Navigation module management method and device for unmanned aerial vehicle
A technology of unmanned aerial vehicles and navigation modules, which is applied in directions such as navigation through speed/acceleration measurement, which can solve problems such as filter pollution and divergence of navigation output results, and achieve the effect of improving reliability and maintaining navigation accuracy
Active Publication Date: 2021-02-26
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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[0005] The purpose of the present disclosure is to provide a navigation module management method of an unmanned aerial vehicle and a navigation module management device of an unmanned aerial vehicle, which are used to solve problems in the related art when the extended Kalman filter of the unmanned aerial vehicle occurs, and the entire filter is affected. Divergence of navigation output results caused by pollution
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[0037] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details being omitted, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solution...
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The present disclosure provides a navigation module management method and device for an unmanned aerial vehicle. The navigation module management method of the unmanned aerial vehicle includes: obtaining the operation data of the extended Kalman filter of the main inertial measurement unit, and the said main inertial measurement unit belongs to an unmanned aerial vehicle provided with a plurality of inertial measurement units; through said operation data Judging whether the extended Kalman filter of the master inertial measurement unit satisfies a preset condition; when the extended Kalman filter of the master inertial measurement unit does not meet the preset condition, detect the slave inertial measurement unit in a preset order Whether the extended Kalman filter meets the preset condition; the slave inertial measurement unit that meets the preset condition is set as the master inertial measurement unit. The navigation module management method of the unmanned aerial vehicle provided by the present disclosure can improve the reliability of the navigation module of the unmanned aerial vehicle.
Description
technical field [0001] The present disclosure relates to the field of computer technology, in particular, to a method and device for managing a navigation module of an unmanned aerial vehicle. Background technique [0002] With the advancement of science and technology, logistics drones are more and more widely used. The accuracy of drone flight is affected by the navigation system it is equipped with. Therefore, the positioning accuracy of the navigation system is extremely critical. The current navigation system is generally an integrated navigation system composed of a micro-inertial measurement unit and a variety of sensors. The micro-inertial measurement unit performs pure inertial navigation calculations, and the error will accumulate over time, so it must be corrected by other external sensors to get the best results. Optimal estimation, in related technologies, is usually implemented using an extended Kalman filter. [0003] In order to obtain the global optimum, an...
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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 霍盈盈
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD