Anti-yaw control method and device for unmanned aerial vehicle, control equipment and unmanned aerial vehicle

Abstract

The invention provides an anti-yaw control method and device for an unmanned aerial vehicle, control equipment and the unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The method comprises the steps: obtaining a targe route, wherein the target route comprises an initial waypoint; establishing a preset conversion coordinate system at the initial waypoint, and determining first direction information of the preset conversion coordinate system relative to the navigation coordinate system; determining second direction information of a preset fuselage horizontal coordinate system relative to a preset conversion coordinate system based on the first direction information; and determining a target flight speed of unmanned aerial vehicle route flight based on the second direction information so as to execute an unmanned aerial vehicle flight task on the target route according to the target flight speed. According to the invention, the anti-yawing control effect of the unmanned aerial vehicle is better improved, so that the flight accuracy of the unmanned aerial vehicle along the target route is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an anti-yaw control method, device, control device and unmanned aerial vehicle. Background technique [0002] With the rapid development of drones today, the demand for automatic flight of drones is getting higher and higher. The most common in automatic flight is route flight, that is, to plan a series of waypoints in three-dimensional space for the UAV in advance, and to design the tasks of the UAV in flight, such as flight speed, shooting angle, arrival time, etc. Dwell time after waypoint, etc. [0003] At present, when multi-rotor UAVs perform flight guidance, they usually control the flight based on the geometric relationship between the UAV and the route in space. It is also difficult to overlap the route, and it is difficult to obtain a better control effect, so that the inspection and shooting tasks cannot be successfully completed. When the UAV cannot...

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Problems solved by technology

[0003] At present, when multi-rotor UAVs perform flight guidance, they usually control the flight based on the geometric relationship between the UAV and the route in space. It is also difficult to overlap the route, and it is difficult to obtain a better control effect, so that the inspection and shooting tasks cannot be successfully completed. When the UAV cannot fly strictly according to the route, it is easy to cause serious damage to the UAV without the obstacle avoidance function. flight accident

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