UAV data processing method and device

A data processing and drone technology, applied in the field of data fusion, can solve the problems of output delay, poor real-time performance, and large zero-point drift of gyroscope measurement values, and achieve the effect of improving real-time performance, improving accuracy, and reducing zero-point drift.
CN106885568BActive Publication Date: 2020-09-01BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
Publication Date
2020-09-01

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Abstract

The invention discloses a UAV data processing method and device, and relates to the technical field of data fusion. The method includes: using multiple sensors to measure the flight state of the UAV in real time; determining the state equation according to the change process of the flight state of the UAV; obtaining a state transition matrix according to the state equation; according to the state transition matrix, using EKF to combine multiple sensors The measured value of the drone is fused to determine the attitude information of the drone. The method and device improve the real-time and precision of determining the attitude information of the UAV.
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Description

technical field

[0001] The invention relates to the technical field of data fusion, in particular to a method and device for processing data of an unmanned aerial vehicle. Background technique

[0002] In recent years, drones have been widely used in various fields of military and civilian use. For example, the use of drones to deliver goods is faster than car delivery, and the delivery cost is greatly reduced. In order for the UAV to complete the task smoothly and smoothly, how to accurately obtain the attitude information of the UAV in real time, so as to control the UAV with high precision, is a key issue in the UAV control technology.

[0003] At present, the existing technology mostly uses gyroscopes to determine the attitude information of UAVs. However, most of the filtering methods for gyroscope measurements are based on average filtering or sliding filtering. The output delay of this type of filtering technology is serious and the real-time performance is poor. , ...

Claims

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