Method, device and equipment for soft debounce of drone position

Abstract

The present invention relates to a method, device and equipment for soft de-jittering of unmanned aerial vehicle position, and belongs to the technical field of position jitter elimination. After obtaining the receiving position, the method, device and equipment filter the receiving position to obtain the receiving position, calculate the total expected speed according to the target position and the actual position, calculate the travel distance of the unmanned aerial vehicle through the total expected speed, obtain the remaining distance according to the target position and the travel distance, continuously update the actual position through the remaining distance, control and adjust the actual position and the total expected speed, realize accurate control of the position, eliminate the position jitter in the flight operation process of a low-load large unmanned aerial vehicle, and meet the requirements of load operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of position jitter elimination, and in particular relates to a method, device and equipment for soft jitter elimination of unmanned aerial vehicle position. Background Art

[0002] At present, the indoor positioning solution for drones generally adopts UWB (Ultra Wide Band) positioning to provide location information, but UWB positioning requires at least 4 base stations, 1 tag and 1 control terminal, and needs to meet the following prerequisites: 1) There should be as few obstacles as possible between the base station and the tag; 2) The 4 base stations are in a square on the same horizontal plane; 3) Positioning becomes worse near the boundary of the square.

[0003] In the related technology, it is difficult for the actual scene to meet the requirement that the base station is strictly in a square on the same horizontal plane, and there are obstacles in most of the scenes. For a low-load large drone, it is difficult to achieve the load operation requirements during the flight operation. Therefore, how to eliminate the position jitter during the flight operation of a low-load large drone has become a technical problem that needs to be solved in the existing technology. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device and equipment for soft de-jittering of UAV position, so as to overcome the technical problem that the position jitter during the flight operation of low-load large UAV is difficult to achieve the requirements of load operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] On the one hand, a method for soft debounce of a drone position includes:

[0007] Obtain the receiving position of the drone based on ultra-wideband technology;

[0008] According to the Kalman filtering principle, the receiving position is filtered to obtain the receiving position;

[0009] Calculating a first desired speed according to an updated error between the received position and the target position; and calculating a second desired speed according to an updated error between the received position and the actual position;

[0010] Obtaining a total expected speed according to the first expected speed and the second expected speed;

[0011] Calculating the travel distance of the drone based on the total expected speed;

[0012] The remaining distance is determined according to the target position and the travel distance, so as to iteratively calculate the receiving position by updating the actual position according to the remaining distance.

[0013] Optionally, obtaining the receiving position of the drone based on ultra-wideband technology includes:

[0014] The receiving position of the UAV is obtained based on the first sampling frequency and ultra-wideband technology.

[0015] Optionally, also include:

[0016] calculating a mean of the acceptance positions;

[0017] The mean of the accepted positions is taken as the actual position of the UAV.

[0018] Optionally, the update error between the receiving position and the target position is in the range of [2%, 5%];

[0019] The update error between the accepted position and the actual position ranges from [2%, 5%].

[0020] In another aspect, a device for softly eliminating jitter of a drone position comprises:

[0021] An acquisition module is used to acquire the receiving position of the UAV based on ultra-wideband technology;

[0022] A filtering module, used for filtering the receiving position according to the Kalman filtering principle to obtain a receiving position;

[0023] A first calculation module, used to calculate a first expected speed according to an update error between the receiving position and the target position; and to calculate a second expected speed according to an update error between the receiving position and the actual position;

[0024] a second calculation module, configured to obtain a total expected speed according to the first expected speed and the second expected speed;

[0025] A third calculation module is used to calculate the travel distance of the UAV according to the total expected speed;

[0026] The control module is used to determine the remaining distance according to the target position and the travel distance, so as to update the actual position according to the remaining distance and iteratively calculate the receiving position.

[0027] Optionally, the acquisition module is specifically used to acquire the receiving position of the drone based on the first sampling frequency and ultra-wideband technology.

[0028] Optionally, the first calculation module is also used to calculate the mean of the accepted positions; and use the mean of the accepted positions as the actual position of the drone.

[0029] Optionally, the update error between the acceptance position and the target position has a value range of [2%, 5%]; the update error between the acceptance position and the actual position has a value range of [2%, 5%].

[0030] In another aspect, a device for soft de-jittering of a drone position includes a processor and a memory, wherein the processor is connected to the memory:

[0031] Wherein, the processor is used to call and execute the program stored in the memory;

[0032] The memory is used to store the program, and the program is at least used to execute the method for soft de-jittering of the drone position as described in any one of the above items.

