WO2018094576A1 - Procédé de commande de véhicule aérien sans pilote, contrôleur de vol, et véhicule aérien sans pilote - Google Patents

Procédé de commande de véhicule aérien sans pilote, contrôleur de vol, et véhicule aérien sans pilote Download PDF

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Publication number
WO2018094576A1
WO2018094576A1 PCT/CN2016/106818 CN2016106818W WO2018094576A1 WO 2018094576 A1 WO2018094576 A1 WO 2018094576A1 CN 2016106818 W CN2016106818 W CN 2016106818W WO 2018094576 A1 WO2018094576 A1 WO 2018094576A1
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Prior art keywords
height
value
current time
estimated value
determining
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English (en)
Chinese (zh)
Inventor
王俊喜
王春明
邹尧
吴旭民
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201680002606.6A priority Critical patent/CN107074360B/zh
Priority to PCT/CN2016/106818 priority patent/WO2018094576A1/fr
Publication of WO2018094576A1 publication Critical patent/WO2018094576A1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth 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
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0646—Rate of change of altitude or depth specially adapted for aircraft to follow the profile of undulating ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • 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

  • Embodiments of the present invention relate to the field of drones, and in particular, to a control method for an unmanned aerial vehicle, a flight controller, and an unmanned aerial vehicle.
  • a radar is installed on the unmanned aerial vehicle, and the radar is used to detect the ground around the unmanned aerial vehicle to prevent the UAV from colliding with the ground.
  • sensors such as radar, ultrasonic waves, etc. are disposed directly under the UAV to detect the distance between the ground directly below the UAV and the UAV, especially the agricultural unmanned aerial vehicle, directly below the agricultural unmanned aerial vehicle.
  • the radar is set to detect the distance between the crop and the agricultural unmanned aerial vehicle, and to ensure that the agricultural unmanned aerial vehicle maintains a certain distance from the crop during the flight, so that the medicine is evenly sprayed on the surface of the crop.
  • the radar-sensed agricultural unmanned aerial vehicle is faster than the height of the crop, and the agricultural unmanned aerial vehicle
  • the power system cannot adjust the flying height of the agricultural unmanned aerial vehicle in real time according to the height of the radar sensing, so that the power system always lags the flying height of the agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle cannot accurately follow the terrain.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle, a flight controller, and an unmanned aerial vehicle, and the accuracy of terrain following by the unmanned aerial vehicle.
  • An aspect of an embodiment of the present invention provides a control method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a first detecting device and a second detecting device, wherein the first detecting device and the second detecting device are respectively used for Measuring a height of the UAV from the ground, a detection direction of the first detecting device is at a preset angle with a yaw axis direction of the UAV, and a detection direction of the second detecting device is along the unmanned The yaw axis direction of the aircraft is set;
  • the method includes:
  • Another aspect of an embodiment of the present invention is to provide a flight controller including one or more processors that work separately or in cooperation, the processor being used to:
  • the unmanned aerial vehicle includes a first detecting device and a second detecting device, wherein the first detecting device and the second detecting device are respectively configured to measure a height of the unmanned aerial vehicle from the ground, the first detecting The detection direction of the device is at a predetermined angle with the yaw axis direction of the UAV, and the detection direction of the second detection device is set along the yaw axis direction of the UAV.
  • a power system mounted to the fuselage for providing flight power
  • a first detecting device and a second detecting device are mounted on the body for measuring a height of the UAV from the ground, a detecting direction of the first detecting device and a yaw axis of the UAV
  • the direction of the second detecting device is set along a yaw axis direction of the unmanned aerial vehicle;
  • a flight controller communicatively coupled to the power system for controlling the UAV flight;
  • the flight controller includes one or more processors, the processor for:
  • the control method, the flight controller and the unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiment respectively detect the unmanned aerial vehicle from the front of the unmanned aerial vehicle through two detecting devices provided on the unmanned aerial vehicle
  • the height and the vertical height of the UAV from its oblique front ground determine the height of the UAV from the ground below it, ie the height of the UAV from the ground below it is not only related to the height of the UAV from the ground directly below it.
