for controlling the flight attitude described in any embodiment of the present invention is implemented.
  • the embodiment of the present invention provides a flight attitude control method, device, drone, and storage medium, according to the current flight attitude parameters of the drone, attitude adjustment parameters, and remote control attitude parameters set by the remote control device at the next moment , To determine the conversion control parameters that control the work of the motors in the UAV, and then according to the conversion control parameters and the current flight allocation parameters set for each motor in the UAV, real-time compensation for the flight attitude of the UAV, to obtain the unmanned
  • the target flight attitude parameters of the aircraft at the next moment, and the drone flight is controlled according to the target flight attitude parameters, which solves the continuous estimation of the interference upper limit of the drone during the flight in the prior art, and generates a suitable interference limit based on the interference upper limit.
  • This solution estimates the actual values of the parameters in the UAV in real time, and adaptively adjusts the UAV's flight attitude at the next moment based on the actual values. Parameters, reduce the drone's body shake during the flight, and improve the control accuracy of the drone's flight attitude.
  • FIG. 1 is a flowchart of a method for controlling a flight attitude according to Embodiment 1 of the present invention
  • Embodiment 2A is a flowchart of a method for controlling a flight attitude provided by Embodiment 2 of the present invention
  • 2B is a schematic diagram of the principle of the flight attitude control process provided by the second embodiment of the present invention.
  • Embodiment 3 is a schematic structural diagram of a flying attitude control device provided by Embodiment 3 of the present invention.
  • Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for controlling a flight attitude provided by Embodiment 1 of the present invention.
  • This embodiment can be applied to any situation of controlling the flight of an unmanned aerial vehicle.
  • the flight attitude control method provided in this embodiment can be executed by the flight attitude control device provided in the embodiment of the present invention.
  • the device can be implemented by software and/or hardware, and is integrated in the unmanned aircraft that executes the method. In the machine.
  • the method may include the following steps:
  • S110 Determine the conversion control parameters of the UAV according to the current flight attitude parameters of the UAV, the attitude adjustment parameters and the remote control attitude parameters set by the remote control device for the UAV.
  • UAVs mainly refer to multi-rotor UAVs, which are controlled by controlling the work of multiple motors in the UAV.
  • Stable flight in the event of interference refer to the current flight attitude parameters refer to the attitude angle information of the UAV at the current moment during the flight, including the UAV's roll angle, pitch angle and yaw angle, etc., which can be configured through the accelerometer and gyro configured in the UAV.
  • Attitude sensors such as instrument sensors, magnetic compass, or Global Positioning System (Global Positioning System) modules collect the UAV’s flight attitude angle information at the current moment, and analyze the changes in attitude angle, that is, perform corresponding attitude analysis.
  • Global Positioning System Global Positioning System
  • the current attitude angular rate information of the drone can be obtained, including the roll angular rate, pitch angular rate, and yaw angular rate;
  • the attitude adjustment parameter means that the drone forms a corresponding closed-loop system during the flight, by ensuring the closed-loop system
  • the adaptive adjustment parameters generated to achieve stable response characteristics are used to adjust the current flight attitude parameters of the UAV, and then to keep the response characteristics of the closed-loop system stable for the purpose of resisting the UAV encountered during the flight.
  • the remote control device is a remote control configured for the drone that can control the flight of the drone.
  • the remote control device can input the user's desired flight attitude parameters of the drone at the next moment, that is, the remote control in this embodiment
  • Attitude parameters can include the flight attitude angle information of the UAV at the next moment
  • the conversion control parameters refer to the intermediate variables used in the UAV to transition from the controller to the motor work instructions in the UAV, and are used to control the unmanned aircraft.
  • the flight attitude of the aircraft during flight is compensated to control the UAV to maintain stable flight when encountering interference.
  • the current flight attitude parameters and The remote control attitude parameters are analyzed to determine the current attitude adjustment parameters, and then the attitude dynamic model set for the UAV in the prior art is used to determine the UAV according to the current flight attitude parameters, attitude adjustment parameters, and remote control attitude parameters.
  • the conversion control parameters that control the work of the motor.
  • the corresponding attitude adjustment parameters can be determined according to the closed-loop response characteristics of the closed-loop system where the drone is located, and the attitude adjustment parameters of the drone are updated in real time, so that the closed-loop response characteristics of the closed-loop system are maintained at A stable value to resist the interference encountered by the drone.
  • it may further include: determining the closed-loop response characteristic parameters of the UAV according to the current flight attitude parameters and remote control attitude parameters of the UAV; and according to the closed-loop response Characteristic parameters, determine the corresponding attitude adjustment parameters.
  • the closed-loop system of the UAV can be approximated as a second-order system.
  • the current flight attitude parameters and remote control attitude parameters of the UAV can be analyzed by using the online identification algorithm to estimate the current time of the UAV in real time.
  • the closed-loop response characteristic parameters of the closed-loop system formed during flight, the closed-loop response characteristic parameters include the damping information and bandwidth information of the UAV under the closed-loop system; since the closed-loop response characteristic parameters of the closed-loop system are preset to maintain a stable value, Therefore, in this embodiment, the expected damping value and the expected bandwidth of the closed-loop system are set to ensure the stability of the closed-loop system.
  • the estimated damping information and bandwidth information in the closed-loop response characteristic parameters of the UAV as well as the preset expected damping value and bandwidth The difference between the expected values determines the posture adjustment parameters corresponding to the next moment.
  • the parameters in the preset attitude dynamic model are:
  • E and W n are the damping information and bandwidth information in the closed-loop response characteristic parameters of the UAV respectively; the different parameters in K 1 , K 2 , E and W n represent the roll angle, The parameter values corresponding to the pitch angle and the yaw angle respectively; for any single channel of the roll angle, pitch angle and yaw angle in the UAV attitude angle, the approximate second-order system of the closed loop system where the UAV is located is:
  • s is the Laplacian operator
  • X 1i (s) is the attitude angle of the UAV roll angle, pitch angle and yaw angle
  • X 1ic (s) is the remote control device set for the UAV
  • the above-mentioned existing online identification algorithm can be used to obtain the estimated value of ⁇ 2i (k+1) And then through the reset parameters Calculate the damping parameter ⁇ i (k+1) and the bandwidth parameter ⁇ ni (k+1) in the closed-loop response characteristic parameters of the UAV, and compare them with the preset expected damping value ⁇ id and the expected bandwidth ⁇ nid at the same time, Generate the corresponding attitude adjustment parameters so that the UAV can stably maintain the expected value of damping and bandwidth.
