WO2021078166A1

WO2021078166A1 - Method and apparatus for controlling flight attitudes, unmanned aerial vehicle and storage medium

Info

Publication number: WO2021078166A1
Application number: PCT/CN2020/122543
Authority: WO
Inventors: 张添保
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-10-21
Filing date: 2020-10-21
Publication date: 2021-04-29
Also published as: CN110673619A; CN110673619B

Abstract

A method and apparatus for controlling flight attitudes, an unmanned aerial vehicle and a storage medium. The method for controlling flight attitudes comprises: according to current flight attitude parameters and attitude adjustment parameters of an unmanned aerial vehicle and remote control attitude parameters set by a remote control device for the unmanned aerial vehicle, determining conversion control parameters of the unmanned aerial vehicle (S110); according to the conversion control parameters and current flight allocation parameters of the unmanned aerial vehicle, compensating the flight attitudes of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle (S120); and controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters (S130). The method and apparatus for controlling flight attitudes, the unmanned aerial vehicle and the storage medium may estimate in real time actual values of various parameters in the unmanned aerial vehicle, adaptively adjust the flight attitude parameters of the unmanned aerial vehicle at the next time according to the actual values, reduce the jittering of the fuselage of the unmanned aerial vehicle during flight, and improve the accuracy of controlling the flight attitudes of the unmanned aerial vehicle.

Description

Method and device for controlling flight attitude, unmanned aerial vehicle and storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on October 21, 2019, the application number is 201911001092.4, and the application title is "A method, device, drone, and storage medium for controlling flight attitudes." The entire content is incorporated into this application by reference.

Technical field

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.

Background technique

With the rapid development of UAV technology, functions such as security monitoring or aerial photography through UAVs have also quickly become popular in people's daily lives.

In order to avoid the flight impact caused by the various interferences encountered by the drone during the flight, 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. At this time, according to a control quantity designed in the controller to resist the interference, 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.

However, 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. At this time, 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.

Summary of the invention

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.

In the first aspect, an embodiment of the present invention provides a method for controlling a flight attitude, the method including:

Determine the conversion control parameters of the drone according to the current flight attitude parameters of the drone, the attitude adjustment parameters, and the remote control attitude parameters set by the remote control device for the drone;

Compensate the flight attitude of the drone according to the conversion control parameters of the drone and the current flight allocation parameters to obtain the target flight attitude parameters of the drone;

The drone is controlled to fly according to the target flight attitude parameter.

In a second aspect, 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.

In the third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, the unmanned aerial vehicle including:

One or more processors;

Storage device for storing one or more programs;

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.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When 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. Control the amount to resist the actual interference, which causes the problem of the UAV fuselage jitter. 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.

Description of the drawings

By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more apparent:

FIG. 1 is a flowchart of a method for controlling a flight attitude according to Embodiment 1 of the present invention;

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;

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.

Detailed ways

The present invention will be further described in detail below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for ease of description, the drawings only show a part of the structure related to the present invention instead of all of the structure. In addition, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

Example one

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.

Specifically, referring to FIG. 1, 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.

Specifically, this embodiment mainly addresses the problem of UAVs resisting interference during flight. 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. Among them, 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. 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. Interference; 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.

Optionally, in this embodiment, after collecting the current flight attitude parameters of the drone through each attitude sensor and the remote control attitude parameters set for the drone at the next moment through the remote control device, 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.

In this embodiment, the attitude dynamic model is

among them,

Indicates the rate of change of UAV attitude angle; X ₂ indicates the rate of UAV flight attitude angle;

Indicates the attitude angular acceleration of the UAV; u is the conversion control parameter of the UAV; A and B are the nominal model parameters respectively; K ₁ and K ₂ are the attitude angle adjustment parameters and attitude angle rate adjustment in the attitude adjustment parameters, respectively Parameters; exemplary, preset

X ₂ ^T =[ω _x ,ω _y ,ω _z ],

among them,

θ and ψ are the roll angle, pitch angle and yaw angle of the UAV, ω _x , ω _y and ω _z are the roll angle rate, pitch angle rate and yaw angle rate of the UAV respectively; characterize the UAV Under the effect of the conversion control parameter u, its attitude movement mode.

In addition, in this embodiment, 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. Optionally, before acquiring the attitude adjustment parameters of the UAV in this embodiment, 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.

