Unmanned aerial vehicle flight controller attitude calculation and control method

A technology for flight controllers and UAVs, applied in attitude control, non-electric variable control, control/regulation systems, etc., can solve problems such as noise fluctuations in the power supply voltage of external power supply modules, data susceptible to interference, and flight controller interference.

Active Publication Date: 2017-04-19
湖南绿野航空科技有限公司
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AI Technical Summary

Problems solved by technology

[0005] At present, most UAV flight controllers are powered by an external power supply module, and the power supply voltage of the external power supply module has large noise and fluctuations. At the same time, due to the long distance between the ground wire and the flight controller, it is easy to cause interferenc

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  • Unmanned aerial vehicle flight controller attitude calculation and control method
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  • Unmanned aerial vehicle flight controller attitude calculation and control method

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Embodiment Construction

[0258] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0259] The invention discloses a method for calculating the attitude of an unmanned aerial vehicle flight controller, the basic process of which is as follows figure 1 shown.

[0260] Such as figure 1 As shown, the original three-axis accelerometer data is first corrected for zero bias and sensitivity error, and the original three-axis magnetometer data is corrected for zero bias, sensitivity error and ellipse error. After the two sets of fusion data are fused, the first attitude matrix is ​​obtained. The original The three-axis gyroscope data is corrected for zero bias and sensitivity error to obtain the corrected three-axis gyroscope data, which is then fused with the third attitude matrix obtained in the previous control cycle to obtain the second attitude matrix, the first attitude matrix and The third attitude matrix is ​​obtai...

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Abstract

The invention discloses an unmanned aerial vehicle flight controller attitude calculation and control method. The attitude calculation method includes a first attitude matrix obtained by fusing an accelerometer with a magnetometer, a second attitude matrix obtained by fusing a gyroscope and a third attitude matrix of the previous control period, and a third attitude matrix including high-precision attitude information obtained by fusing the first attitude matrix and the second attitude matrix. The attitude control method takes the attitude space vector as the control object, obtains the control quantity of each motor according to the third attitude matrix, and realizes the attitude control of the unmanned aerial vehicle. The attitude calculation and control method can be applied to the control of all the attitudes of the unmanned aerial vehicle, and is high in real-timeness and stable in attitude calculation and control.

Description

[0001] Technical field [0002] The invention relates to the field of unmanned aerial vehicle flight control, in particular to an attitude calculation and control method for an unmanned aerial vehicle flight controller. Background technique [0003] At present, the output of the attitude calculation method of the mainstream UAV flight controller is the Euler angle, and the flight control method uses the Euler angle as the internal control object to control the attitude of the body. The Euler angle has a universal lock The defect is that it cannot be applied to the control of the whole attitude, which limits the movement range of the UAV. At the same time, due to the trigonometric function calculation, it increases the burden on the processor and reduces the real-time performance of the control. [0004] The UAV flight controller is the core control component of the UAV. Its task is to receive information from internal sensors (gyroscope, accelerometer, magnetometer, barometer,...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0816
Inventor 弓箭
Owner 湖南绿野航空科技有限公司
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