  • the vertical height of the UAV from its oblique front ground It is also related to the vertical height of the UAV from its oblique front ground.
  • the local shape is large, the UAV is flying at a high speed, or the UAV is flying and defending, according to the height of the UAV from the ground directly below it.
  • the vertical height from the obliquely front ground determines the height from the ground below it.
  • the calculation accuracy of the unmanned aerial vehicle from the ground height below is improved, and the detection result is avoided.
  • Get real-time power system can adjust the altitude unmanned aircraft, thereby improving the accuracy of the unmanned aircraft to follow the terrain.
  • FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 5 is a structural diagram of a joint Kalman filter of a fusion feedback mode according to an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of radar data fusion of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention.
  • FIG. 9 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
  • FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
  • the unmanned aerial vehicle includes a first detecting device and a second detecting device, where the first detecting device and the second detecting device are respectively used to measure the height of the unmanned aerial vehicle from the ground.
  • the detection direction of the first detecting device and the yaw axis of the unmanned aerial vehicle The direction of the second detection device is set along the yaw axis of the UAV.
  • the method in this embodiment may include:
  • Step S101 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
  • 21 denotes a fuselage of an unmanned aerial vehicle, or a water tank representing an agricultural unmanned aerial vehicle, and the present embodiment does not limit the specific shape of the airframe and the water tank.
  • This embodiment takes the fuselage of the unmanned aerial vehicle as an example.
  • 22 and 23 are respectively two detecting devices disposed on the body 21.
  • the detecting device may specifically be at least one of the following: a radar sensor, an ultrasonic sensor, a time of flight (TOF) ranging sensor, and a visual sensor.
  • the detecting device 22 and the detecting device 23 are respectively used for measuring the height of the unmanned aerial vehicle from the ground, except that the detecting direction of the detecting device 22 is different from the detecting direction of the detecting device 23, as shown in FIG.
  • the yaw axis of the human aircraft, the detection direction of the detection device 22 is at a predetermined angle ⁇ with the yaw axis 24 of the UAV, and the detection direction of the detection device 23 is set along the yaw axis 24 of the UAV.
  • the detection device 22 can detect the point A on the terrace, and the detection device 23 can detect the point B on the terrace.
  • the detection direction of the detection device 22 and the detection of the detection device 23 The direction may be scattered. As shown in FIG.
  • the detection direction of the detecting device 22 is scattered within a certain angular range, and the detecting direction of the detecting device 23 is also scattered within a certain angular range, and the detecting device 22 can detect the area A on the terrace.
  • the detecting device 23 can detect the area B on the terrace.
  • the execution body of the embodiment may be a flight controller or other control module in the unmanned aerial vehicle.
  • the flight controller is used as the main body
  • the first detecting device is the detecting device 22 as shown in FIG. 2 or FIG.
  • the second detecting device is the detecting device 23 as shown in FIG. 2 or FIG. 3 .
  • the detecting value of the detecting device 22 that the flight controller can acquire is recorded as the first detected value
  • the detected value of the detecting device 23 is recorded as the first detecting device.
  • Two detection values may specifically be the distance between the UAV and the point A or the area A
  • the second detection value may specifically be the distance between the UAV and the point B or the area B.
  • the centers of the detecting device 22 and the detecting device 23 are both recorded as point 0, so that the distance between the detecting device 22 and the point A or the area A, that is, the slanting distance OA, represents the unmanned aerial vehicle and the point A or the area A.
  • the distance between the detection device 23 and the point B or the area B, OB represents the distance between the UAV and the point B or the area B.
