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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.

Active Publication Date: 2020-09-01
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by 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. , some existing technologies add other sensors to correct the measured value of the gyroscope. However, the zero point drift of the measured value of the gyroscope is still relatively large, resulting in low accuracy of the obtained UAV attitude information, which seriously reduces the accuracy of the UAV. control precision

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  • UAV data processing method and device

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Embodiment Construction

[0030] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0031] At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0032] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

[0033] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authoriz...

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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.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G06K9/62
CPCG01C21/16G06F18/25
Inventor 吴海超孙勇李大鹏历莹
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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