A method for simulating satellite navigation and positioning of quadcopter
A quadcopter and satellite navigation technology, applied in the field of drones, can solve the problems of lack of aircraft displacement control experiments, high prices, hindering the use of scientific researchers and students, etc.
Active Publication Date: 2019-12-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
The problem with this method is that there is a lack of displacement control experiments of the aircraft in the directions of x, y, and z axes, and even the experimental results are inconsistent with the actual operation of the aircraft due to the lack of displacement data, which brings hidden dangers such as flight safety.
However, its high price prevents most researchers and students from using it
Method used
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Embodiment 1
[0075] After installing the simulated GPS device on the three-degree-of-freedom simulation verification platform, set the initial position as the current position, and connect the aircraft correctly, and observe the flight displacement of the aircraft through the ground station software (Mission Planner, QGround) of the aircraft. And the observed flight conditions are fully consistent with the controls imposed on the aircraft.
[0076] A method for simulating satellite navigation and positioning of a four-axis aircraft disclosed in this embodiment
[0077] Step 1: Under the condition that the position of the quadcopter is fixed, a device for simulating the satellite navigation and positioning of the quadcopter is built based on the existing three-degree-of-freedom aircraft attitude simulation platform.
[0078] The microcontroller is based on ARM 32-bit Cortex TM - STM32F103 with M3 core. The attitude sensor uses the high-precision inertial navigation module JY-901. The modu...
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The invention discloses a method for simulating satellite navigation and positioning of a quadrotor aircraft, and belongs to the technical field of unmanned aerial vehicles. Under the condition that the quadrotor aircraft is fixed in position, attitude information and motor speed of the aircraft are acquired through a sensor, displacement information of the aircraft is calculated, position coordinates of satellite navigation and positioning information are simulated and sent to the aircraft, the satellite navigation and positioning information of the aircraft is simulated through a ground station, and a simulated flight track is acquired. The method has the following advantages: (1) three-degree-of-freedom simulation and test for a three-degree-of-freedom aircraft attitude simulation platform in spatial position coordinates is realized without changing the structure of the three-degree-of-freedom attitude simulation platform; (2) the displacement data is directly converted into positioning data and sent to the aircraft, the satellite navigation and positioning information of the quadrotor aircraft is read and displayed directly through the ground station, and an upper computer program is not required to be independently designed to observe the satellite navigation and positioning information or displacement information of the quadrotor aircraft; and (3) and the cost is low, and the use is convenient.
Description
technical field [0001] The invention relates to a method for simulating satellite navigation and positioning of a multi-axis aircraft, in particular to a method for simulating satellite navigation and positioning of a four-axis aircraft, and belongs to the technical field of unmanned aerial vehicles. Background technique [0002] In the past ten years, with the research progress of composite materials, power systems, sensors, and especially flight control technologies, UAVs have developed rapidly and are increasingly becoming the focus of attention. UAVs have unique flight performance and use value. As the core component of UAV control, the UAV pilot not only needs to go through multiple software simulations, but also needs to go through multiple rigorous ground tests before it is actually applied to UAVs. Only by the actual verification can the reliable actual flight of the UAV be guaranteed. Based on the above reasons, it is essential to use the three-degree-of-freedom a...
Claims
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IPC IPC(8): G01S19/23
CPCG01S19/23
Inventor 费庆何照江李保奎王博梁建建
Owner BEIJING INSTITUTE OF TECHNOLOGYGY