[0033] The method, device and equipment for soft de-jittering of the position of a drone provided by the embodiments of the present invention, after obtaining the receiving position, filter the receiving position to obtain the receiving position, calculate the total expected speed according to the target position and the actual position, calculate the travel distance of the drone through the total expected speed, obtain the remaining distance according to the target position and the travel distance, continuously update the actual position through the remaining distance, control and adjust the actual position and the total expected speed, realize precise control of the position, eliminate the position jitter during the flight operation of a low-load large drone, and meet the requirements of load operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of a flow chart of a method for softly eliminating jitter of a drone position provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of UWB positioning provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a Kalman filter provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the position of a drone provided by an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the structure of a device for softly eliminating jitter of a drone position provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of the structure of a device for softly eliminating jitter of a drone position provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0042] In the existing technology, the positioning of small unloaded UAVs (wheelbase <450mm, mass <2kg) basically meets the flight positioning requirements (error 10cm); while large low-load UAVs (450mm < wheelbase <150cm, 2kg < mass <10kg) can fly but cannot complete the load operation requirements.

[0043] Based on this, in order to enable a low-load large UAV to complete the requirements of load operations, the embodiments of the present application provide a method, device and equipment for soft de-jittering of the UAV position.

[0044] Example

[0045] Figure 1 A flowchart of a method for soft debouncing of a drone position provided by an embodiment of the present invention is shown in FIG. Figure 1 The method provided in this application may include the following steps:

[0046] S1. Obtain the receiving position of the drone based on ultra-wideband technology.

[0047] In some embodiments, obtaining the receiving position of the drone based on ultra-wideband technology includes: obtaining the receiving position of the drone based on a first sampling frequency and ultra-wideband technology.

[0048] Figure 2 A schematic diagram of UWB positioning provided by an embodiment of the present invention, see Figure 2 Assuming that the actual position of the drone is the intersection of the two line segments in the figure, the first sampling frequency f1 can be set to 50HZ. In theory, the position information is sent about 50 times in 1 second (part of the position is shown as a circle in the figure), and the position transmitted back each time is different, among which the position transmitted back is the receiving position.

[0049] S2. According to the Kalman filtering principle, the receiving position is filtered to obtain the receiving position.

[0050] After the receiving position is determined, the receiving position is filtered. Kalman filtering is used in this application. Figure 3 A schematic diagram of a Kalman filter provided by an embodiment of the present invention, see Figure 3, assuming that the filter allows a certain error, represented by a large circle (error circle), then the filtering method is used to "reject" the points outside the large circle, and the points falling inside the large circle become "acceptance" points, and the acceptance points are defined as acceptance positions. The use of "acceptance" points can meet the positioning needs of unloaded small drones. Due to the large mass and inertia of low-load large drones, the accumulation of small errors introduces the drone to believe that it has not reached the target position, so it is difficult to adjust and easily exceeds the error circle. Once the error circle is exceeded, new position errors are introduced, further deviating from the target position. Figure 3 The acceptance position is within the error circle.

[0051] S3. Calculate a first expected speed V1 according to an update error between the receiving position and the target position; and calculate a second expected speed V0 according to an update error between the receiving position and the actual position.

[0052] S4. Obtain a total expected speed according to the first expected speed and the second expected speed.

[0053] S5. Calculate the travel distance of the UAV according to the total expected speed.

[0054] S6. Determine the remaining distance according to the target position and the travel distance, and iteratively calculate the receiving position by updating the actual position according to the remaining distance.

[0055] In some embodiments, the update error e1 between the receiving position and the target position is in the range of [2%, 5%]; the update error e0 between the receiving position and the actual position is in the range of [2%, 5%]. For example, the update error e1 between the receiving position and the target position can be set to 2%, and the update error e0 between the receiving position and the actual position can also be set to 2%.

[0056] After the receiving position is determined, the first expected speed V1 can be calculated based on e1; and the second expected speed V0 can be calculated based on e0.

[0057] The calculation process of V0 and V1 is as follows: Calculate the distance L0 between the receiving position and the actual position. Due to the small error, it can be approximately considered that the aircraft reaches the receiving position from the actual position within 1 dt. Therefore, V0 = L0 / dt; V1 is calculated as follows: After determining the target position, the direction of the target position is determined, and the distance in the next dt in this direction is calculated. Given the initial speed (waypoint speed), it is V1.

[0058] In some embodiments, the method further includes: calculating the mean of the accepted positions; and using the mean of the accepted positions as the actual position of the drone.