  • Step S102 Determine, according to the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
  • the flight controller After acquiring the first detection value of the detecting device 22 and the second detecting value of the detecting device 23, the flight controller calculates, according to the first detecting value and the second detecting value, the unmanned aerial vehicle from the ground below the unmanned aerial vehicle. Height, specifically, data fusion may be performed according to the first detection value and the second detection value to obtain a fusion height.
  • the point A or the area A may be a ground or an obstacle obliquely ahead of the unmanned aerial vehicle when flying, and the point B or the area B may be directly below the unmanned aerial vehicle during flight. Ground or obstacles.
  • the slant range OA can be decomposed into a horizontal component and a vertical component. As shown in FIG. 2, the vertical component of the slant range OA is OC, and the vertical component OC represents the vertical height of the UAV from the point A or the area A.
  • An achievable manner of data fusion according to the first detection value and the second detection value is: data fusion according to the vertical component OC of the slant range OA and the vertical height OB of the UAV distance point B or the area B After the data is fused, a fusion height is obtained, which can be used as the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle.
  • the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
  • the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
  • the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
  • the local shape is large and the flying speed of the unmanned aerial vehicle is large.
  • the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
  • Figure 4 is another embodiment of the present invention
  • FIG. 5 is a structural diagram of a joint Kalman filter of a fusion feedback mode according to an embodiment of the present invention
  • FIG. 6 is an agricultural unmanned aerial vehicle provided by an embodiment of the present invention
  • Schematic diagram of radar data fusion As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S201 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
  • Step S201 is consistent with step S101, and the specific method is not described herein again.
  • Step S202 Determine, according to the first detection value, a first height, where the first height is a vertical height of the unmanned aerial vehicle from the first ground, and the first ground is in a detection direction of the first detecting device on.
  • the first detecting device is the detecting device 22 as shown in FIG. 2, and the first ground is in the detecting direction of the first detecting device, that is, the detecting device 22, that is, the first ground is a point as shown in FIG. A, or the area A as shown in FIG. 3; the first height is the vertical component OC as shown in FIG. 2, that is, the vertical height of the UAV from the point A or the area A.
  • the detecting device 22 can output the first time in real time.
  • the detected value, the first detected value represents a measure of the distance between the UAV and point A or area A.
  • the achievable manner of determining the first height is as follows:
  • the first one includes the following steps 11-13:
  • Step 11 Determine an estimated value of the first height at a current time according to the fusion height before the current time;
  • the error may be the error generated by the detecting device itself, or may be the error caused by the surrounding environment of the detecting device.
  • the first height may be estimated according to the current time. The value and the measured value of the first height of the current time, determining the actual value of the first height at the current time, and determining an estimated value of the first height at the current time is: determining according to the fusion height according to the current time The estimated value of the first height at the current time.
  • Step 12 Determine, according to the first detection value of the current moment, a measured value of the first height at the current moment;
  • the first detected value at the current time indicates that the current time detected by the detecting device 22 is unmanned.
  • the distance between the device and the point A or the area A that is, the measured value of the slanting distance OA, can be calculated based on the measured value of the slanting distance OA and the preset angle ⁇ between the detecting direction of the detecting device 22 and the yaw axis.
  • the measured value of the vertical component OC of the OA specifically, in the present embodiment, the preset angle ⁇ is an angle of 45 degrees, and according to the sine and cosine rule, the measured value of the vertical component OC of the slant range OA can be calculated.
  • Step 13 Determine, according to the estimated value of the first height and the measured value at the current time, a new spread of the first height at the current time.
  • the second method includes the following steps 21-23:
  • Step 21 Determine an estimated value of the first height at the current time according to the estimated value of the first height at a previous moment of the current time;
  • the estimated value of the first height is obtained by filtering the first detection value by using a first sub-filter.
  • another achievable manner of determining the estimated value of the first height at the current time is: determining the vertical component OC of the slant range OA at each time according to the measured value of the first detected value, that is, the slant range OA, which is output by the detecting device 22 in real time.
