Method and device for calibrating flying control gyroscope, electronic device and storage medium

Abstract

The invention discloses a method and device for calibrating a flying control gyroscope, an electronic device and a storage medium, and relates to the technical field of unmanned aerial vehicles. A zero deviation value of the gyroscope can be calculated in real time, jumps of the gyroscope data used for navigation solutions are avoided, meanwhile, the deviation of zero deviation in successive starting of the gyroscope is also avoided to ensure that the flight posture is stable and normal flight is achieved. The method comprises the following steps of: acquiring an output angular velocity of thegyroscope for each time and a counting value corresponding to the angular velocity; detecting whether an aircraft to which the flight control belongs is in a static state or not according to the output angular velocity of each gyroscope; if the aircraft to which the flight control belongs is determined to be in the static state, accumulating the angular velocity output by the gyroscope for each time according to the counting value corresponding to the angular velocity to obtain an average value to obtain a gyroscope zero deviation corresponding to the counting value; and if the counting valuecorresponding to the angular velocity reaches a preset value, finishing gyroscope calibration and outputting the zero deivation corresponding to the counting value.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a calibration method, device, electronic equipment and computer storage medium for a flight control gyroscope. Background technique [0002] The flight control system is the core system for the UAV to complete the entire flight process such as take-off, air flight, mission execution, and return to the field. One of the techniques. The main function of the flight control of the UAV is to automatically maintain the normal flight attitude of the aircraft. It is mainly composed of a gyroscope, an accelerometer, a geomagnetic sensor or a magnetometer, an air pressure sensor, an ultrasonic sensor, an optical flow sensor, a GPS module and a control circuit. , among them, the gyroscope is the sensor of the flight attitude of the UAV. The sensor on the flight controller needs to be calibrated before use to ensure the accuracy of the data read by the subsequent flight con...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a calibration method, device, electronic equipment and computer storage medium for a flight control gyroscope, which solves the problem of deviation in the zero offset when the gyroscope is started successively in the related art

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