Quadrotor unmanned aerial vehicle parameter identification method based on extreme value search algorithm

Abstract

The invention provides on a quadrotor unmanned aerial vehicle parameter identification method based on an extreme value search algorithm, relates to the field of system identification, and aims to solve the problem that a quadrotor unmanned aerial vehicle physical parameter is unknown or cannot be accurately measured. The method comprises the steps that a dynamic model of a quadrotor unmanned aerial vehicle is established through mechanism modeling, and relevant parameters needing to be identified are selected according to the established model; an objective function of the quadrotor unmannedaerial vehicle parameter identification is established based on the extreme value search algorithm; two sets of excitation signals are input into the model, gradient information of the unmanned aerialvehicle parameter identification objective function is extracted through the extreme value search algorithm, and is searched along a negative gradient direction until reaching near an extreme value,and a corresponding model parameter is obtained. The quadrotor unmanned aerial vehicle parameter identification method based on the extreme value search algorithm has the advantages that priori knowledge of un-dependent parameter is provided, different from an existing method for using a quadrotor unmanned aerial vehicle model to perform approximate linearization, an accurate unmanned aerial vehicle nonlinearity model parameter can be obtained; the closed-loop multi-parameter identification has fewer restricted conditions, and coupled input data can be identified.

Description

technical field [0001] The invention relates to the field of system identification; more specifically, it relates to a parameter identification method of a quadrotor UAV based on an extremum search algorithm. Background technique [0002] The quadrotor UAV has the characteristics of simple structure, strong maneuverability, and vertical take-off and landing. In recent years, it has been more and more widely used in military and civilian fields: Many important functions such as strike, escort, and target search; in the civilian field, UAVs are used to perform tasks including disaster relief, aerial photography, and short-distance transportation. Consumer-grade drones have begun to enter people's daily lives. Amazon has begun to try to use drones for express delivery, which greatly shortens the delivery time. SF Express is also testing the waters in this industry. In terms of movies, variety shows, etc., aerial photography drones have also become a big help. [0003] However...

AI Technical Summary

Problems solved by technology

[0005] The invention aims at the problem that the physical parameters of the quadrotor UAV are unknown or cannot be accurately measured, and further provides a parameter identification method for the quadrotor UAV based on the extreme value search algorithm

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