  • S120 Compensate the flight attitude of the UAV according to the conversion control parameters of the UAV and the current flight allocation parameters to obtain the target flight attitude parameters of the UAV.
  • the current flight allocation parameter refers to the allocation basis referred to by the transition from the overall flight control amount of the drone to the motor control amount that controls each motor in the drone.
  • the drone's The overall flight control quantity that is, the conversion control parameters of the UAV, is correspondingly allocated to each motor of the UAV to control the operation of each motor in the UAV.
  • the work instructions of each motor in the UAV can be determined according to the UAV’s conversion control parameters and the current flight allocation parameters, and then the flight of the UAV can be determined.
  • the attitude is compensated to obtain the target flight attitude parameters of the UAV, that is, the actual flight attitude parameters of the UAV at the next moment.
  • S130 Control the drone to fly according to the target flight attitude parameters.
  • control the drone after obtaining the target flight attitude parameters of the drone at the next moment, control the drone to fly according to the target flight attitude parameters, and subsequently use this time as the current moment, and continue to use the flight attitude control method in this embodiment Determine the target flight attitude parameters at the next moment, and then control the flight of the UAV to ensure that the closed-loop system where the UAV is located remains stable under the closed-loop response characteristic parameters, which can resist various interferences encountered by the UAV and improve the flight attitude The control accuracy.
  • the technical solution provided in this embodiment determines the conversion control parameters for controlling the operation of the motors in the drone according to the current flight attitude parameters, attitude adjustment parameters, and remote control attitude parameters set by the remote control device at the next moment of the drone, and then According to the conversion control parameters and the current flight allocation parameters set for each motor in the UAV, the UAV's flight attitude is compensated in real time to obtain the UAV's target flight attitude parameters at the next moment, and fly according to the target
  • the attitude parameters control the flight of the UAV, which solves the continuous estimation of the interference upper limit of the UAV during the flight in the prior art, and generates a suitable control amount according to the interference upper limit to resist the actual interference, thereby causing the UAV fuselage to shake
  • This solution estimates the actual values of various parameters in the UAV in real time, and adaptively adjusts the UAV’s flight attitude parameters at the next moment based on the actual values to reduce the UAV’s body shake during flight. Improve the control accuracy of the drone's flight attitude.
  • FIG. 2A is a flowchart of a method for controlling a flight attitude according to the second embodiment of the present invention
  • FIG. 2B is a schematic diagram of the principle of a flight attitude control process according to the second embodiment of the present invention.
  • This embodiment is optimized on the basis of the above-mentioned embodiment.
  • the specific flight process of controlling the drone to fly in a stable flight attitude is mainly explained in detail.
  • this embodiment may specifically include the following steps:
  • S210 Determine the target attitude angular rate of the drone according to the current flight attitude angle, attitude angle adjustment parameters, and remote control attitude angle of the drone.
  • the current flight attitude angle of the drone and the remote control attitude angle set for the drone through the remote control device are obtained, as shown in Figure 2B, the current flight attitude angle and the remote control attitude angle can be compared first. Yes, the corresponding attitude angle error is obtained, and then the attitude angle error is adjusted by the attitude angle adjustment parameters determined according to the current flight attitude parameters and the remote control attitude parameters to obtain the target attitude angular rate of the UAV.
  • X 2c A -1 K 1 (X 1c -X 1 ); among them, X 2c is the target attitude angular rate, X 1c is the remote control attitude angle set by the remote control device for the UAV, and X 1 is the UAV K 1 is the pre-determined attitude angle adjustment parameter according to the closed-loop response characteristic parameters of the closed-loop system; at this time, the obtained flight attitude angle, attitude angle adjustment parameter, and remote control attitude angle are input into the above formula, you can get The target attitude angular rate of the drone.
  • S220 Determine the conversion control parameter of the UAV according to the current flight attitude angular rate, the attitude angular rate adjustment parameter, and the target attitude angular rate of the UAV.
  • the current flight attitude angular rate and the target attitude angular rate of the UAV are obtained, as shown in Figure 2B, the current flight attitude angular rate and the target attitude angular rate can be compared first to obtain the current time and the next The attitude angular rate error at a moment, and then the attitude angular rate error is adjusted by the attitude angular rate adjustment parameter determined according to the current flight attitude parameter and the remote control attitude parameter to obtain the conversion control parameter of the UAV.
  • u B -1 K 2 (X 2c -X 2 ); where u is the conversion control parameter of the UAV, X 2c is the target attitude angular rate, and X 2 is the current flight attitude angular rate of the UAV, K 2 is the attitude angular rate adjustment parameter pre-determined according to the closed-loop response characteristic parameters of the closed-loop system; at this time, the current flight attitude angular rate, the attitude angular rate adjustment parameter and the target attitude angular rate obtained are input into the above formula, you can get UAV's conversion control parameters.
  • S230 Determine the motor input signal of the UAV according to the conversion control parameters of the UAV and the current flight allocation parameters.
  • the conversion control parameter is an intermediate variable that converts the UAV’s overall control amount to the instructions that control the operation of each motor in the UAV
  • the conversion control parameter is at There is a certain instruction distribution relationship between the motors in the aircraft, that is, the current flight distribution parameters in this embodiment. Therefore, the corresponding motor control distribution operations are executed according to the conversion control parameters and current flight distribution parameters of the UAV, and then Determine the motor input signal corresponding to each motor in the drone.
