Method for improving autonomous flight stability of rotorcraft and unmanned aerial vehicle patrol system

Abstract

A method for improving the autonomous flight stability of a rotorcraft and an unmanned aerial vehicle patrol system relate to the technical field of unmanned aerial vehicles. The above-mentioned method for improving the autonomous flight stability of a rotorcraft includes the following steps: obtaining multiple times when the rotorcraft performs various flight actions And maintain the lithium battery voltage value and the corresponding PWM value when the flight is in a stable state; according to the lithium battery voltage value and PWM value when the rotorcraft performs various flight actions and maintains a stable flight state, the battery voltage value and the PWM value are fitted. A functional relational expression of the value; according to the functional relational expression and according to the real-time change of the lithium battery voltage, the flight control unit of the rotorcraft is allowed to adjust the PWM value accordingly, thereby improving the performance of the rotorcraft when performing various flight actions. autonomous flight stability.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for improving the autonomous flight stability of a rotorcraft and an unmanned aerial vehicle patrol system. Background technique [0002] Due to its excellent control performance, multi-rotor aircraft has quickly become a new star in the field of aerial photography and aircraft model sports. The four remote sensing operations of the controller correspond to the movement of the aircraft in the front, rear, left and right, up and down, and yaw directions. In terms of autopilot, multi-rotor self-driving The instrument control method is simple, and the controller parameter adjustment is also very simple. [0003] Traditional multi-rotor aircraft is controlled by manual remote control. In order to fly smoothly, the aircraft needs to take off smoothly, which requires the operator to have certain professional drone driving skills. Many ordinary people who do n...

AI Technical Summary

Problems solved by technology

However, during the autonomous take-off process of the drone, as the number of flights increases, the battery voltage drops, the driving ability of the ESC to the motor decreases, and the speed of the motor decreases, which makes the lift force of the drone insufficient during take-off. The control effect is poor, and it cannot take off smoothly (especially in the case of strong wind in the surrounding environment, and the voltage drop during the flight may also cause the aircraft to be unstable), and even the phenomenon of the fuselage going up and down suddenly, if the take-off process There is manual monitoring, and the operator can make adjustments according to the actual situation. However, the autonomous aircraft without human intervention in the entire flight process (including take-off and landing) may fail to take off or crash.

[0004] At present, consumer drones are mainly used in video aerial photography, power line inspection, traffic monitoring, information collection, and police tracking. In the above-mentioned applications, drones usually use GPS and map navigation, and the aircraft control algorithm is relatively complicated. The requirements for endurance are relatively high. When the flight route is long, it is necessary to manually recover the drone at the end point.

In addition, for UAVs flying between dense urban buildings, since the GPS positioning accuracy is generally about 5 meters (the positioning accuracy is related to the number of satellites for communication), if it is blocked by buildings, the accuracy will be lower, so a map must be required. The accuracy can meet the requirements of precise navigation. The error of the currently widely used Baidu / Gaode map is generally about 3 meters, and some new buildings, trees and some small buildings may not even be marked in the map navigation system (Of course, in this case, it is also possible to use self-drawn maps, which are not conducive to the existing Baidu / Gaode maps currently on the market, but the workload of self-drawn maps is relatively large and there are certain technical difficulties for some small businesses / individuals ), which requires the UAV to be equipped with an anti-collision system (for example, DJI’s indoor UAV is equipped with an autonomous obstacle recognition system) to avoid it from colliding with buildings or trees, so that the UAV’s control algorithm It will be more complicated and the manufacturing cost will become higher, which limits the application of drones in complex ground environments such as large communities, university campuses, large industrial parks and factories to a certain extent.

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