Unmanned aerial vehicle multi-sensor forward photography tilt flight control debugging method

Abstract

The invention discloses an unmanned aerial vehicle multi-sensor forward photography tilt flight control debugging method, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle multi-sensor forward photography tilt flight control debugging method comprises the following steps: step 1, filtering signals output by a three-axis accelerometer by using a low-pass filter or a mean filter; step 2, filtering the signals output by a three-axis gyroscope by using a Kalman filter or a mean-value filter; step 3, filtering the signals output by the three-axis electroniccompass by utilizing a de-polar value filter, step 4, performing quaternion/Eulerian angle attitude calculation on the filtered signals in step 1 and step 2, and performing course calculation on thesignals filtered in step 3; step 5, complementary filtering on the two decompressed data in the step 4 to obtain the attitude angles of the unmanned aerial vehicle, wherein the attitude angles comprise a pitch angle, a roll angle and a course angle; step 6, performing cascade-stage PID on each attitude angle to make the unmanned aerial vehicle achieve tilt flight, and step 7, keeping the camera onthe unmanned aerial vehicle in the forward direction.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-sensor forward photography tilt flight control debugging method of an unmanned aerial vehicle. Background technique [0002] With the development of MEMS sensors, brushless motors, single-chip microcomputers, and lithium battery technologies, quadrotor aircraft has now become a rising star in the aircraft model industry. Compared with fixed-wing aircraft, quadrotor aircraft has the characteristics of simple structure, very convenient control, vertical take-off and landing, very low cost, high stability, and strong maneuverability. In civilian use, it can replace manned machines to complete some tasks, and in military use, it has strong battlefield survivability. Therefore, it is widely used in these fields, such as military investigation, agricultural and forestry investigation, disaster detection, power line inspection, toy model aircraft, aerial photog...

AI Technical Summary

Problems solved by technology

[0003] The flight attitude control of the UAV mainly relies on processing the data from various sensors. However, the data collected by the sensors in the prior art will be disturbed by many factors during th

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