  • the measured value of the vertical component OC is filtered by the first sub-filter to obtain a local optimal estimate of the first height at each moment, the first sub-filter is specifically Kalman filtering, and each time A height local optimum estimate can be used as an estimate of the first height at each moment, assuming that the estimated value of the first height at the current time is X 1 (k), and the estimated value of the first height at the previous moment of the current time is X 1 (k-1), Example may be X 1 (k-1) based on the estimated value of the first time of the current height of the previous embodiment of the present time, determining a first estimate of the current time point height X 1 (k), a particular The relationship between X 1 (k) and X 1 (k-1) can be expressed as formula (1):
  • W 1 (k-1) represents the Gaussian white noise at the previous moment.
  • Step 22 Determine, according to the first detection value of the current moment, a measured value of the first height at the current moment;
  • Step 22 is the same as step 12, and the specific method is not described here.
  • Step 23 Determine, according to the estimated value of the first height and the measured value at the current time, a new interest rate difference of the first height at the current time.
  • Step 23 is the same as step 13. The specific method is not described here.
  • Step S203 Determine, according to the second detection value, a second height, where the second height is a vertical height of the UAV from the second ground, and the second ground is in a detection direction of the second detecting device. on.
  • the second detecting device is the detecting device 23 as shown in FIG. 2; the second ground is in the detecting direction of the second detecting device, that is, the detecting device 23, that is, the second ground is a point as shown in FIG. B, or area B as shown in FIG.
  • the second height is the vertical height OB as shown in FIG. 2, that is, the vertical height of the UAV from the point B or the area B.
  • the detecting device 23 can output the second detection value in real time, and the second detection value indicates the unmanned aerial vehicle and A measure of the distance between point B or area B.
  • the achievable manner of determining the second height is as follows:
  • the first one includes the following steps 31-33:
  • Step 31 Determine an estimated value of the second height at the current time according to the fusion height before the current time;
  • the error may be an error generated by the detection device itself, or may be an error caused by the environment surrounding the detection device.
  • the second height may be estimated according to the current time. The value and the measured value of the second height of the current time, determining the actual value of the second height at the current time, and determining an estimable value of the second height of the current time is: determining according to the fusion height according to the current time The estimated value of the second height at the current time.
  • Step 32 Determine, according to the second detection value at the current moment, a measured value of the second height at the current moment;
  • the second detected value of the current time represents the distance between the unmanned aerial vehicle and the point B or the area B at the current moment detected by the detecting device 23, that is, the measured value of the OB.
  • Step 33 Determine, according to the estimated value of the second height and the measured value at the current time, a new interest rate difference of the second height at the current time.
  • the second type includes the following steps 41-43:
  • Step 41 Determine an estimated value of the second height at the current time according to the estimated value of the second height at a previous moment of the current time;
  • the estimated value of the second height is obtained by filtering the second detection value by using a second sub-filter.
  • another achievable manner of determining the estimated value of the second height at the current time is: filtering the second detection value outputted by the detecting device 23 in real time by using the second sub-filter to obtain a local portion of the second height at each moment.
  • the optimal estimation, the second sub-filter is specifically Kalman filtering, and the local optimum estimation of the second height at each moment can be used as an estimation value of the second height at each moment, assuming the estimated value of the second height at the current moment.
  • the estimated value of the second height at the previous moment of the current time is X 2 (k-1), and the embodiment may be based on the estimated value of the second height at the previous moment of the current time X 2 (k- 1), determining an estimated value X 2 (k) of the second height at the current time, specifically, the relationship between X 2 (k) and X 2 (k-1) can be expressed as formula (2):
  • W 2 (k-1) represents the Gaussian white noise at the previous moment
  • W 2 (k-1) and W 1 (k-1) may be the same and may be different.
  • Step 42 Determine, according to the second detection value of the current moment, a measured value of the second height at the current moment;
  • Step 42 is the same as step 32. The specific method is not described here.
