Control method for realizing FPV free photographing and self-stabilization flight of unmanned aerial vehicle through four channels

Abstract

The invention discloses a control method for realizing FPV free photographing and the self-stabilization flight of an unmanned aerial vehicle. The method involves an independent channel A, an independent channel B, an independent channel C and an independent channel D; the independent channel A controls a photographing lens to turn to the longitude of a target object and determines a longitude angle relative to the photographing lens; the independent channel C adjusts the rotation angle of the photographing lens; the independent channel D is used for controlling the movement speed of the unmanned aerial vehicle in the three-dimensional space vector direction in the third step; a vector A speed, a vector B speed and a vector C speed control the unmanned aerial vehicle to fly in a self-stabilization mode in a three-dimensional space; the independent channel A, the independent channel B, the independent channel C and the independent channel D control the photographing lens to carry out directional photographing and can fly along the directional photographing direction at the same time. According to the method of the invention, one person can independently operate the unmanned aerial vehicle with flight control and self-stabilization functions to move in the three-dimensional space only by using the four independent control channels, and meanwhile, directional photographing of thetarget object is completed; and the operation difficulty of flight of an FPV machine is reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for realizing FPV free shooting and self-stabilizing flying unmanned aerial vehicles with four channels. Background technique [0002] To shoot from a point to a specific target object in three-dimensional space, three channels with six degrees of freedom in the space need to be used for control; use channel 1 to control the "longitude angle" of the target object relative to the shooting lens, and use channel 2 Control the "latitude angle" of the target object relative to the shooting lens, "longitude angle" and "latitude angle" constitute the "longitude and latitude angle" of the target object relative to the shooting lens, and after aiming at the target, if you need to adjust the screen angle, use channel 3 The "rotation angle" corrected for the taking lens. [0003] Now there are two basic control methods for multi-rotor drones, manual mode w...

AI Technical Summary

Problems solved by technology

In order to achieve the purpose of directional shooting; the disadvantages of this aerial photography technology are: Disadvantage 1: When the target object of aerial photography is on the same level as the drone, the target object can not be photographed in an unbalanced state. The ability of the pilot to control the stability of the aircraft is very high; Disadvantage 2: When the target object of aerial photography is not on the same level as the drone, the drone must shoot the target in an unbalanced state, and shooting in motion is more prone to misoperation and accidents ;Disadvantage 3: It takes a lot of time and energy to train to master the aerial photography technology of FPV crossing machine proficiently

[0006] Self-stabilized multi-rotor UAV aerial photography technology is the combination of directional shooting control technology and multi-rotor UAV self-stabilization mode to realize the technology of multi-rotor UAV to complete the shooting of target objects; Self-stabilized multi-rotor UAV aerial photography technology , first, use the self-stabilizing mode of the multi-rotor UAV to ensure the position of the UAV in three-dimensional space; then, install a multi-axis gimbal on the UAV, fix the shooting lens on the gimbal, and control the gimbal through an independent channel 2 , so that the shooting lens on the gimbal points to the "latitude angle" of the target object; then, use the direction channel in the self-stabilization mode of the multi-rotor UAV to adjust the movement direction of the UAV, replacing the role of channel one in the directional shooting control, so that The shooting lens points to the "longitude angle" of the target object, or directly controls the pan / tilt through the independent channel 1, so that the shooting lens on the pan / tilt points to the "longitude angle" of the target object; finally, controls the pan / tilt through the independent channel 3, Make the shooting lens on the gimbal point to the target object to have a suitable "rotation angle"; the disadvantages of this aerial photography technology are: Disadvantage 1: There are more than six independent control channels, and the general pilot can only directly operate four independent control channels. This makes it impossible for ordinary pilots to take care of both the flight and the shooting of the UAV. Disadvantage 2: Due to the limitation of flight control and self-stabilization, the multi-rotor UAV cannot manually perform unbalanced actions such as rolling and rolling, and one person can operate independently When shooting, the shooting range cannot be as wide as that of FPV aerial photography