A Dynamic Calibration Method for UAV Heading Angle
A technology of unmanned aerial vehicle and heading angle, which is applied in satellite radio beacon positioning system, navigation, surveying and mapping and navigation, etc. It can solve problems such as easy deviation and flight mission failure, achieve high accuracy, improve flight performance, and facilitate implementation Effect
Active Publication Date: 2022-03-08
NANJING UNIV OF INFORMATION SCI & TECH
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Problems solved by technology
Because the aircraft is easily disturbed by many uncertain factors during the dynamic flight process, it is easy to deviate from the set route, which will lead to the failure of the flight mission
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[0063] The present invention is described in further detail now in conjunction with accompanying drawing.
[0064] Such as figure 1As shown, the heading calculated by the inertial measurement unit IMU attitude solution, when the flight heading is disturbed, the real-time north and east velocity components of the UAV in the geographic coordinate system N system can be obtained through GPS to obtain the actual flight of the UAV. Velocity direction, and then the deviation integral of the actual flight speed direction of the UAV obtained by GPS and the flight heading given by the IMU attitude solution is used to correct the heading angle and realize the function of dynamically calibrating the heading angle of the UAV. When the flight course is not disturbed, the flight course of the UAV can be directly controlled through the UAV flight control system.
[0065] The heading calculated by the inertial measurement unit IMU attitude, in the case of little external disturbance, the UAV...
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The invention is a dynamic calibration method for the course angle of an unmanned aerial vehicle. The course calculated by the attitude solution of the inertial measurement unit IMU, when the flight course is disturbed, the real-time north and east of the unmanned aerial vehicle under the geographical coordinate system N system is obtained by GPS. The velocity component of the direction can be used to obtain the actual flight speed direction of the UAV, and then the deviation integral between the actual flight speed direction of the UAV obtained by GPS and the flight heading given by the IMU attitude calculation is used to correct the heading angle and realize dynamic The function of calibrating the course angle of the UAV can directly control the flight course of the UAV through the UAV flight control system when the flight course is not disturbed. This kind of calibration method uses the deviation integral between the actual flight speed direction of the UAV obtained by the global positioning system GPS and the given flight course to correct the deviation of the course angle, so as to achieve the purpose of dynamic calibration of the course angle, thereby improving the accuracy of the UAV. flight performance.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for dynamically calibrating the heading angle of an unmanned aerial vehicle. Background technique [0002] In recent years, the technology of multi-rotor drones has been continuously developed and matured. From the ground to the sky, it has become a revolutionary innovation from two-dimensional to three-dimensional. Multi-rotor UAVs generally use satellite navigation equipment (such as Global Positioning System (GPS)), magnetometers, gyroscopes, accelerometers and other sensors to complete the measurement of navigation parameters such as UAV heading, flight attitude, and position. Because the aircraft is easily disturbed by many uncertain factors during the dynamic flight process, it is easy to deviate from the set route, which will lead to the failure of the flight mission. In order for the UAV to complete the specified tasks accurately, the fir...
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IPC IPC(8): G05D1/10G01C21/16G01S19/47
CPCG05D1/101G01C21/165G01S19/47
Inventor 王伟潘枭华锡焱房德国
Owner NANJING UNIV OF INFORMATION SCI & TECH