  • the specific pull force generated, ⁇ ic is the specific pull force generated by the expected motor input of the i-th motor; at this time, input the conversion control parameters and current flight allocation parameters of the UAV into the above formula respectively to calculate the UAV Motor input signal corresponding to each motor in the
  • the flight allocation parameters at the next moment will be adjusted in real time to ensure the drone's stable flight. Therefore, before determining the drone's motor input signal, It may also include: determining the current flight allocation parameter according to the current flight attitude parameter of the UAV and the motor input signal at the previous moment.
  • the current flight attitude parameters of the UAV and the motor input signal at the previous moment can be analyzed through the online identification algorithm, and the corresponding current flight allocation parameters can be updated in real time;
  • S240 Control and compensate the motor in the drone according to the motor input signal, and generate a corresponding pulse width modulation signal.
  • the motor in the drone can be compensated according to the motor input signal, and the pulse width modulation (PWM) signal corresponding to each motor can be obtained.
  • PWM pulse width modulation
  • the algorithm to compensate the motor is as follows: Its discrete form is identified as: At this time, input the motor input signals at different times in the UAV into the above formula, and calculate the corresponding pulse width modulation signal.
  • S250 Determine the target flight attitude parameters of the drone at the next moment according to the pulse width modulation signal.
  • S260 Control the drone to fly according to the target flight attitude parameters.
  • the technical solution provided in this embodiment determines the conversion control parameters for controlling the operation of the motors in the drone according to the current flight attitude parameters, attitude adjustment parameters, and remote control attitude parameters set by the remote control device at the next moment of the drone, and then According to the conversion control parameters and the current flight allocation parameters set for each motor in the UAV, the UAV's flight attitude is compensated in real time to obtain the UAV's target flight attitude parameters at the next moment, and fly according to the target
  • the attitude parameters control the flight of the UAV, which solves the continuous estimation of the interference upper limit of the UAV during the flight in the prior art, and generates a suitable control amount according to the interference upper limit to resist the actual interference, thereby causing the UAV fuselage to shake
  • This solution estimates the actual values of various parameters in the UAV in real time, and adaptively adjusts the UAV’s flight attitude parameters at the next moment based on the actual values to reduce the UAV’s body shake during flight. Improve the control accuracy of the drone's flight attitude.
  • Fig. 3 is a schematic structural diagram of a device for controlling a flight attitude provided in the third embodiment of the present invention. As shown in Fig. 3, the device may include:
  • the conversion parameter determination module 310 is used to determine the conversion control parameters of the UAV according to the current flight attitude parameters of the UAV, the attitude adjustment parameters and the remote control attitude parameters set by the remote control device for the UAV;
  • the target attitude determination module 320 is used to compensate the flight attitude of the UAV according to the conversion control parameters of the UAV and the current flight allocation parameters to obtain the target flight attitude parameters of the UAV;
  • the attitude control module 330 is used to control the flight of the UAV according to the target flight attitude parameters.
  • the technical solution provided in this embodiment determines the conversion control parameters for controlling the operation of the motors in the drone according to the current flight attitude parameters, attitude adjustment parameters, and remote control attitude parameters set by the remote control device at the next moment of the drone, and then According to the conversion control parameters and the current flight allocation parameters set for each motor in the UAV, the UAV's flight attitude is compensated in real time to obtain the UAV's target flight attitude parameters at the next moment, and fly according to the target
  • the attitude parameters control the flight of the UAV, which solves the continuous estimation of the interference upper limit of the UAV during the flight in the prior art, and generates a suitable control amount according to the interference upper limit to resist the actual interference, thereby causing the UAV fuselage to shake
  • This solution estimates the actual values of various parameters in the UAV in real time, and adaptively adjusts the UAV’s flight attitude parameters at the next moment based on the actual values to reduce the UAV’s body shake during flight. Improve the control accuracy of the drone's flight attitude.
  • the aforementioned conversion parameter determination module 310 may include:
  • the angular rate determination unit is used to determine the target attitude angular rate of the UAV according to the current flight attitude angle of the UAV, the attitude angle adjustment parameters and the remote control attitude angle;
  • the conversion parameter determination unit is used to determine the conversion control parameters of the UAV according to the current flight attitude angular rate, the attitude angular rate adjustment parameter, and the target attitude angular rate of the UAV.
  • the aforementioned target posture determination module 320 may include:
  • the motor signal determination unit is used to determine the UAV's motor input signal according to the UAV's conversion control parameters and current flight allocation parameters;
  • the pulse signal generating unit is used to control and compensate the motor in the UAV according to the motor input signal, and generate the corresponding pulse width modulation signal;
  • the target attitude determination unit is used to determine the target flight attitude parameters of the UAV at the next moment according to the pulse width modulation signal.
  • the above-mentioned flight attitude control device may also include:
  • the allocation parameter determination module is used to determine the current flight allocation parameters according to the current flight attitude parameters of the UAV and the motor input signal at the previous moment.
  • the above-mentioned flight attitude control device may also include:
  • the response characteristic determination module is used to determine the closed-loop response characteristic parameters of the UAV according to the current flight attitude parameters and remote control attitude parameters of the UAV;
  • the adjustment parameter determination module is used to determine the corresponding attitude adjustment parameters according to the closed-loop response characteristic parameters.
  • the aforementioned closed-loop response characteristic parameters include damping information and bandwidth information of the UAV in the closed-loop system.
  • the flight attitude control device provided in this embodiment is applicable to the flight attitude control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.
  • Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • the drone includes a processor 40, a storage device 41, and a communication device 42; the number of processors 40 in the drone may be one or more.
  • one processor 40 is taken as an example;
  • the processor 40, the storage device 41, and the communication device 42 of the unmanned aerial vehicle may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • the storage device 41 can be used to store software programs, computer-executable programs, and modules, such as modules corresponding to the flight attitude control method in the embodiment of the present invention.
  • the processor 40 executes various functional applications and data processing of the drone by running the software programs, instructions, and modules stored in the storage device 41, that is, realizes the above-mentioned flight attitude control method.
  • the storage device 41 may mainly 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 data created according to the use of the terminal, and the like.
  • the storage device 41 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the storage device 41 may further include a memory remotely provided with respect to the processor 40, and these remote memories may be connected to the drone 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 communication device 42 can be used to implement a network connection or a mobile data connection between the drone and the remote control device.
