Unmanned aerial vehicle flight controller attitude calculation and control method

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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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 interference to the flight controller; Most UAV flight controllers use IMU (Inertial measurement unit, inertial measurement unit) hard connection. Due to the vibration generated by the propeller when the UAV is flying, the data collected by the IMU will be easily disturbed, resulting in instability in attitude calculation. sex

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