[0059] At a certain moment, the information of the drone can be: the current actual position of the drone P0[x0,y0,z0] (the mean of the points within the error circle), the sampling frequency can be f2; the current actual speed of the drone V1[h1,h2,h3] (according to the actual measurement of the drone, the integral of imu is calculated), the sampling frequency is f2; the current calculated speed of the drone Vc[i1,i2,i3] (the result of the integral through the Kalman filter), the sampling frequency is f2; the current received position of the drone U[x1,y1,z1], the sampling frequency is f2.

[0060] After determining the receiving position, the mean of the receiving position can be calculated according to the second sampling frequency f2 to obtain the actual position of the drone. The first sampling frequency and the second sampling frequency can be set to be the same or different, and neither is set to zero. The imu (Inertial measurement unit) is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. By integrating the ium data, the actual speed of the drone, that is, the first expected speed, is obtained. The drone calculates the speed as the remaining data after the integral passes through the Kalman filter.

[0061] Figure 4 A schematic diagram of the position of a drone provided by an embodiment of the present invention. Figure 4 , the actual position of the drone is O, but the receiving position sent back by UWB is A, that is, there is always an error in the current position of the drone.

[0062] In the present application, the speed Vc is calculated and integrated to calculate the flight distance dl, and vc is adjusted by (OB-dl) to achieve precise position control.

[0063] For example, within a period of time delta-t, the actual position obtained is assumed to be O[dx1,dy1,dz1]; the obtained position A is [da1,da2,da3]; and the target position B is [bx,by,bz].

[0064] Set up the position control loop. After calculating V0 and V1, calculate V0+V1 to get the total desired speed. Update the total desired speed to the speed control loop. The speed control loop determines the latest total desired speed and integrates the value to get the distance the drone travels within delta-t. The remaining distance is dist1=(OB-dl). At this time, iterate the above steps at the new position to accurately control the flight position of the drone.

[0065] Within one dt (integration time), dl = VC*dt; OB has been calculated; the distance of other speeds (equivalent to disturbances) within dt is: delta_d = (V0+V1)*dt. The predicted distance that the drone will fly within dt is: dl+delta_d; the predicted distance to the target is: OB-(dl+delta_d). After one dt, compare with the actual result to get the error value. Then, by analogy, further control the output to reduce the error.

[0066] The method for soft de-jittering of the position of a UAV provided by an embodiment of the present invention, after obtaining the receiving position, filters the receiving position to obtain the receiving position, calculates the total expected speed according to the target position and the actual position, calculates the travel distance of the UAV through the total expected speed, obtains the remaining distance according to the target position and the travel distance, continuously updates the actual position through the remaining distance, and controls and adjusts the actual position and the total expected speed to achieve precise control of the position, eliminate the position jitter during the flight operation of a low-load large UAV, and meet the requirements of load operation.

[0067] Based on a general inventive concept, the present invention also provides a device for soft de-jittering of a drone position, which is used to implement the above method embodiment.

[0068] Figure 5 The following is a schematic diagram of the structure of a device for softly eliminating jitter of a drone position provided by an embodiment of the present invention. Figure 5 As shown, the device provided by the present application may include the following structure:

[0069] An acquisition module 51 is used to acquire the receiving position of the UAV based on ultra-wideband technology;

[0070] The filtering module 52 is used to filter the receiving position according to the Kalman filtering principle to obtain the receiving position;

[0071] A first calculation module 53 is used to calculate a first expected speed according to an update error between the receiving position and the target position; and to calculate a second expected speed according to an update error between the receiving position and the actual position;

[0072] A second calculation module 54 is used to obtain a total expected speed according to the first expected speed and the second expected speed;

[0073] A third calculation module 55 is used to calculate the travel distance of the UAV according to the total expected speed;

[0074] The control module 56 is used to determine the remaining distance according to the target position and the travel distance, so as to update the actual position according to the remaining distance and iteratively calculate the receiving position.

[0075] Optionally, an acquisition module is specifically used to acquire the receiving position of the drone based on the first sampling frequency and ultra-wideband technology.

[0076] Optionally, the first calculation module is also used to calculate the mean of the accepted positions; and use the mean of the accepted positions as the actual position of the drone.

[0077] Optionally, the update error between the accepted position and the target position is in the range of [2%, 5%]; the update error between the accepted position and the actual position is in the range of [2%, 5%].

