Unmanned aerial vehicle attitude tracking method and system based on multiple GPS receivers

Abstract

The present invention provides an unmanned aerial vehicle attitude tracking method and system based on multiple GPS receivers. The method includes the following steps that: the initialized position ofeach GPS receiver under an ENU (East-North-Up) coordinate system is determined; when the attitude of an unmanned aerial vehicle changes during the flight of the unmanned aerial vehicle, an RTK (Real-Time Kinematic) positioning method is adopted to calculate the coordinate positions of the GPS receivers under an ECEF (Earth-Centered, Earth-Fixed) coordinate system in real time; the positions of the GPS receivers under the ECEF coordinate system are converted into position information under the ENU coordinate system; and comparison and calculation are performed on the obtained position information and the initialized positions, and the angles of the rotation of the GPS receivers around each axis under the ENU coordinate system are obtained. The present invention also provides an unmanned aerial vehicle attitude tracking system. According to the unmanned aerial vehicle attitude tracking method and system based on the multiple GPS receivers of the present invention, the change quantity ofthe angles can be directly obtained through comparing the current position attitudes with the initial position attitudes, and calculation results are more accurate, and the accurate tracking of the attitude of the unmanned aerial vehicle can be achieved.

Description

technical field [0001] The invention relates to a UAV attitude tracking method and system, belonging to the field of UAV technology research. Background technique [0002] With the advancement of science and technology, UAV technology has developed rapidly in recent years, and the inertial measurement unit IMU is an important part of UAV technology. It can measure the UAV's three-axis attitude angle and acceleration device. . The gyroscope is one of the main components of the IMU, and its accuracy directly affects the accuracy of the inertial system. [0003] Why is the gyroscope the preferred sensor for UAV attitude navigation? The gyroscope is an angular motion detection device that uses the moment of momentum of the high-speed rotating body to sense the shell relative to the inertial space around one or more axes that are orthogonal to the rotation axis. It can sense the rotation angle of one axis or multiple axes, and can accurately sense complex movement in free spac...

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is: in view of the problem of low accuracy or even failure of the inertial measurement unit IMU caused by the influence of temperature, current, magnetic field and other factors during the flight of the UAV, a UAV attitude is provided. The tracking method and system solve the problem of the accuracy reduction or failure of the internal inertial measurement unit (IMU) of the UAV after external interference

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