Geomagnetic Correction Method for Pitch Angle of Quadrotor UAV
A four-rotor UAV, pitch angle technology, applied in ground navigation, navigation through speed/acceleration measurement, etc., can solve the problems of low accuracy, cost limitation, attitude influence, etc., and achieve the effect of improving accuracy
Active Publication Date: 2018-12-21
湖北智飞科技有限公司
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Problems solved by technology
However, due to cost constraints, the gyroscope used by the quadrotor UAV has low precision, and the drift of the gyroscope itself will have a great impact on the attitude after long-term accumulation
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[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0037] Such as figure 1 As shown, the geomagnetic correction method for the pitch angle of the quadrotor UAV in the embodiment of the present invention includes the following steps:
[0038] Step S1, establishing a body coordinate system and a navigation coordinate system.
[0039] Specifically, the coordinate system is established as follows: the body coordinate system is defined as follows: the X axis represents the roll axis, corresponding to the front; the Y axis represents the pitch axis, corresponding to the right; the Z a...
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The invention provides a geomagnetism correction method for the pitch angle of a quad-rotor unmanned helicopter. The method comprises the steps of building a helicopter body coordinate system and a navigation coordinate system; controlling the quad-rotor unmanned helicopter for rotating at the preset flight attitude angle according to the helicopter body coordinate system and the navigation coordinate system; building a rotating matrix according to the flight attitude angle of rotation of the helicopter body, and calculating the helicopter attitude matrix of the quad-rotor unmanned helicopter according to the rotating matrix; setting the projection of geomagnetism in a reference system, and calculating the geomagnetism pitch angle correction value according to the projection of the geomagnetism in the reference system, the rotating matrix and the flight attitude matrix; correcting the pitch angle of the quad-rotor unmanned helicopter according to the geomagnetism pitch angle correction value so as to compensate for attitude errors caused when a gyroscope of the quad-rotor unmanned helicopter is drifted. On the premise that the product cost is not increased, the attitude errors are compensated for, and the precision is improved.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a geomagnetic correction method for the pitch angle of a quadrotor unmanned aerial vehicle. Background technique [0002] The autopilot used by the quadrotor UAV is relatively low-end, and its product price is relatively low. The basis for the automatic control of the autopilot is the attitude measurement, and the basis of the attitude measurement is the gyroscope. However, due to cost constraints, the gyroscope used by the quadrotor UAV has low precision, and the drift of the gyroscope itself will have a great impact on the attitude after long-term accumulation. Contents of the invention [0003] The aim of the present invention is to solve at least one of said technical drawbacks. [0004] For this reason, the object of the present invention is to propose a kind of geomagnetic correction method for the pitch angle of quadrotor UAV, under the premise of not ...
Claims
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IPC IPC(8): G01C21/06G01C21/08G01C21/18
CPCG01C21/06G01C21/08G01C21/18
Inventor 黄磊王根勇刘聪李学风
Owner 湖北智飞科技有限公司