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Unmanned aerial vehicle attitude control method and device, unmanned aerial vehicle and storage medium

A UAV and control law technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as insufficient precision, weak robustness, and insufficient anti-interference ability of UAVs, and achieve Improved robustness and precision, strong stability effects

Active Publication Date: 2018-02-16
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an attitude control method, device, UAV and storage medium for UAVs, aiming to solve the problem of UAVs being disturbed by uncertain wind, air pressure fluctuations and temperature changes in complex real environments. Under such circumstances, the anti-jamming ability of UAVs in the prior art is insufficient, the robustness of UAV flight control is not strong, and the accuracy is insufficient

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  • Unmanned aerial vehicle attitude control method and device, unmanned aerial vehicle and storage medium
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  • Unmanned aerial vehicle attitude control method and device, unmanned aerial vehicle and storage medium

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Embodiment 1

[0026] figure 1 It shows the implementation process of the attitude control method of the UAV provided by the first embodiment of the present invention. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0027] In step S101, the current flight information of the drone is collected through the preset sensors on the drone.

[0028] The invention is applicable to the flight attitude control of the unmanned aerial vehicle in complex dynamic environments (such as disaster relief environments). The current flight information of the drone can be collected through the preset monocular visible light sensor (or multi-eye visible light sensor), infrared light sensor, RGBD sensor, laser rangefinder, barometer, and positioning system on the drone. The flight information may include the UAV's visual information, position, height, and flight attitude, etc., so that the UAV can be controlled to av...

Embodiment 2

[0057] figure 2 The structure of an attitude control device for an unmanned aerial vehicle provided by Embodiment 2 of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:

[0058] The information collection unit 21 is used to collect the current flight information of the drone through the preset sensors on the drone.

[0059] In the embodiment of the present invention, the unmanned aerial vehicle can be collected through the preset monocular visible light sensor (or multi-eye visible light sensor), infrared light sensor, RGBD sensor, laser range finder, barometer, and positioning system on the drone. The current flight information of the drone can include the visual information, position, height, and flight attitude of the drone, so that the drone can be controlled to avoid obstacles and fly based on the collected flight information.

[0060] The attitude generation unit 2...

Embodiment 3

[0069] image 3 The structure of the attitude control device of the UAV provided by the third embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:

[0070] The network model construction unit 31 is used to collect the sample data of the flight of the drone through the sensors on the drone, and construct an expert experience distribution model and a Bayesian network.

[0071] The network training unit 32 is used to optimize the parameters of the Bayesian network according to the sample data, the expert experience distribution model and the evidence of hidden nodes in the Bayesian network, and generate a trained Bayesian network.

[0072] In the embodiment of the present invention, variable structure discrete dynamic Bayesian network reasoning is to use network model parameters and evidence of observed nodes to calculate the probability of taking values ​​of hidde...

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Abstract

The present invention is suitable for the field of computer technology, and provides an unmanned aerial vehicle attitude control method and device, an unmanned aerial vehicle and a storage medium. Themethod comprises the steps of: collecting flight information of an unmanned aerial vehicle at a current moment through a sensor on the unmanned aerial vehicle; setting the flight information to observation data of a variable structure discrete dynamic Bayesian network; generating flight attitude information of the unmanned aerial vehicle at the next moment through the variable structure discretedynamic Bayesian network; sending the flight attitude information to a ground station associated with the unmanned aerial vehicle; translating the flight attitude information to a flight attitude instruction through the ground station; receiving the flight attitude instruction returned by the ground station; and performing control of flight of the unmanned aerial vehicle according to a preset sliding mode controller having a time-varying sliding mode surface and the flight attitude instruction. Therefore, robustness and precision of flight control of the unmanned aerial vehicle in complex dynamic scenes such as a disaster relief scene can be effectively improved, and stability of flight of the unmanned aerial vehicle is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of attitude control of unmanned aerial vehicles, and in particular relates to an attitude control method and device of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium. Background technique [0002] In people's living environment, natural disasters and man-made disasters occur from time to time, and the successful detection and rescue of the victims on the scene after the disaster has become an important issue that researchers need to face. Compared with other disaster relief robots, small unmanned aerial vehicles are less affected by the on-site environment, fast in action, high in execution rate, and large in size and optional span, which makes a large number of scientific researchers continue to develop the application of unmanned aerial vehicles in this area. [0003] For aerial vehicles, there are multiple levels of noise interference with unknown amplitude and frequency, such...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825G05D1/0808B60W40/04
Inventor 周翊民陈洪楷吕琴宋志斌
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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