  • the unmanned aerial vehicle provided in this embodiment can be used to execute the flight attitude control method provided in any of the foregoing embodiments, and has corresponding functions and beneficial effects.
  • the fifth embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for controlling the flight attitude in any of the foregoing embodiments can be implemented.
  • the method may specifically include:
  • the UAV's flight attitude is compensated to obtain the UAV's target flight attitude parameters
  • a storage medium containing computer-executable instructions provided by an embodiment of the present invention
  • the computer-executable instructions are not limited to the method operations described above, and can also execute the flight attitude control method provided by any embodiment of the present invention Related operations in.
  • the present invention can be implemented by software and necessary general-purpose hardware, of course, it can also be implemented by hardware, but in many cases the former is a better implementation.
  • the technical solution of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • FLASH Flash memory
  • hard disk or optical disk etc., including several instructions to make a computer device (which can be a personal computer) , A server, or a network device, etc.) execute the method described in each embodiment of the present invention.
  • the above are only preferred embodiments of the present invention and are not used to limit the present invention.
  • the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
  • the embodiment of the invention discloses a method, a device, an unmanned aerial vehicle and a storage medium for controlling a flight attitude.
  • the method includes: determining the conversion control parameters of the UAV according to the current flight attitude parameters of the UAV, the attitude adjustment parameters and the remote control attitude parameters set by the remote control device for the UAV;
  • the man-machine conversion control parameters and current flight allocation parameters are used to compensate the flight attitude of the UAV to obtain the target flight attitude parameters of the UAV; control the flight of the UAV according to the target flight attitude parameters .
  • the technical solution provided by the embodiment of the present invention estimates the actual values of various parameters in the UAV in real time, and adaptively adjusts the flight attitude parameters of the UAV at the next moment according to the actual values, so as to reduce the unmanned aerial vehicle's inflight during the flight.
  • the body shakes which improves the control accuracy of the drone's flight attitude.

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Abstract

一种飞行姿态的控制方法、装置、无人机和存储介质，飞行姿态的控制方法包括：根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为无人机设定的遥控姿态参数，确定无人机的转换控制参数（S110）；根据无人机的转换控制参数和当前飞行分配参数，对无人机的飞行姿态进行补偿，得到无人机的目标飞行姿态参数（S120）；根据目标飞行姿态参数控制无人机飞行（S130）。飞行姿态的控制方法、装置、无人机和存储介质，能实时估计无人机中各项参数的实际值，并依据实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。

Description

一种飞行姿态的控制方法、装置、无人机和存储介质
