UAV anti-yaw control method, device, control device and UAV

Abstract

The invention provides an anti-yaw control method, device, control device and unmanned aerial vehicle, relating to the technical field of unmanned aerial vehicles. The method includes obtaining a target route; the target route includes an initial waypoint; at the initial waypoint Establish a preset transformation coordinate system, and determine the first direction information of the preset transformation coordinate system relative to the navigation coordinate system; determine the preset horizontal coordinate system of the fuselage relative to the preset transformation coordinate system based on the first direction information The second direction information: determine the target flight speed of the UAV flight route based on the second direction information, so as to execute the UAV flight task on the target route according to the target flight speed. The invention better improves the anti-yaw control effect of the UAV, thereby improving the accuracy of the UAV flying along the target route.

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. The time spent after the 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 UA...

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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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