Small unmanned aerial vehicle track and attitude correction method based on flight simulator

A technology for flight simulators and small UAVs, applied in attitude control, instruments, non-electric variable control, etc., can solve problems such as errors, poor communication signals, and UAV congestion operations, and achieve the effect of improving accuracy

Active Publication Date: 2019-07-09
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0006] In view of this, the object of the present invention is to provide a trajectory and attitude correction method for a small UAV based on a flight simulator, which is applied to the scene where the communication signal between the small UAV and the control terminal is not good during the flight, and solves the problem of unmanned drones. Machine operation errors caused by network congestion or delay

Method used

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  • Small unmanned aerial vehicle track and attitude correction method based on flight simulator
  • Small unmanned aerial vehicle track and attitude correction method based on flight simulator
  • Small unmanned aerial vehicle track and attitude correction method based on flight simulator

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[0032] Such as image 3 Shown is a graph representing the relationship between drone flight time and drone speed. The control end passes through consecutive equal intervals t Δ Send instructions to the UAV side, assuming that the total time of the entire movement process of the UAV is t, then:

[0033] [t / t Δ ] = k (1)

[0034] The whole movement process of the UAV can be divided into three parts, the uniform acceleration movement in the initial stage, the acceleration is a 0 ; when the velocity reaches the maximum velocity v max , the UAV keeps moving forward at a constant speed; finally, it decelerates uniformly until it stops, and the acceleration at this time is a 1 . Therefore, the relationship between the flight distance s and the flight time t of the UAV can be obtained as follows:

[0035]

[0036]

[0037] Before the drone takes off, the actual position of the drone is synchronized with the GPS positioning of the drone in the simulator, so that the real pos...

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Abstract

The invention relates to a small unmanned aerial vehicle track and attitude correction method based on a flight simulator, belonging to the technical field of small unmanned aerial vehicles. The method comprises the following steps: a relation between unmanned aerial vehicle flight time and displacement is built; before taking off, synchronization between unmanned aerial vehicle actual position and unmanned aerial vehicle GPS positioning in the simulator is completed; in a flight process, a control end sends the same instruction to the local flight simulator while controlling flight of the unmanned aerial vehicle; according to control instruction receiving conditions, the unmanned aerial vehicle judges whether to brake; after the unmanned aerial vehicle is braked, the flight attitude and track are corrected according to data packets fed back by the simulator in combination with the relation between the flight time and the displacement. The method provided by the invention can correct an operation error problem caused by network congestion or delay of the unmanned aerial vehicle without dependence on GPS, and simultaneously can complete accurate positioning of the unmanned aerial vehicle, moreover, realizes control of the unmanned aerial vehicle under a condition of very poor communication links of an unmanned aerial vehicle system.

Description

technical field [0001] The invention belongs to the technical field of small unmanned aerial vehicles, and relates to a trajectory and attitude correction method of a small unmanned aerial vehicle based on a flight simulator. Background technique [0002] In recent years, the small civilian drone market has experienced explosive growth. The small civilian drone industry has the characteristics of rapid development, good market prospects, and wide application fields, and has received high attention. However, the communication link is unstable. Network congestion or communication delay will affect the accuracy of UAV control and cause safety hazards to UAV control. In some tasks that require high precision in the operation of drones, the drone may not even work normally without countermeasures. How to overcome the instability of network transmission, improve the accuracy of UAV control, and complete the control and positioning of UAV under the condition of extremely poor comm...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 余翔周遂之段思睿
Owner CHONGQING UNIV OF POSTS & TELECOMM
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