本申请要求于2019年10月21日提交中国专利局、申请号为201911001092.4、申请名称为“一种飞行姿态的控制方法、装置、无人机和存储介质”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
本发明实施例涉及无人机技术领域，尤其涉及一种飞行姿态的控制方法、装置、无人机和存储介质。
背景技术
随着无人机技术的快速发展，通过无人机进行安全监控或航拍等功能也快速普及到人们的日常生活中。
为了避免无人机在飞行过程中所遇到的各种干扰而带来的飞行影响，现有的无人机自适应姿态控制方式通常是在无人机飞行过程中不断估计出无人机遇到的干扰上限，该干扰上限存在一定的不确定性，此时根据预先在控制器中设计出的一种专门用于抵抗干扰的控制量来抵抗当前估计的干扰上限，使得无人机保持正常的姿态飞行，提高控制器的抗干扰性能。
而由于无人机在飞行过程中的实际干扰通常达不到估计的干扰上限，而且要求抵抗干扰的控制量需要比干扰上限稍大一点，才能保证干扰被完全压住，此时控制器中生成的控制量会超出实际干扰，造成控制量的浪费，同时容易加大无人机机身的抖动幅度。
发明内容
本发明实施例提供了一种飞行姿态的控制方法、装置、无人机和存储介质，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。
第一方面，本发明实施例提供了一种飞行姿态的控制方法，该方法包括：
根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数；
根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数；
根据所述目标飞行姿态参数控制所述无人机飞行。
第二方面，本发明实施例提供了一种飞行姿态的控制装置，该装置包括：
转换参数确定模块，用于根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数；
目标姿态确定模块，用于根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数；
姿态控制模块，用于根据所述目标飞行姿态参数控制所述无人机飞行。
第三方面，本发明实施例提供了一种无人机，该无人机包括：
一个或多个处理器；
存储装置，用于存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现本发明任意实施例所述的飞行姿态的控制方法。
第四方面，本发明实施例提供了一种计算机可读存储介质，其上存储有计 算机程序，该程序被处理器执行时实现本发明任意实施例所述的飞行姿态的控制方法。
本发明实施例提供了一种飞行姿态的控制方法、装置、无人机和存储介质，根据无人机的当前飞行姿态参数、姿态调节参数和通过遥控设备设定的在下一时刻的遥控姿态参数，确定无人机中控制电机工作的转换控制参数，进而根据该转换控制参数和无人机中为各电机设定的当前飞行分配参数，实时对无人机的飞行姿态进行补偿，得到无人机在下一时刻的目标飞行姿态参数，并根据该目标飞行姿态参数控制无人机飞行，解决了现有技术中不断估计无人机在飞行过程中的干扰上限，并根据该干扰上限生成适合的控制量来抵抗实际干扰，从而造成无人机机身抖动的问题，本方案实时估计无人机中各项参数的实际值，并依据该实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明实施例一提供的一种飞行姿态的控制方法的流程图；
图2A为本发明实施例二提供的一种飞行姿态的控制方法的流程图；
图2B为本发明实施例二提供的飞行姿态的控制过程的原理示意图；
图3为本发明实施例三提供的一种飞行姿态的控制装置的结构示意图；
图4为本发明实施例四提供的一种无人机的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。此外，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
实施例一
图1为本发明实施例一提供的一种飞行姿态的控制方法的流程图，本实施例可适用于任一种控制无人机飞行的情况中。本实施例提供的一种飞行姿态的控制方法可以由本发明实施例提供的飞行姿态的控制装置来执行，该装置可以通过软件和/或硬件的方式来实现，并集成在执行本方法的无人机中。
具体的，参考图1，该方法可以包括如下步骤：
S110，根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为无人机设定的遥控姿态参数，确定无人机的转换控制参数。
具体的，本实施例主要针对无人机在飞行过程中抵抗干扰的问题，其中无人机主要是指多旋翼无人机，通过控制无人机中的多个电机的工作来控制无人机在遇到干扰时的稳定飞行。其中，当前飞行姿态参数是指无人机在飞行过程中当前时刻的姿态角信息，包括无人机的滚转角、俯仰角和偏航角等，可以通过无人机中配置的加速度计、陀螺仪传感器、磁罗盘或者全球定位系统(Global Positioning System)模块等姿态传感器来采集无人机在当前时刻的飞行姿态角信息，通过对姿态角的变化情况进行分析，也就是进行对应的姿态解析也可以得到无人机当前的姿态角速率信息，包括滚转角速率、俯仰角速率和偏航角 速率等；姿态调节参数是指无人机在飞行过程中形成一个对应的闭环系统，通过保证闭环系统达到稳定的响应特性而生成的自适应调节参数，以对无人机的当前飞行姿态参数进行调节，进而以使闭环系统的响应特性维持稳定为目的来抵抗无人机在飞行过程中遇到的干扰；遥控设备是为无人机配置的、能够控制无人机飞行的遥控器，在遥控设备上能够输入用户期望的无人机在下一时刻的飞行姿态参数，也就是本实施例中的遥控姿态参数，可以包括无人机在下一时刻的飞行姿态角信息；转换控制参数是指无人机中用于从控制器过渡到无人机中的电机工作指令的中间变量，用于对无人机在飞行过程中的飞行姿态进行补偿，以控制无人机在遇到干扰时能保持稳定飞行。
可选的，本实施例在通过各个姿态传感器采集到无人机的当前飞行姿态参数以及通过遥控设备为无人机设定的在下一时刻的遥控姿态参数后，首先可以对当前飞行姿态参数和遥控姿态参数进行分析，确定当前的姿态调节参数，进而采用现有技术中为无人机设定的姿态动力模型，根据当前飞行姿态参数、姿态调节参数和遥控姿态参数，确定出无人机中控制电机工作的转换控制参数。
本实施例中，姿态动力模型为
Figure PCTCN2020122543-appb-000001
其中，
Figure PCTCN2020122543-appb-000002
表示无人机姿态角变化率；X 2表示无人机飞行姿态角速率；
Figure PCTCN2020122543-appb-000003
表示无人机姿态角加速度；u为无人机的转换控制参数；A和B分别为标称的模型参数；K 1和K 2分别为姿态调节参数中的姿态角调节参数和姿态角速率调节参数；示例性的，预先设定
Figure PCTCN2020122543-appb-000004
X 2 T＝[ω x,ω y,ω z]，
Figure PCTCN2020122543-appb-000005
其中，
Figure PCTCN2020122543-appb-000006
θ和ψ分别为无人机的滚转角、俯仰角和偏航角，ω x、ω y和ω z分别为无人机的滚转角速率、 俯仰角速率和偏航角速率；表征无人机在转换控制参数u的作用下，其姿态运动的方式。
此外，本实施例中可以根据无人机所在的闭环系统的闭环响应特性来确定对应的姿态调节参数，通过对无人机的姿态调节参数进行实时更新，从而使闭环系统的闭环响应特性保持在一个稳定值，以抵抗无人机遇到的干扰。可选的，本实施例中在获取无人机的姿态调节参数之前，还可以包括：根据无人机的当前飞行姿态参数和遥控姿态参数，确定无人机的闭环响应特性参数；根据闭环响应特性参数，确定对应的姿态调节参数。
具体的，无人机的闭环系统可以近似为一个二阶系统，此时通过采用在线辨识算法对无人机的当前飞行姿态参数和遥控姿态参数进行分析，能够实时估计出无人机在当前时刻飞行下所形成的闭环系统的闭环响应特性参数，该闭环响应特性参数包括无人机在闭环系统下的阻尼信息和带宽信息；由于预先设定闭环系统的闭环响应特性参数保持在一个稳定值，因此本实施例中会设定保证闭环系统稳定的阻尼期望值和带宽期望值，此时根据估计出的无人机的闭环响应特性参数中的阻尼信息和带宽信息，以及预先设定的阻尼期望值和带宽期望值之间的差异，确定下一时刻对应的姿态调节参数。
示例性的，预先设定姿态动力模型中的各个参数分别为：
Figure PCTCN2020122543-appb-000007
和
Figure PCTCN2020122543-appb-000008
其中，E和W n分别为无人机的闭环响应特性参数中的阻尼信息和带宽信息；K 1、K 2、E和W n中的不同参数分别表示无人机姿态角中的滚转角、俯仰角和偏航角分别对应的参数值；对于无人机姿态角中的滚转角、俯仰角和偏航角中的 任一单通道，无人机所在的闭环系统近似的二阶系统为：
Figure PCTCN2020122543-appb-000009
其中，s为拉普拉斯算子，X 1i(s)为无人机滚转角、俯仰角和偏航角中的某一个姿态角；X 1ic(s)为遥控设备为无人机设定的滚转角、俯仰角和偏航角中的某一个遥控姿态角；转换为时域对应的方程为：
Figure PCTCN2020122543-appb-000010
其离散形式表示为：
Figure PCTCN2020122543-appb-000011
对上式中的参数重新设定：z 2i(k)＝X 2i(k+1)，h 2i(k)＝[X 1ic(k)-X 1i(k),X 2i(k)] T，
Figure PCTCN2020122543-appb-000012
此时现有的在线辨识算法如下所示：
Figure PCTCN2020122543-appb-000013
本实施例可以采用上述现有的在线辨识算法能够求得θ 2i(k+1)的估计值
Figure PCTCN2020122543-appb-000014
进而通过重新设定的参数
Figure PCTCN2020122543-appb-000015
计算出无人机的闭环响应特性参数中的阻尼参数ξ i(k+1)和带宽参数ω ni(k+1)，同时与预先设定的阻尼期望值ξ id和带宽期望值ω nid进行比较，生成对应的姿态调节参数，以便无人机能够稳定保持在阻尼期望值和带宽期望值下。
此时，本实施例对自适应姿态调节参数的更新规律不作具体限定，其中一种更新规律可以为：
Figure PCTCN2020122543-appb-000016
其中，γ 1和γ 2为自适应更新常数，由开发者自由设定，而姿态调节参数中的K 1和K 2的初始值为：
Figure PCTCN2020122543-appb-000017
K 20＝2E dW nd，此时
Figure PCTCN2020122543-appb-000018
进而通过上述公式迭代得到下一时刻的姿态调节参数K 1和K 2；另一种更新规律也可以为：
Figure PCTCN2020122543-appb-000019
ΔK 2(k)＝γ 2(E dW nd-E(k)W n(k))；而姿态调节参数中的K 1和K 2的初始值为：
Figure PCTCN2020122543-appb-000020
K 2(0)＝2E dW nd，此时K 1(k)＝K 1(k-1)+ΔK 1(k)，K 2(k)＝K 2(k-1)+ΔK 2(k)；进而通过上述公式迭代也可以得到下一时刻的姿态调节参数K 1(k+1)和K 2(k+1)。
S120，根据无人机的转换控制参数和当前飞行分配参数，对无人机的飞行姿态进行补偿，得到无人机的目标飞行姿态参数。
其中，当前飞行分配参数是指根据无人机的整体飞行控制量过渡到无人机中控制各个电机进行工作的电机控制量所参考的分配依据，根据该当前飞行分配参数能够将无人机的整体飞行控制量，也就是无人机的转换控制参数，对应分配到无人机的各个电机中，以控制无人机中的各个电机工作。
具体的，本实施例在确定无人机的转换控制参数后，可以根据无人机的转换控制参数和当前飞行分配参数，确定无人机中各个电机的工作指令，进而对无人机的飞行姿态进行补偿，得到无人机的目标飞行姿态参数，也就是无人机在下一时刻实际飞行的姿态参数。
S130，根据目标飞行姿态参数控制无人机飞行。
具体的，在得到无人机在下一时刻的目标飞行姿态参数后，控制无人机按 照该目标飞行姿态参数飞行，后续将该时刻作为当前时刻，继续采用本实施例中的飞行姿态的控制方法确定下一时刻的目标飞行姿态参数，进而控制无人机飞行，以保证无人机所在的闭环系统保持在稳定的闭环响应特性参数下，能够抵抗无人机遇到的各种干扰，提高飞行姿态的控制精度。
本实施例提供的技术方案，根据无人机的当前飞行姿态参数、姿态调节参数和通过遥控设备设定的在下一时刻的遥控姿态参数，确定无人机中控制电机工作的转换控制参数，进而根据该转换控制参数和无人机中为各电机设定的当前飞行分配参数，实时对无人机的飞行姿态进行补偿，得到无人机在下一时刻的目标飞行姿态参数，并根据该目标飞行姿态参数控制无人机飞行，解决了现有技术中不断估计无人机在飞行过程中的干扰上限，并根据该干扰上限生成适合的控制量来抵抗实际干扰，从而造成无人机机身抖动的问题，本方案实时估计无人机中各项参数的实际值，并依据该实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。
实施例二
图2A为本发明实施例二提供的一种飞行姿态的控制方法的流程图，图2B为本发明实施例二提供的飞行姿态的控制过程的原理示意图。本实施例是在上述实施例的基础上进行优化。可选的，本实施例中主要对控制无人机以稳定的飞行姿态进行飞行的具体飞行过程进行详细的解释说明。
可选的，如图2A所示，本实施例具体可以包括如下步骤：
S210，根据无人机的当前飞行姿态角、姿态角调节参数和遥控姿态角，确 定无人机的目标姿态角速率。
具体的，在获取到无人机的当前飞行姿态角和通过遥控设备为无人机设定的的遥控姿态角时，如图2B所示，首先可以将当前飞行姿态角和遥控姿态角进行比对，得到对应的姿态角误差，进而通过根据当前飞行姿态参数和遥控姿态参数确定的姿态角调节参数对该姿态角误差进行调节，得到无人机的目标姿态角速率。
示例性的，根据姿态动力模型
Figure PCTCN2020122543-appb-000021
可以得到X 2c＝A -1K 1(X 1c-X 1)；其中，X 2c为目标姿态角速率，X 1c为遥控设备为无人机设定的遥控姿态角，X 1为无人机的飞行姿态角，K 1为根据闭环系统的闭环响应特性参数预先确定的姿态角调节参数；此时将获取到的飞行姿态角、姿态角调节参数和遥控姿态角输入到上述公式中，可以得到无人机的目标姿态角速率。
S220，根据无人机的当前飞行姿态角速率、姿态角速率调节参数和目标姿态角速率，确定无人机的转换控制参数。
具体的，在获取到无人机的当前飞行姿态角速率和目标姿态角速率时，如图2B所示，首先可以将当前飞行姿态角速率和目标姿态角速率进行比对，得到当前时刻与下一时刻的姿态角速率误差，进而通过根据当前飞行姿态参数和遥控姿态参数确定的姿态角速率调节参数对该姿态角速率误差进行调节，得到无人机的转换控制参数。
