Real-time posture measuring method for motion capture system oriented to four-rotor aircraft

A four-rotor aircraft, motion capture technology, applied in the direction of navigation calculation tools, etc., can solve the problem of inaccurate real-time attitude measurement, and achieve the effect of improving the measurement accuracy of attitude angle, strong practicability, and high accuracy of attitude measurement

Inactive Publication Date: 2017-06-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] In order to solve the technical problems proposed by the above-mentioned background technology, the present invention aims to provide a real-time attitude measurement method for the motion capture system of a quadrotor aircraft, improve the accuracy of real-time attitude measurement, and solve the real-time problem when the satellite navigation system of the multi-rotor aircraft is not available in the indoor environment. The problem of inaccurate attitude measurement

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  • Real-time posture measuring method for motion capture system oriented to four-rotor aircraft
  • Real-time posture measuring method for motion capture system oriented to four-rotor aircraft
  • Real-time posture measuring method for motion capture system oriented to four-rotor aircraft

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Embodiment

[0060] In the form of experiments, the attitude measurement accuracy and real-time measurement after the method of the present invention are verified through indoor static and dynamic experiments.

[0061] In the static experiment, the marker points are installed on the turntable plane of the three-axis small mechanical turntable, and the change of the attitude angle of the quadrotor aircraft is simulated by the change of the turntable plane (equivalent to the XOY plane of the machine system). image 3 It is a schematic diagram of the attitude measurement error, and Table 1 is the root mean square error (RMSE) of the attitude measurement, where the reference datum is the attitude angle of the turntable rotation. It can be seen that the attitude measurement error is less than 0.2 degrees, and the attitude measurement error of the pitch angle is less than 0.1 degree, which can meet the indoor flight requirements of the quadrotor aircraft.

[0062] Table 1

[0063] Hea...

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Abstract

The invention discloses a real-time posture measuring method for a motion capture system oriented to a four-rotor aircraft. According to the real-time posture measuring method, the motion capture system is utilized to obtain position information of five mark points mounted on the four-rotor aircraft, a body axis system is established by combining with kinetic characteristics of the four-rotor aircraft, and a posture can be resolved through transforming relationships between coordinate systems. Compared with a traditional MEMS (Micro-Electro-Mechanical System)-IMU posture measuring method, the method disclosed by the invention has the advantages of high posture measuring accuracy, and capabilities of achieving dynamic real-time posture measurement, providing correction information for an airborne low-cost MEMS inertial navigation system, and improving posture estimation accuracy, and has the characteristics of high accuracy, strong real timeliness, implementation easiness and the like.

Description

technical field [0001] The invention belongs to the technical field of multi-rotor aircraft, and in particular relates to an attitude measurement method for quad-rotor aircraft. Background technique [0002] The rotorcraft has the characteristics of small size, light weight and low energy consumption. It can better complete tasks such as search, environmental monitoring and rescue in an indoor environment without GPS (Global Positioning System). It is one of the research hotspots in the field of unmanned aerial vehicles. one. The navigation system provides the navigation information necessary for the flight control system of the rotorcraft, which is the necessary guarantee for it to perform various complex flight tasks. [0003] Limited by the size, load and cost of the rotorcraft, it usually chooses low-cost, miniaturized and low-precision airborne navigation sensors, such as MEMS (Micro-Electro-Mechanical System) inertial navigation systems. In the indoor environment, th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 石鹏赖际舟吕品张竣涵包胜
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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