Specifically, the closed-loop system of the UAV can be approximated as a second-order system. In this case, 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. At this time, according to 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.

Exemplarily, the parameters in the preset attitude dynamic model are:

with

Among them, 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:

Among them, 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 One of the remote control attitude angle among the roll angle, pitch angle and yaw angle; the equation corresponding to the time domain conversion is:

Its discrete form is expressed as:

Reset the parameters in the above formula: z _2i (k) = X _2i (k+1), h _2i (k) = [X _1ic (k)-X _1i (k), X _2i (k)] ^T ,

At this time, the existing online identification algorithm is as follows:

In this embodiment, the above-mentioned existing online identification algorithm can be used to obtain _{the estimated value of θ 2i} (k+1)

And then through the reset parameters

_{Calculate the damping parameter ξ i} (k+1) and the bandwidth parameter ω _ni (k+1) in the closed-loop response characteristic parameters of the UAV, and compare them with the preset expected damping value ξ _id and the expected bandwidth ω _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.

At this time, this embodiment does not specifically limit the update rule of the adaptive attitude adjustment parameters, and one of the update rules may be:

Among them, γ ₁ and γ ₂ are adaptive update constants, which are freely set by the developer, and the initial values _{of K 1} and K _{2 in the attitude adjustment parameters are:}

K ₂₀ ＝2E _d W _nd , at this time

Furthermore, iteratively obtain the attitude adjustment parameters K ₁ and K ₂ at the next moment through the above formula; another update rule can also be:

ΔK ₂ (k)=γ ₂ (E _d W _nd -E(k)W _n (k)); and the initial values _{of K 1} and K _{2 in the attitude adjustment parameters are:}

K ₂ (0)=2E _d W _nd , at this time K ₁ (k)=K ₁ (k-1)+ΔK ₁ (k), K ₂ (k)=K ₂ (k-1)+ΔK ₂ ( _{k); Furthermore, the attitude adjustment parameters K 1} (k+1) and K ₂ (k+1) at the next moment can also be obtained through the iteration of the above formula.

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.

Among them, 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. According to the current flight allocation parameter, 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.

Specifically, in this embodiment, after determining the conversion control parameters of 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.

Specifically, 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.

Example two

FIG. 2A is a flowchart of a method for controlling a flight attitude according to the second embodiment of the present invention, and 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. Optionally, in this embodiment, the specific flight process of controlling the drone to fly in a stable flight attitude is mainly explained in detail.

Optionally, as shown in FIG. 2A, 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.

Specifically, when 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.

Exemplary, according to the attitude dynamic model

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.

Specifically, when 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.

Exemplary, according to the attitude dynamic model

It can be obtained that 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.

Specifically, as shown in Figure 2B, since the UAV’s 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.

Exemplarily, since the distribution relationship of the motor control in the UAV is: u=Mv; where M is the matrix composed of the current flight allocation parameters set for each motor in the UAV, and v is each motor in the UAV The input matrix composed of the input signal of the motor, set at this time:

v ^T =[v ₁ ,v ₂ ,...,v _n ]; while the motor response in the UAV has a time constant τ, and its equivalent model can be approximated as an inertial link, namely:

Among them, the above formula represents the input and output transfer function of each motor in the UAV, s is the Laplacian operator, i is the motor number, it is assumed that there are n motors in the UAV, and δ _i is the actual value of the i-th motor. The specific pull force generated, δ _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

Optionally, in this embodiment, according to the drone's flight attitude parameters at the current moment, 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.

Specifically, in this embodiment, 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; the dynamic model of the attitude angular rate at this time is

At this time, for any single channel of the roll, pitch, and yaw rate in the UAV attitude angular rate, its discrete form can be expressed as: X _2i (k+1) = X _2i (k) _{_{+ Tb i (k) m i}} (k) v (k); _{wherein, m i (k) = [} m i1, m i2, ......, m in], represents in each machine roll angle rate, The corresponding allocation parameter in any single channel of pitch rate and yaw rate;

Reset the parameters in the above formula:

h _1i (k)=v(k), θ _1i (k)=M _i ^T (k);

At this time, the existing online identification algorithm is as follows:

In this embodiment, the above-mentioned existing online identification algorithm can be used to obtain _{the estimated value of θ 1i} (k+1)

Furthermore, the current flight allocation parameters of the UAV are calculated through the re-set parameter θ _1i (k) = M _i ^T (k), so as to determine the unmanned aircraft according to the current flight allocation parameters and the conversion control parameters of the UAV. Click input signal of each motor in the machine.

