A method for measuring the vertical rate of unmanned aerial vehicles without combined compensation of acceleration sensors
A technology of acceleration sensor and measurement method, which is applied to measurement devices, instruments, non-electric variable control, etc., to achieve the effect of being beneficial to flight safety, reducing cost and simplifying hardware configuration
Active Publication Date: 2016-04-06
BEIHANG UNIV
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[0003] The purpose of the present invention is to solve the above problems and propose a method for measuring the lift rate of an unmanned aerial vehicle, which can extract lift rate information when the measurement accuracy of the acceleration sensor decreases or fails
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[0033] In order to compare and analyze the effectiveness of the method proposed by the present invention, first, the simulation results of the current rise and fall rate measurement method based on the combined compensation principle are given. Assuming that the output rise and fall rate signal of the radio altimeter is The noise intensity α is 2, n(t) is the white noise signal with zero mean and 0.01 variance, and the output signal of the acceleration sensor Among them, the noise intensity β is 0.1, the filter adopts the first-order inertial link, and the corresponding time constant T=0.5. Here, the simulation results of the acceleration sensor failure and the rise and fall rate information under normal working conditions are shown, such as figure 2 Shown. It can be found that when the accelerometer is working normally, the lift rate information is basically free of noise information, and the ideal lift rate signal can be tracked smoothly. On the contrary, when the accelerom...
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The invention discloses an unmanned aerial vehicle climbing rate measurement method without acceleration sensor combination compensation. The unmanned aerial vehicle climbing rate measurement method mainly aims at overcoming the defect that a current unmanned aerial vehicle climbing rate measurement method based on the combination compensation principle is excessively dependent on information of an acceleration sensor, and once the measurement accuracy of the acceleration sensor is lowered or the acceleration sensor loses efficacy, at the moment, climbing rate information with high accuracy can not be provided. Based on the condition, a cascade-type nonlinear tracking differentiator only depending on height information of an unmanned aerial vehicle is provided, meanwhile, the principle that forecasting is firstly carried out and then differential is carrier out is adopted for making up phase position losses of the climbing rate, and in this way, the aim of measuring the climbing rate of the unmanned aerial vehicle under the condition that the acceleration sensor is not arranged or loses efficacy is achieved. The unmanned aerial vehicle climbing rate measurement method can be used for the automatic control flight of the unmanned aerial vehicle, particularly can be used for the occasion where the acceleration sensor loses the efficacy, and is beneficial for improving the flight safety coefficient and the height control accuracy.
Description
Technical field [0001] The invention relates to the field of unmanned aerial vehicle flight control, specifically, to a method for measuring the lift rate of an unmanned aerial vehicle that does not require combination compensation of acceleration sensors. Background technique [0002] The measurement of the current UAV lift rate usually adopts the method of combining the lift rate information output by the radio altimeter and the acceleration sensor information. The corresponding hardware configuration is called the vertical speed sensor, which is mainly composed of the radio altimeter, acceleration sensor, limiter and The radio altimeter is an airborne radio device that measures the vertical distance from the aircraft to the ground. It can provide two data outputs, one is relatively pure altitude information, and the other is the lift rate information calculated by the differential method. The noise carried is too strong and cannot be directly used by the flight control system....
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IPC IPC(8): G01D21/00G05D1/00
Inventor 王宏伦邵星灵苏子康向锦武
Owner BEIHANG UNIV