Method and device for measuring speed of unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The embodiment of the invention relates to the field of unmanned planes, and provides an unmanned plane speed measurement method and device, and an unmanned plane. The method comprises the steps: obtaining a first group of distances of a plurality of laser beams of a laser radar of the unmanned plane on a plurality of planes at a first position and a first moment; obtaining a second group of distances of the plurality of laser beams on the plurality of planes at a second position and a second moment; processing the first and second groups of distances according to a preset geometric relation, and obtaining the coordinates of the first and second positions of the unmanned plane in the same coordinate system; and determining the movement speed information of the unmanned plane according to the coordinates of the first and second positions in the same coordinate system and the time difference between the first and second moments. The method can carry out the detection of the speed through employing a signal of an airborne laser radar, and can correct the speed obtained by an IMU through employing a detected speed, so as to achieve the hovering of the unmanned plane.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method and device for measuring the speed of an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] This section is intended to provide a background or context for implementations of the invention that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] Traditional UAVs use the three-dimensional acceleration data measured by the Inertial Measurement Unit (IMU), the three-axis angular velocity data, and the heading data measured by the magnetic compass to process and analyze, and perform attitude control processing; the UAV control system also refers to The latitude and longitude data, altitude data, and speed data are measured by the satellite signal, and the flight position is calculated and corrected. [0004] Since the accelerometer in the inertial measurement un...

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Problems solved by technology

[0005] The present invention proposes a UAV speed measurement method, device and UAV to solve the problem that the existing UAV cannot obtain an effective speed information to correct the UAV when the GPS signal disappears or has a large error The problem of the error caused by the accelerometer

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