  • Step 43 Determine, according to the estimated value of the second height and the measured value at the current time, a new interest rate difference of the second height at the current time.
  • Step 43 is the same as step 33. The specific method is not described here.
  • Step S204 Perform data fusion according to the first height and the second height.
  • the fusion ratio of the estimated value of the first height is determined according to the new interest difference g 1 (k) of the first height at the current time and the new interest difference g 2 (k) of the second height at the current time.
  • a fusion weight of the estimated value of the second height assuming that the fusion weight of the estimated value X 1 (k) of the first height at the current time is w1(k), and the estimated value of the second height at the current time is X 2 (k)
  • the fusion weight is w2(k), then w1(k) can be determined according to formula (3), and w2(k) can be determined according to formula (4):
  • a fusion specific gravity w1(k) according to the measured value of the first height, an estimated value X 1 (k) of the first height at the current time, a fusion specific gravity w2(k) of the estimated value of the second height, and a current
  • the estimated value X 2 (k) of the second height at the time is calculated as the fusion height of the current time. Assuming that the fusion height is X g (k), then X g (k) can be determined according to equation (5):
  • the fusion specific gravity w1(k) of the measured value of the first height by the main filter, the estimated value X 1 (k) of the first height at the current time, and the second height may be used.
  • the fusion calculation is performed by the fusion specific gravity w2(k) of the estimated value and the estimated value X 2 (k) of the second height at the current time.
  • the first sub-filter, the second sub-filter, and the main filter form a joint Kalman filter of a fusion feedback mode.
  • the radar sensor 1 may be the detecting device 22 in the above embodiment
  • the radar sensor 2 may be the detecting device 23 in the above embodiment
  • the radar sensor 1 may be the detecting device 23 in the above embodiment
  • the radar sensor 2 may be the detecting device 22 in the above embodiment.
  • the radar sensor 1 is the detecting device 22, and the radar sensor 2 is the detecting device 23.
  • the first detected value of the real-time output of the radar sensor 1 may be performed first.
  • Data pre-processing specifically, the measured value of the vertical component OC of the slant range OA at each time is determined according to the measured value of the first detected value, that is, the slant range OA, which is output in real time by the detecting device 22; the sub-filter 1 is in the above embodiment.
  • the first sub-filter uses the sub-filter 1 to filter the measured value of the vertical component OC to obtain a local optimum estimate of the first height at each moment, such as a local optimum estimate X 1 of the first height at the current time ( k), and the new interest difference of the first height at the current time is g 1 (k).
  • the second detection value of the real-time output of the radar sensor 2 is preprocessed to obtain the measured value of the vertical height OB at each moment;
  • the sub-filter 2 is the second sub-filter in the above embodiment, and the sub-filter is adopted. 2 Filtering the measured values of the vertical height OB to obtain a local optimum estimate of the second height at each moment, such as a local optimal estimate X 2 (k) of the second height at the current time, and a second height at the current time
  • the new spread is g 2 (k).
  • the sub-filter 1 transmits the local optimum estimate X 1 (k) of the first height at the current time, and the new spread of the first height at the current time, g 1 (k), to the main filter, and the sub-filter 2
  • the local optimum estimate X 2 (k) of the second height at the current time, and the new spread of the second height at the current time are g 2 (k) are transmitted to the main filter, and the main filter is according to the above formula (3) ( 4) (5) Calculate the fusion height X g (k) at the current time.
  • the main filter feeds back the fusion height X g (k) of the current time to the sub-filter 1 and the sub-filter 2.
  • the unmanned aerial vehicle described in the foregoing embodiment may be an agricultural unmanned aerial vehicle.
  • the radar sensor 1 is the detecting device 23 in the above embodiment
  • the radar sensor 2 may be the detecting device in the above embodiment.
  • H1 represents the vertical height of the UAV from the point B or the area B
  • H2 represents the vertical height of the UAV from the point A or the area A
  • the data is combined with the Kalman fusion to obtain the fusion height and the data fusion described in step S204
  • the method is the same, and will not be described in detail.
