Method and device for controlling flight state of micro unmanned rotary wing aircraft
A technology of rotorcraft and flight status, applied in the aviation field, can solve the problems of difficult control of error data, and achieve the effects of easy operation, timely acquisition and accurate error signals
Inactive Publication Date: 2012-03-07
SHENZHEN CITY DONGFANG HUACHUANG INVESTMENT
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is to provide a kind of flight state control of a miniature unmanned rotorcraft that can obtain relatively accurate error data and is easy to operate in view of the above-mentioned defects in the prior art that cannot obtain accurate error data and are difficult to control. Method and device
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Embodiment Construction
[0034] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0035] Such as figure 1 As shown, in the flight state control method and device embodiment of the miniature unmanned rotorcraft of the present invention, the control method of its flight state includes the following steps:
[0036] Step S11 obtains the parallel actual lateral angle data: we know that for the UAV, its specific flight status, including height, speed, direction and pitch angle, etc., is obtained by receiving the wireless signal transmitted by the remote control terminal. Obtained; usually, the operator at the remote control terminal uses the joystick to input the flight data of the drone, and sends it to the drone through wireless transmission. Ideally, the flight status of the drone should be the same as The above data are consistent. We refer to the received flight state data that the operator expects the UAV to achieve as standard flig...
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The invention relates to a method for controlling the flight state of a micro unmanned rotary wing aircraft, comprising the following steps: obtaining the data of current actual flight state; comparing the data of the current actual flight state with the data of current standard flight state by a data processing unit to obtain a flight state error signal; outputting the flight state error signal to a master control platform; and returning to the starting step. The invention also relates to a device for controlling the flight state of the micro unmanned rotary wing aircraft. The method and thedevice for implementing the invention has the beneficial effects that the data of the actual flight state is singly obtained, and Karl Mann filtering operation is carried out on the obtained data of the actual flight state by the data processing unit, thus obtaining the error signal without the need of processing the data by the master control platform. Therefore, the data of the flight state andthe error signal can be obtained timely and accurately and do not conflict with the operation of the master platform, thus the error signal is more accurate and the operation is easier.
Description
technical field [0001] The invention relates to the field of aviation, and more specifically, relates to a method and device for controlling the flight state of a miniature unmanned rotorcraft. Background technique [0002] Miniature unmanned rotorcraft (helicopter) has always been a subject of research and development. Compared with fixed-wing aircraft, it has its inherent advantages, such as simple take-off and landing, slow adjustment of forward speed, more accurate altitude control, etc. . However, the flight design of an unmanned helicopter is much more complicated than that of a fixed-wing UAV, and there are many matters to be considered, such as: the error of cross-wind resistance, the error of severe jitter of the fuselage, the error of navigation drift, etc. hover error etc. Often when these errors exist, if a relatively accurate data (i.e. error value) can be provided when the error begins to occur, and then overcome and repair these errors based on the data, the...
Claims
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IPC IPC(8): G05D1/08
Inventor 刘少兵
Owner SHENZHEN CITY DONGFANG HUACHUANG INVESTMENT