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UAV Navigation Method and System Based on Double Euclidean and Quaternion Mixed Arrangement

A hybrid orchestration and UAV technology, applied in the field of UAV navigation methods and systems, can solve problems such as singular value problems, and achieve the effect of avoiding singular values, avoiding trigonometric function calculations, and improving computational efficiency

Active Publication Date: 2022-07-29
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0004] Based on this, it is necessary to address the above-mentioned technical problems and provide a UAV navigation method and device based on the dual Euler method that can solve the singular value problem when the UAV Euler angle representation is used for attitude control.

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  • UAV Navigation Method and System Based on Double Euclidean and Quaternion Mixed Arrangement
  • UAV Navigation Method and System Based on Double Euclidean and Quaternion Mixed Arrangement
  • UAV Navigation Method and System Based on Double Euclidean and Quaternion Mixed Arrangement

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Embodiment Construction

[0041] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0042] The UAV navigation method based on the double Euclidean method and the quaternion hybrid arrangement provided in this application can be applied to such as figure 1 in the drone shown. Among them, the drone contains two flight modes: vertical flight mode and horizontal flight mode. When flying vertically, use the wings set on the vertical fuselage to fly, the wings can be fixed wings, and when flying horizontally, fly through the wings set horizontally. In different flight modes, the power components are different, so there are corresponding differences in the...

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Abstract

The present application relates to a UAV navigation method and system based on the hybrid arrangement of double Euclidean method and quaternion. The method includes: respectively acquiring the attitude rotation matrix represented by the horizontal Euler angle corresponding to the horizontal flight mode of the drone, and the attitude rotation matrix represented by the vertical Euler angle corresponding to the vertical flight mode, when the pitch angle of the drone is When it is greater than the set threshold, the representation of the UAV's attitude rotation matrix is ​​switched to the vertical Euler angle representation. When the UAV's pitch angle is less than or equal to the set threshold, the UAV's attitude rotation matrix The representation of , is switched to the horizontal Euler angle representation, and when the navigation is internally arranged, the quaternion representation is used to update the attitude of the vertical Euler angle representation and the horizontal Euler angle representation, so as to navigate the UAV. Using this method can avoid singular values ​​in attitude control during navigation.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a method and system for unmanned aerial vehicle navigation based on the hybrid arrangement of double Euclidean method and quaternion. Background technique [0002] With the development of UAV technology, UAVs are also used in various fields of production and life, thus forming new requirements for the flight of UAVs. [0003] The commonly used fixed-wing UAV can use the Euler angle representation method to control the attitude during navigation. However, when the pitch angle of the UAV is equal to or close to ±90 degrees, the calculation results will appear singular values, so it cannot be used. Perform normal flight navigation controls. SUMMARY OF THE INVENTION [0004] Based on this, it is necessary to provide a method and device for UAV navigation based on the dual Euler method, which can solve the singular value problem in the attitude contr...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王玉杰高显忠侯中喜郭正贾高伟
Owner NAT UNIV OF DEFENSE TECH