  • the first detection value is filtered by the first sub-filter to obtain an estimated value of the first height and a new interest difference of the first height
  • the second detection value is filtered by the second sub-filter.
  • a sub-filter sends an estimate of the first height and a new spread of the first height to the main filter
  • the second sub-filter transmits the estimated value of the second height and the new spread of the second height to the main filter
  • the main filter determines the fusion specific gravity of the estimated value of the first height and the fusion specific gravity of the estimated value of the second height according to the new spread of the first height and the new spread of the second height, and measures the first height
  • the fusion weight of the value, the estimated value of the first height at the current time, the fusion weight of the estimated value of the second height, and the estimated value of the second height at the current time are fused, and the fusion height is obtained, and the fusion height is obtained.
  • the joint Kalman filter of the fusion feedback mode formed by the first sub-filter, the second sub-filter and the main filter improves the filter estimation accuracy of the first sub-filter and the second sub-filter Further improve the calculation accuracy fusion height.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
  • FIG. 7 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S301 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
  • Step S301 is the same as step S101. The specific method is not described here.
  • Step S302 Determine, according to the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
  • Step S302 is consistent with the foregoing steps S202 and S203, and the specific method is not described herein again.
  • Step S303 performing terrain following according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle.
  • the flight controller may further control the unmanned aerial vehicle to follow the terrain according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle, that is, the fusion height described in the above embodiment, that is, along the terrain.
  • the height is increased, the flight controller controls the flying height of the unmanned aerial vehicle to increase.
  • the flight controller controls the flying height of the unmanned aerial vehicle according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle, wherein the unmanned aerial vehicle
  • the calculation method of the ground height below it is consistent with the method described in the above embodiment, and the specific process is not here. Let me repeat.
  • the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
  • the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
  • the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
  • the local shape is large and the flying speed of the unmanned aerial vehicle is large.
  • the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
  • Embodiments of the present invention provide a flight controller.
  • the flight controller includes one or more processors, which work separately or in cooperation, and the processor is configured to: acquire a first detection value of the first detection device, and a second detection value of the second detection device; Determining, by the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle; wherein the unmanned aerial vehicle comprises a first detecting device and a second detecting device, The first detecting device and the second detecting device are respectively configured to measure a height of the unmanned aerial vehicle from the ground, and a detecting direction of the first detecting device is at a preset angle with a yaw axis direction of the unmanned aerial vehicle.
  • the detecting direction of the second detecting device is disposed along a yaw axis direction of the unmanned aerial vehicle.
  • a fusion height which is a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
  • the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
  • the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
  • the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
  • the local shape is large and the flying speed of the unmanned aerial vehicle is large.
  • the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
  • FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention; as shown in FIG. 8, the flight controller 40 includes the processor described in the foregoing embodiment.
  • the processor is 41, and the processor 41 And performing data fusion according to the first detection value and the second detection value, specifically, determining, according to the first detection value, a first height, where the first height is a distance from the first ground to the unmanned aerial vehicle a vertical height, the first ground is in a detecting direction of the first detecting device; and determining a second height according to the second detecting value, the second height is a distance from the second ground to the unmanned aerial vehicle a vertical height, the second ground is in a detection direction of the second detecting device; and data fusion is performed according to the first height and the second height.
  • the processor 41 is configured to determine, according to the first detection value, the first height, according to the fusion height before the current time, the estimated value of the first height at the current time; the first according to the current time And detecting a value, determining a measured value of the first height at the current time; determining a new interest difference of the first height at the current time according to the estimated value of the first height and the measured value at the current time.
  • determining, by the processor 41, the first height according to the first detection value specifically: determining, according to the estimated value of the first height at a previous moment of the current moment, the first moment of the current moment An estimated value of the height; determining, according to the first detection value of the current time, the measured value of the first height at the current time; determining the first time of the current time according to the estimated value of the first height and the measured value at the current time High new interest margin.