S240: Control and compensate the motor in the drone according to the motor input signal, and generate a corresponding pulse width modulation signal.

Specifically, when the motor input signal of each motor in the drone is obtained, 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. In order to control the stable flight of the drone.

Exemplary, 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.

Specifically, after obtaining the pulse width modulation signal of each motor in the UAV, as shown in Figure 2B, send it to each motor of the UAV, and then control the operation of the corresponding motor according to the pulse width modulation signal. By controlling the attitude change of the UAV, the target flight attitude parameters of the UAV are determined.

S260: Control the drone to fly according to the target flight attitude parameters.

Example three

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.

Further, 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.

Further, 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.

Further, 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.

Further, 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.

Further, 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.

Example four

Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to the fourth embodiment of the present invention. As shown in FIG. 4, 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. In FIG. 4, 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. In FIG. 4, the connection by a bus is taken as an example.

As a computer-readable storage medium, 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. In addition, 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. In some examples, 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.

Example five

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:

Determine the UAV's conversion control parameters according to the UAV's current flight attitude parameters, attitude adjustment parameters and the remote control attitude parameters set by the remote control device for the UAV;

According to the UAV's conversion control parameters and current flight allocation parameters, the UAV's flight attitude is compensated to obtain the UAV's target flight attitude parameters;

Control the UAV flight according to the target flight attitude parameters.

Of course, 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.

Through the above description of the implementation manners, those skilled in the art can clearly understand that 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. . Based on this understanding, 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. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash memory (FLASH), 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.

It is worth noting that in the embodiment of the above-mentioned flight attitude control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; The specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.

The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, 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. Wherein, 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.

Claims

A method for controlling flight attitude, which is characterized in that it comprises:

Determine the conversion control parameters of the drone according to the current flight attitude parameters of the drone, the attitude adjustment parameters, and the remote control attitude parameters set by the remote control device for the drone;

Compensate the flight attitude of the drone according to the conversion control parameters of the drone and the current flight allocation parameters to obtain the target flight attitude parameters of the drone;

The drone is controlled to fly according to the target flight attitude parameter.
The method according to claim 1, wherein the determination of the drone is based on the drone's current flight attitude parameters, attitude adjustment parameters, and remote control attitude parameters set for the drone by a remote control device The conversion control parameters include:

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;

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 method according to claim 1, wherein the flight attitude of the drone is compensated according to the conversion control parameters of the drone and the current flight allocation parameters to obtain the drone's Target flight attitude parameters, including:

Determine the motor input signal of the drone according to the conversion control parameters of the drone and the current flight allocation parameters;

Controlling and compensating the motor in the drone according to the motor input signal to generate a corresponding pulse width modulation signal;

The target flight attitude parameter of the drone at the next moment is determined according to the pulse width modulation signal.
The method according to claim 3, further comprising:

The current flight allocation parameter is determined according to the current flight attitude parameter of the UAV and the motor input signal at the previous moment.
The method according to claim 1, further comprising:

Determine the closed-loop response characteristic parameters of the drone according to the current flight attitude parameters and remote control attitude parameters of the drone;

According to the closed-loop response characteristic parameter, the corresponding attitude adjustment parameter is determined.
The method according to claim 5, wherein the closed-loop response characteristic parameters include damping information and bandwidth information of the UAV in the closed-loop system.
A control device for flying attitude, which is characterized in that it comprises:

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.
The device according to claim 7, wherein the conversion parameter determination module comprises:

An angular rate determining unit, configured to determine the target attitude angular rate of the drone according to the current flight attitude angle, the attitude angle adjustment parameter, and the remote control attitude angle of the drone;

The conversion parameter determination unit is configured to 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.
An unmanned aerial vehicle, characterized in that the equipment includes:

One or more processors;

Storage device for storing one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors realize the flight attitude control method according to any one of claims 1-6.
A computer-readable storage medium with a computer program stored thereon, characterized in that, when the program is executed by a processor, the method for controlling a flight attitude according to any one of claims 1-6 is realized.