示例性的，根据姿态动力模型
Figure PCTCN2020122543-appb-000022
可以得到u＝B -1K 2(X 2c-X 2)；其中，u为无人机的转换控制参数，X 2c为目标姿态角速率，X 2为无人机的当前飞行姿 态角速率，K 2为根据闭环系统的闭环响应特性参数预先确定的姿态角速率调节参数；此时将获取到的当前飞行姿态角速率、姿态角速率调节参数和目标姿态角速率输入到上述公式中，可以得到无人机的转换控制参数。
S230，根据无人机的转换控制参数和当前飞行分配参数，确定无人机的电机输入信号。
具体的，如图2B所示，由于无人机的转换控制参数为将无人机的整体控制量向无人机中控制各个电机工作的指令转换的中间变量，此时转换控制参数与无人机中的各个电机之间存在某种指令分配关系，也就是本实施例中的当前飞行分配参数，因此根据无人机的转换控制参数和当前飞行分配参数，执行对应的电机控制分配操作，进而确定无人机中各个电机对应的电机输入信号。
示例性的，由于无人机中电机控制的分配关系为：u＝Mv；其中，M为无人机中为各电机设定的当前飞行分配参数组成的矩阵，v为无人机中各个电机的电机输入信号组成的输入矩阵，此时设定：
Figure PCTCN2020122543-appb-000023
v T＝[v 1,v 2,......,v n]；而无人机中电机响应存在一个时间常数τ，其等小模型可近似为一个惯性环节，即：
Figure PCTCN2020122543-appb-000024
其中，上式表示无人机中各个电机的输入输出传递函数，s为拉普拉斯算子，i为电机编号，设定无人机中存在n个电机，δ i为第i个电机实际产生的比拉力，δ ic为第i个电机的期望电机输入产生的比拉力；此时，将无人机的转换控制参数和当前飞行分配参数，分别输入到上述公式中，计算得到无人机中各个电机对应的电机输入信号。
可选的，本施例中根据无人机在当前时刻的飞行姿态参数会实时调整下一时刻的飞行分配参数，以便保证无人机稳定飞行，因此在确定无人机的电机输 入信号之前，还可以包括：根据无人机的当前飞行姿态参数和上一时刻的电机输入信号，确定所述当前飞行分配参数。
具体的，本实施例可以通过在线辨识算法对无人机的当前飞行姿态参数和上一时刻的电机输入信号进行分析，实时更新对应的当前飞行分配参数；此时姿态角速率的动力模型为
Figure PCTCN2020122543-appb-000025
此时对于无人机姿态角速率中的滚转角速率、俯仰角速率和偏航角速率中的任一单通道，其离散形式可以表示为：X 2i(k+1)＝X 2i(k)+Tb i(k)M i(k)v(k)；其中，M i(k)＝[m i1,m i2,......,m in]，表示各个电机在滚转角速率、俯仰角速率和偏航角速率中的任一单通道中对应的分配参数；
对于上式中的参数重新设定：
Figure PCTCN2020122543-appb-000026
h 1i(k)＝v(k)，θ 1i(k)＝M i T(k)；
此时现有的在线辨识算法如下所示：
Figure PCTCN2020122543-appb-000027
本实施例可以采用上述现有的在线辨识算法能够求得θ 1i(k+1)的估计值
Figure PCTCN2020122543-appb-000028
进而通过重新设定的参数θ 1i(k)＝M i T(k)计算出无人机的当前飞行分配参数，以便后续根据该当前飞行分配参数和无人机的转换控制参数，确定无人机中各个电机的点击输入信号。
S240，根据电机输入信号对无人机中的电机进行控制补偿，生成对应的脉冲宽度调制信号。
具体的，在得到无人机中各个电机的电机输入信号时，可以根据该电机输 入信号对无人机中得电机进行补偿，得到各个电机对应的脉冲宽度调制(Pulse Width Modulation，PWM)信号，以便控制无人机的稳定飞行。
示例性的，对电机进行补偿的算法如下所示：
Figure PCTCN2020122543-appb-000029
其离散形式标识为：
Figure PCTCN2020122543-appb-000030
此时将无人机中不同时刻下的电机输入信号输入到上述公式中，计算得到对应的脉冲宽度调制信号。
S250，根据脉冲宽度调制信号确定无人机在下一时刻的目标飞行姿态参数。
具体的，在得到无人机中各个电机的脉冲宽度调制信号后，如图2B所示，将其送入到无人机的各个电机中，进而根据该脉冲宽度调制信号控制对应的电机工作，以控制无人机的姿态变化，确定出无人机的目标飞行姿态参数。
S260，根据目标飞行姿态参数控制无人机飞行。
本实施例提供的技术方案，根据无人机的当前飞行姿态参数、姿态调节参数和通过遥控设备设定的在下一时刻的遥控姿态参数，确定无人机中控制电机工作的转换控制参数，进而根据该转换控制参数和无人机中为各电机设定的当前飞行分配参数，实时对无人机的飞行姿态进行补偿，得到无人机在下一时刻的目标飞行姿态参数，并根据该目标飞行姿态参数控制无人机飞行，解决了现有技术中不断估计无人机在飞行过程中的干扰上限，并根据该干扰上限生成适合的控制量来抵抗实际干扰，从而造成无人机机身抖动的问题，本方案实时估计无人机中各项参数的实际值，并依据该实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。
实施例三
图3为本发明实施例三提供的一种飞行姿态的控制装置的结构示意图，如图3所示，该装置可以包括：
转换参数确定模块310，用于根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为无人机设定的遥控姿态参数，确定无人机的转换控制参数；
目标姿态确定模块320，用于根据无人机的转换控制参数和当前飞行分配参数，对无人机的飞行姿态进行补偿，得到无人机的目标飞行姿态参数；
姿态控制模块330，用于根据目标飞行姿态参数控制无人机飞行。
本实施例提供的技术方案，根据无人机的当前飞行姿态参数、姿态调节参数和通过遥控设备设定的在下一时刻的遥控姿态参数，确定无人机中控制电机工作的转换控制参数，进而根据该转换控制参数和无人机中为各电机设定的当前飞行分配参数，实时对无人机的飞行姿态进行补偿，得到无人机在下一时刻的目标飞行姿态参数，并根据该目标飞行姿态参数控制无人机飞行，解决了现有技术中不断估计无人机在飞行过程中的干扰上限，并根据该干扰上限生成适合的控制量来抵抗实际干扰，从而造成无人机机身抖动的问题，本方案实时估计无人机中各项参数的实际值，并依据该实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。
进一步的，上述转换参数确定模块310，可以包括：
角速率确定单元，用于根据无人机的当前飞行姿态角、姿态角调节参数和遥控姿态角，确定无人机的目标姿态角速率；
转换参数确定单元，用于根据无人机的当前飞行姿态角速率、姿态角速率调节参数和目标姿态角速率，确定无人机的转换控制参数。
进一步的，上述目标姿态确定模块320，可以包括：
电机信号确定单元，用于根据无人机的转换控制参数和当前飞行分配参数，确定无人机的电机输入信号；
脉冲信号生成单元，用于根据电机输入信号对无人机中的电机进行控制补偿，生成对应的脉冲宽度调制信号；
目标姿态确定单元，用于根据脉冲宽度调制信号确定无人机在下一时刻的目标飞行姿态参数。
进一步的，上述飞行姿态的控制装置，还可以包括：
