Fusion method and fusion system for course angle measurement data of unmanned aerial vehicle

A fusion method and technology of measuring data, applied in the field of UAV navigation, can solve the problem that UAV navigation cannot accurately measure the heading, etc., and achieve the effect of good accuracy

Pending Publication Date: 2022-08-09
ZHEJIANG HUAYI AVIATION TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The present invention provides a fusion method and fusion system for the measurement data of the course angle of the drone, aiming to solve the problem in the prior art that the navigation of the drone cannot accurately measure the course in areas where the disturbance is complicated

Method used

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  • Fusion method and fusion system for course angle measurement data of unmanned aerial vehicle

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Embodiment 1

[0041] see figure 1 , the present embodiment provides a fusion method of UAV heading angle measurement data, including:

[0042] S100: UAV collects magnetic heading data covering 360 degrees on the ground, and calibrates it in different directions;

[0043] The UAV collects magnetic heading data in the air covering 360 degrees and calibrates it in various directions.

[0044] Among them, an ellipse or an ellipsoid correction method may be used for the magnetic heading calibration method.

[0045] S201. Obtain the heading angle by locating the heading and heading angle rate of change; heading angle is obtained from magnetic heading and heading angle The rate of change of , and the heading angle is obtained by integrating the heading of the IMU and heading angle rate of change;

[0046] S202, determine the heading angle Whether its own signal quality meets the threshold judgment conditions (for example, the number of satellites is greater than 7, the position acc...

Embodiment 2

[0059] This embodiment provides a fusion system of UAV heading angle measurement data, including:

[0060] Heading angle data acquisition unit: obtain the heading angle by positioning the heading and heading angle Rate of change; heading angle obtained from magnetic heading and heading angle The rate of change of , and the heading angle is obtained by integrating the heading of the IMU and heading angle rate of change;

[0061] Positioning heading output unit: judging heading angle Whether its own signal quality meets the threshold judgment conditions; and judge the heading angle Rate of change and heading angle Whether the deviation between the rates of change exceeds the threshold; if the heading angle Its own signal quality exceeds the threshold judgment condition and the heading angle Rate of change and heading angle If the deviation between the rates of change does not exceed the threshold, the heading angle is determined Trustworthy, otherwise det...

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Abstract

The invention provides a fusion method and system for course angle measurement data of an unmanned aerial vehicle, and aims to solve the problem that the course of the unmanned aerial vehicle cannot be accurately measured in an area with relatively complex interference conditions in the prior art. According to the fusion method, a course angle is obtained through positioning course, a course angle is obtained through magnetic course, a course angle is obtained through IMU integral course, and whether the course angle is credible or not is judged according to the signal quality of the course angle and the deviation between the course angle change rate and the course angle change rate; when judging that the course angle is credible, directly outputting the course angle as a course result; correcting the course angle by taking the course angle as a reference; when judging that the course angle is not credible, judging whether the course angle is credible or not according to the deviation between the course angle change rate and the course angle change rate; when the course angle is judged to be credible, adding an increment to a result output by the previous period and outputting the result as a course result of the current period; and when judging that the course angle is not credible, outputting the course angle as a course result.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation, and in particular relates to a fusion method and fusion system of the heading angle measurement data of an unmanned aerial vehicle. Background technique [0002] The UAV heading is the basis of attitude calculation, speed and position control. Usually, the magnetometer is used to measure the three-axis geomagnetic flux to obtain the magnetic heading or the GPS dual antenna is used to measure the true north heading. However, the reliability of the data obtained by these two methods is relatively low. Poor and susceptible to interference. For magnetic heading measurement, it is mainly susceptible to the interference of magnetically conductive objects in the airborne and flight environment, as well as the influence of the change of the earth's magnetic field itself, resulting in inaccurate measurement or even measurement error. For the scheme of using dual antennas of sat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/08G01C21/16G01C21/20G01S19/53
CPCG01C21/005G01C21/08G01C21/16G01C21/20G01S19/53
Inventor 陈贤相高福海左明于晶王晋华
Owner ZHEJIANG HUAYI AVIATION TECH CO LTD
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