Flight control method and system for triple-redundancy IMU

A triple-redundancy, flight control technology, applied in the field of aircraft control, can solve problems such as the inability to obtain attitude feedback, no solution proposed, and the failure of UAVs to fly normally.

Inactive Publication Date: 2021-04-09
北京云圣智能科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the IMU fails and there is no other IMU backup, the flight controller will no longer be able to obtain accurate attitude feedback, resulting in

Method used

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  • Flight control method and system for triple-redundancy IMU
  • Flight control method and system for triple-redundancy IMU
  • Flight control method and system for triple-redundancy IMU

Examples

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Comparison scheme
Effect test

Embodiment 1

[0027] According to an embodiment of the present invention, an embodiment of a flight control method of a triple-redundant IMU is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0028] figure 1 It is a flow chart of a flight control method of a triple redundant IMU according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0029] Step S102, obtaining the working parameters of the aircraft to be detected sent by the three-redundant IMU, wherein the working parameters include at least one of the following: three-axis gyroscope parameters, three-axis acceleration parameters and temperature parameters, an...

Embodiment 2

[0051] The embodiment of the present invention also provides a three-redundant IMU flight control system, the three-redundant IMU flight control system is used to execute the three-redundant IMU flight control method provided by the above content of the embodiment of the present invention, as follows The specific introduction of the flight control system with three redundant IMUs provided by the embodiment of the present invention.

[0052] Such as image 3 as shown, image 3 It is a schematic diagram of the flight control system of the above-mentioned three redundant IMUs, the flight control system of the three redundant IMUs includes: three redundant IMU10, a bus 20 and a controller 30, wherein the bus is connected to the three redundant IMUs and the controller 30 respectively. the controller is connected;

[0053] The three-redundant IMU10 is used to collect the working parameters of the aircraft to be detected, wherein the working parameters include at least one of the f...

Embodiment 3

[0062] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the method described in the first embodiment above are executed.

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Abstract

The invention provides a flight control method and system for a triple-redundancy IMU, and relates to the technical field of aircraft control, wherein the method comprises the steps: obtaining working parameters, transmitted by the triple-redundancy IMU, of a to-be-detected aircraft, wherein the working parameters comprise at least one of the following parameters: a three-axis gyroscope parameter, a three-axis acceleration parameter and a temperature parameter, and the triple-redundancy IMU comprises three IMU devices; determining an intermediate value of the working parameters sent by the triple-redundancy IMU; and determining an abnormal IMU based on the intermediate value and the working parameters sent by the triple-redundancy IMU. Therefore, the technical problem of relatively low abnormal detection accuracy of the aircraft in the prior art is solved.

Description

technical field [0001] The present invention relates to the technical field of aircraft control, in particular to a method and system for flight control of triple redundant IMUs. Background technique [0002] With the continuous maturity of small drone technology and the continuous expansion of market demand, the use of drones in power inspection, agricultural plant protection, aerial survey and exploration, aerial photography and other fields is becoming more and more common. [0003] The normal operation of the flight control of the UAV can ensure the stability of the flight and the smooth completion of the task. For small UAVs, the overall low cost requirements lead to the use of relatively simple flight controls, and most of the sensors do not have backups, and the tolerance for abnormalities in flight is relatively low. Especially the IMU sensor responsible for obtaining the attitude of the drone, once there is a problem during the flight, it is easy to cause a flight ...

Claims

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0213G05B2219/24065
Inventor 陈方平倪学斌高明覃光勇
Owner 北京云圣智能科技有限责任公司
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