分配参数确定模块，用于根据无人机的当前飞行姿态参数和上一时刻的电机输入信号，确定当前飞行分配参数。
进一步的，上述飞行姿态的控制装置，还可以包括：
响应特性确定模块，用于根据无人机的当前飞行姿态参数和遥控姿态参数，确定无人机的闭环响应特性参数；
调节参数确定模块，用于根据闭环响应特性参数，确定对应的姿态调节参数。
进一步的，上述闭环响应特性参数包括无人机在闭环系统下的阻尼信息和带宽信息。
本实施例提供的飞行姿态的控制装置可适用于上述任意实施例提供的飞行姿态的控制方法，具备相应的功能和有益效果。
实施例四
图4为本发明实施例四提供的一种无人机的结构示意图。如图4所示，该 无人机包括处理器40、存储装置41和通信装置42；无人机中处理器40的数量可以是一个或多个，图4中以一个处理器40为例；无人机的处理器40、存储装置41和通信装置42可以通过总线或其他方式连接，图4中以通过总线连接为例。
存储装置41作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的飞行姿态的控制方法对应的模块。处理器40通过运行存储在存储装置41中的软件程序、指令以及模块，从而执行无人机的各种功能应用以及数据处理，即实现上述的飞行姿态的控制方法。
存储装置41可主要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、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储装置41可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储装置41可进一步包括相对于处理器40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。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。
通信装置42可用于实现无人机与遥控设备间网络连接或者移动数据连接。
本实施例提供的一种无人机可用于执行上述任意实施例提供的飞行姿态的控制方法，具备相应的功能和有益效果。
实施例五
本发明实施例五还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时可实现上述任意实施例中的飞行姿态的控制方法。 该方法具体可以包括：
根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为无人机设定的遥控姿态参数，确定无人机的转换控制参数；
根据无人机的转换控制参数和当前飞行分配参数，对无人机的飞行姿态进行补偿，得到无人机的目标飞行姿态参数；
根据目标飞行姿态参数控制无人机飞行。
当然,本发明实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作,还可以执行本发明任意实施例所提供的飞行姿态的控制方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
值得注意的是，上述飞行姿态的控制装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
以上所述仅为本发明的优选实施例，并不用于限制本发明，对于本领域技术人员而言，本发明可以有各种改动和变化。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。本发明实施例公开了一种飞行姿态的控制方法、装置、无人机和存储介质。其中，该方法包括：根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数；根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数；根据所述目标飞行姿态参数控制所述无人机飞行。本发明实施例提供的技术方案，实时估计无人机中各项参数的实际值，并依据该实际值自适应调整无人机在下一时刻的飞行姿态参数，减少无人机在飞行过程中的机身抖动，提高无人机飞行姿态的控制精度。

Claims (10)

  1. 一种飞行姿态的控制方法，其特征在于，包括：
    根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数；
    根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数；
    根据所述目标飞行姿态参数控制所述无人机飞行。
  2. 根据权利要求1所述的方法，其特征在于，所述根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数，包括：
    根据所述无人机的当前飞行姿态角、姿态角调节参数和遥控姿态角，确定所述无人机的目标姿态角速率；
    根据所述无人机的当前飞行姿态角速率、姿态角速率调节参数和目标姿态角速率，确定所述无人机的转换控制参数。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数，包括：
    根据所述无人机的转换控制参数和当前飞行分配参数，确定所述无人机的电机输入信号；
    根据所述电机输入信号对所述无人机中的电机进行控制补偿，生成对应的脉冲宽度调制信号；
    根据所述脉冲宽度调制信号确定所述无人机在下一时刻的目标飞行姿态参数。
  4. 根据权利要求3所述的方法，其特征在于，还包括：
    根据所述无人机的当前飞行姿态参数和上一时刻的电机输入信号，确定所述当前飞行分配参数。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    根据所述无人机的当前飞行姿态参数和遥控姿态参数，确定所述无人机的闭环响应特性参数；
    根据所述闭环响应特性参数，确定对应的姿态调节参数。
  6. 根据权利要求5所述的方法，其特征在于，所述闭环响应特性参数包括所述无人机在闭环系统下的阻尼信息和带宽信息。
  7. 一种飞行姿态的控制装置，其特征在于，包括：
    转换参数确定模块，用于根据无人机的当前飞行姿态参数、姿态调节参数和遥控设备为所述无人机设定的遥控姿态参数，确定所述无人机的转换控制参数；
    目标姿态确定模块，用于根据所述无人机的转换控制参数和当前飞行分配参数，对所述无人机的飞行姿态进行补偿，得到所述无人机的目标飞行姿态参数；
    姿态控制模块，用于根据所述目标飞行姿态参数控制所述无人机飞行。
  8. 根据权利要求7所述的装置，其特征在于，所述转换参数确定模块包括：
    角速率确定单元，用于根据所述无人机的当前飞行姿态角、姿态角调节参数和遥控姿态角，确定所述无人机的目标姿态角速率；
    转换参数确定单元，用于根据所述无人机的当前飞行姿态角速率、姿态角速率调节参数和目标姿态角速率，确定所述无人机的转换控制参数。
  9. 一种无人机，其特征在于，所述设备包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-6中任一所述的飞行姿态的控制方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-6中任一所述的飞行姿态的控制方法。
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