[0078] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0079] The device for soft de-jittering of the position of an unmanned aerial vehicle provided by an embodiment of the present invention, after obtaining the receiving position, filters the receiving position to obtain the receiving position, calculates the total expected speed according to the target position and the actual position, calculates the travel distance of the unmanned aerial vehicle through the total expected speed, obtains the remaining distance according to the target position and the travel distance, continuously updates the actual position through the remaining distance, and controls and adjusts the actual position and the total expected speed to achieve precise control of the position, eliminate the position jitter during the flight operation of a low-load large unmanned aerial vehicle, and meet the requirements of load operation.

[0080] Based on a general inventive concept, the present invention also provides a device for soft de-jittering of a drone position, which is used to implement the above method embodiment.

[0081] Figure 6 The following is a schematic diagram of the structure of a device for softly eliminating the jitter of a drone position provided by an embodiment of the present invention. Figure 6 As shown, the device for soft debouncing of the drone position in this embodiment includes a processor 61 and a memory 62, and the processor 61 is connected to the memory 62. The processor 61 is used to call and execute the program stored in the memory 62; the memory 62 is used to store the program, and the program is at least used to execute the method for soft debouncing of the drone position in the above embodiment.

[0082] The specific implementation scheme of the device for soft de-bouncing of the drone position provided in the embodiment of the present application can refer to the implementation scheme of the method for soft de-bouncing of the drone position in any of the above embodiments, and will not be repeated here.

[0083] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0084] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0086] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0087] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0088] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0089] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0091] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for soft de-jittering of drone position, characterized in that: include: Obtain the receiving position of the drone based on ultra-wideband technology; According to the Kalman filtering principle, the receiving position is filtered to obtain the receiving position; Calculate a first expected speed according to an update error between the receiving position and the target position; And, according to the update error between the receiving position and the actual position, calculating the second expected speed, including: when the update error between the receiving position and the target position is in the range of [2%, 5%], and the update error between the receiving position and the actual position is in the range of [2%, 5%], calculating the first expected speed and calculating the second expected speed, the first expected speed calculation formula is: V0 = L0 / dt, where VO is the first expected speed, L0 is the distance between the receiving position and the actual position; after determining the direction of the target position, the distance within the next dt in the direction is given as the initial speed as the second expected speed; where dt represents the differential with respect to time; Obtaining a total expected speed according to the first expected speed and the second expected speed; Calculating the travel distance of the drone based on the total expected speed; The remaining distance is determined according to the target position and the travel distance, so as to update the actual position according to the remaining distance and iteratively calculate the receiving position.

2. The method according to claim 1, characterized in that The method of obtaining the receiving position of the drone based on the ultra-wideband technology includes: The receiving position of the UAV is obtained based on the first sampling frequency and ultra-wideband technology.

3. The method according to claim 1, characterized in that Also includes: calculating a mean of the acceptance positions; The mean of the accepted positions is taken as the actual position of the UAV.

4. A device for softly eliminating the jitter of the position of a drone, characterized in that: include: An acquisition module is used to acquire the receiving position of the UAV based on ultra-wideband technology; A filtering module, used for filtering the receiving position according to the Kalman filtering principle to obtain a receiving position; A first calculation module, used to calculate a first expected speed according to an update error between the receiving position and the target position; and to calculate a second expected speed according to an update error between the receiving position and the actual position; Specifically, when the update error between the receiving position and the target position is in the range of [2%, 5%], and the update error between the receiving position and the actual position is in the range of [2%, 5%], the first expected speed and the second expected speed are calculated. The first expected speed calculation formula is: V0 = L0 / dt, where VO is the first expected speed, and L0 is the distance between the receiving position and the actual position; after the direction of the target position is determined, the distance within the next dt in the direction is given as the initial speed as the second expected speed; where dt represents the differential with respect to time; a second calculation module, configured to obtain a total expected speed according to the first expected speed and the second expected speed; A third calculation module is used to calculate the travel distance of the UAV according to the total expected speed; The control module is used to determine the remaining distance according to the target position and the travel distance, so as to update the actual position according to the remaining distance and iteratively calculate the receiving position.

5. The device according to claim 4, characterized in that The acquisition module is specifically used to acquire the receiving position of the drone based on the first sampling frequency and ultra-wideband technology.

6. The device according to claim 4, characterized in that The first calculation module is further used to calculate the mean of the accepted positions; and use the mean of the accepted positions as the actual position of the drone.

7. A device for soft de-jittering of drone position, characterized in that: The invention comprises a processor and a memory, wherein the processor is connected to the memory: Wherein, the processor is used to call and execute the program stored in the memory; The memory is used to store the program, and the program is at least used to execute the method for soft de-jittering of the drone position as described in any one of claims 1-3.

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