  • the processor 41 is configured to determine, according to the second detection value, the second height, according to the fusion height before the current time, the estimated value of the second height at the current time; the second according to the current time And detecting a value, determining a measured value of the second height at the current time; determining a new interest rate of the second height at the current time according to the estimated value of the second height and the measured value at the current time.
  • determining, by the processor 41, the second height according to the second detection value specifically: determining, according to the estimated value of the second height at a previous moment of the current moment, an estimated value of the second height at the current moment; Determining, according to the second detection value of the current time, the measured value of the second height at the current time; determining the new interest rate of the second height at the current time according to the estimated value of the second height and the measured value at the current time .
  • the method is specifically configured to: determine, according to the new interest rate difference of the first height at the current time and the new interest rate of the second height at the current time. a fusion specific gravity of the estimated value of the first height and a fusion specific gravity of the estimated value of the second height; a fusion specific gravity according to the measured value of the first height, an estimated value of the first height according to the current time, and a The fusion weight of the estimated value of the second height and the estimated value of the second height at the current time are calculated, and the fusion height of the current time is calculated.
  • the flight controller 40 further includes: a first sub-filter 42, a second sub-filter 43 and a main filter 44 communicatively coupled to the processor, the first sub-filter 42 for the first detection The value is filtered to obtain an estimated value of the first height; the second sub-filter 43 is configured to perform filtering processing on the second detected value to obtain an estimated value of the second height; the main filter 44 is used to The fusion specific gravity of the measured value of the first height, the estimated value of the first height at the current time, the fusion specific gravity of the estimated value of the second height, and the estimated value of the second height at the current time are subjected to fusion calculation.
  • the first sub-filter, the second sub-filter, and the main filter form a joint Kalman filter of a fusion feedback mode.
  • the estimated value of the first height at the previous moment of the current time is the fusion height of the previous moment; the estimated value of the second height of the previous moment of the current moment is the fusion height of the previous moment.
  • the first detection value is filtered by the first sub-filter to obtain an estimated value of the first height and a new interest difference of the first height
  • the second detection value is filtered by the second sub-filter.
  • the first sub-filter transmitting the estimated value of the first height and the new spread of the first height to the main filter
  • the second sub-filter Sending the estimated value of the second height and the new spread of the second height to the main filter
  • the main filter determines the fusion of the estimated values of the first height according to the new spread of the first height and the new spread of the second height a specific gravity of the specific gravity and the estimated value of the second height, and a fusion weight of the measured value of the first height, an estimated value of the first height at the current time, a fusion weight of the estimated value of the second height, and a current time
  • the estimated value of the second height is subjected to fusion calculation to obtain a fusion height, and the fusion height is fed back to
  • Embodiments of the present invention provide a flight controller. Based on the technical solution provided by the embodiment shown in FIG. 8, the processor 41 is further configured to: control the unmanned aerial vehicle to perform terrain following according to a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
  • the detecting device includes at least one of a radar sensor, an ultrasonic sensor, a TOF ranging sensor, and a visual sensor.
  • the preset angle is an angle of 45 degrees.
  • the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
  • the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie People
  • the height of the aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also to the vertical height of the unmanned aerial vehicle from the front of the slope.
  • the local shape is large and the UAV is flying at a high speed or
  • the height of the unmanned aerial vehicle from the ground directly below it and the vertical height of the ground obliquely from the ground are determined according to the height of the ground below it, compared to a detecting device in the prior art.
  • the detection height improves the calculation accuracy of the unmanned aerial vehicle from the ground level below it, and avoids the problem that the detection result changes rapidly with the terrain fluctuation or the UAV flight speed, so that the power system can instantly adjust the flying height of the UAV, thereby improving The accuracy of the unmanned aerial vehicle terrain following.
  • FIG. 9 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 100 includes: a fuselage, a power system, a first detecting device 22, a second detecting device 23, and a flight controller 118.
