Fusion method and device for yaw angle and aerial vehicle

Abstract

The invention relates to the technical field of an aerial vehicle and discloses a fusion method and device for a yaw angle and the aerial vehicle. The method comprises the steps of obtaining magnetometer data, IMU (Inertial Measurement Unit) data and GPS data; determining a yaw angle velocity correction quantity according to the GPS data and the magnetometer data; determining a first yaw angle velocity error value according to IMU acceleration information and GPS acceleration information; determining an initial complementary fused yaw angle velocity according to IMU angle velocity information,the yaw angle velocity correction quantity and the first yaw angle velocity error value; and determining a second yaw angle velocity error value according to the IMU acceleration information and GPSspeed information; and determining a final complementary fused yaw angle according to the initially complementary fused yaw angle velocity and the second yaw angle velocity error value. In the mode, according to the method and the device, the technical problem that single-time complementary filtering error is relatively great is solved, and fusion precision and stability of the yaw angle are improved.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to a yaw angle fusion method, device and aircraft. Background technique [0002] Aircraft, such as unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV), also known as unmanned aerial vehicles (UAVs), have gained more and more attention due to their advantages such as small size, light weight, flexible maneuverability, quick response, unmanned driving, and low operating requirements. Wide range of applications. Each action (or attitude) of the unmanned aerial vehicle is usually realized by controlling the different rotational speeds of a plurality of drive motors in the power plant of the unmanned aerial vehicle. Among them, the yaw angle is an important parameter in controlling the flight attitude of the UAV, that is, the yaw angle fusion of the UAV is especially important for the attitude control of the UAV. If the yaw angle fusion error of the UAV If the fusion accuracy is t...

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a yaw angle fusion method, device, and aircraft, which solve the technical problem of large complementary filtering errors and improve the fusion accuracy and stability of yaw angles

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