Multi-rotor air resistance coefficient calibration method, device and computer-readable storage medium

By conducting a linear horizontal flight route test of a multi-rotor aircraft in a windless and windy environment, recording the airspeed, inclination and acceleration, and using the least squares to calculate the resistance coefficient function, the problem of high cost and insufficient accuracy of the stroke resistance coefficient calibration in the existing technology is solved, and efficient and accurate resistance coefficient calibration and estimation are achieved.

CN115791075BActive Publication Date: 2025-07-22EHANG INTELLIGENT EQUIP GUANGZHOU CO LTD
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Patent Information

Application Number
CN202211692800.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-12-28
Publication Date
2025-07-22
Estimated Expiration
2042-12-28

AI Technical Summary

Technical Problem

The prior art is difficult to effectively and at low cost to calibrate the resistance coefficient of a multi-rotor aircraft, especially the functional relationship between the resistance coefficient and inclination angle, resulting in high cost and insufficient accuracy of the simulation method.

Method used

In the windless and windy environment, multiple straight-line horizontal flight route flight tests are carried out, the measurement sequence of airspeed, inclination and acceleration is recorded, the wind resistance coefficient function is calculated by least squares, and the accuracy of the calibration results is verified in combination with the real-time spacespeed estimation algorithm.

Benefits of technology

The multi-rotor resistance coefficient function is realized at low cost and efficiently, which improves the accuracy of calibration results and estimation algorithms, and uses the spacecraft, attitude and acceleration measurement data in flight tests.

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Abstract

The present invention discloses a method, device and computer-readable storage medium for calibrating the drag coefficient of a multi-rotor. The method includes: performing flight tests at multiple set airspeeds along a straight and level flight route in a windless environment and a windy environment, and recording flight control logs according to a measurement sequence composed of airspeed, inclination angle and acceleration during the flight tests; combining each flight control log, respectively selecting corresponding measurement combinations according to the acceleration, endurance and acceleration corresponding stages; taking the least square solution obtained from a preset number of the measurement combinations as the calibration result, and applying the calibration result to a preset real-time airspeed estimation algorithm to obtain an estimation result. The present invention realizes a low-cost experimental calibration algorithm, efficiently and accurately calculates the multi-rotor drag coefficient function, and effectively verifies the accuracy of the calibration result and the estimation algorithm.
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