  • the power system includes at least one of a motor 107, a propeller 106, and an electronic governor 117, the power system being mounted to the fuselage for providing flight power.
  • the first detecting device 22 and the second detecting device 23 are mounted on the body for measuring the height of the UAV 100 from the ground, and the detecting direction of the first detecting device 22 is opposite to the yaw axis direction of the UAV 100.
  • the detection angle of the second detecting device 23 is set along the yaw axis direction of the unmanned aerial vehicle 100 at a preset angle.
  • a flight controller 118 is communicatively coupled to the power system for controlling the UAV flight; wherein the flight controller 118 includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect an acceleration, a pitch angle, a roll angle, a yaw angle, and the like of the drone.
  • the unmanned aerial vehicle 100 further includes: a communication system 110, a supporting device 102, and a photographing device 104, wherein the supporting device 102 may specifically be a pan/tilt, and the communication system 110 may specifically include a receiver, and the receiver
  • the wireless signal transmitted at the antenna 114 of the receiving ground station 112, 116, represents the electromagnetic waves generated during communication between the receiver and the antenna 114.
  • the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
  • the vertical height of the unmanned aerial vehicle from its obliquely forward ground, according to the height of the unmanned aerial vehicle from the ground directly below it and the distance of the unmanned aerial vehicle The vertical height of the front ground determines the height of the UAV from the ground below it, that is, the height of the UAV from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground below it, but also to the unmanned aerial vehicle.
  • the vertical height of the front ground is related to the vertical height of the ground, the flying speed of the unmanned aerial vehicle or the flying defense operation of the unmanned aerial vehicle.
  • the height of the unmanned aerial vehicle and the vertical height of the ground in front of it Determining the height from the ground below it, compared with the detection height of a detection device in the prior art, improving the calculation accuracy of the UAV from the ground height below it, avoiding the detection result with terrain fluctuation or UAV flight
  • the problem of rapid speed change enables the power system to instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of the UAV terrain following.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, and a read only memory. (Read-Only Memory, ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program code.

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

Abstract

La présente invention se rapporte à un procédé permettant de commander un véhicule aérien sans pilote (100), à un contrôleur de vol (40), et au véhicule aérien sans pilote (100). Le procédé consiste : à acquérir une première valeur de détection d'un premier dispositif de détection (22) et une seconde valeur de détection d'un second dispositif de détection (23) (S101) ; et à déterminer une altitude dudit véhicule aérien sans pilote (100) par rapport au sol en dessous sur la base de la première valeur de détection et de la seconde valeur de détection (S102). Deux dispositifs de détection (22, 23) se trouvent sur ce véhicule aérien sans pilote (100) pour détecter séparément une altitude du véhicule aérien sans pilote (100) par rapport au sol exactement en dessous de lui et une distance à un angle à partir de lui jusqu'au sol devant ledit véhicule aérien sans pilote (100), de façon à déterminer l'altitude du véhicule aérien sans pilote (100) par rapport au sol en fonction de son altitude par rapport au sol exactement en dessous de lui et la distance à un angle à partir de lui jusqu'au sol devant le véhicule aérien sans pilote (100), et la précision de calcul de l'altitude de ce véhicule aérien sans pilote (100) par rapport au sol est ainsi améliorée, et la précision de suivi de terrain dudit véhicule aérien sans pilote (100) est améliorée grâce à la réalisation d'un suivi de terrain en fonction de l'altitude.
PCT/CN2016/106818 2016-11-22 2016-11-22 Procédé de commande de véhicule aérien sans pilote, contrôleur de vol, et véhicule aérien sans pilote Ceased WO2018094576A1 (fr)

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PCT/CN2016/106818 WO2018094576A1 (fr) 2016-11-22 2016-11-22 Procédé de commande de véhicule aérien sans pilote, contrôleur de vol, et véhicule aérien sans pilote

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