A method for automatically calibrating a shipboard unmanned aerial vehicle sensor and unmanned aerial vehicle

Abstract

The application discloses a kind of shipborne unmanned aerial vehicle sensor automatic calibration method and unmanned aerial vehicle, its method includes: receiving the pitch angle and roll angle of ship of ship angular velocity sensor on calibration platform sends ship;The attitude calibration result of unmanned aerial vehicle is calculated by the pitch angle and roll angle of ship angular velocity sensor, and the attitude calibration result is sent to calibration platform actuator to adjust the attitude of unmanned aerial vehicle;Receive the forward speed and vertical speed of ship of ship degree of freedom speed sensor sent on calibration platform;The speed calibration result of unmanned aerial vehicle is calculated by the forward speed and vertical speed sent by ship degree of freedom speed sensor, and the speed calibration result is sent to the on-board sensor of unmanned aerial vehicle to calibrate the on-board sensor value of unmanned aerial vehicle.The application can effectively calibrate the attitude and sensor data of unmanned aerial vehicle on ship dynamic platform, greatly improve the accuracy of sensor data of unmanned aerial vehicle on ship dynamic platform.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) calibration technology, and in particular to an automatic calibration method for shipborne UAV sensors and the UAV itself. Background Technology

[0002] The calibration of onboard sensors for shipborne UAVs differs significantly from that for land-based UAVs. On land, calibration primarily relies on relatively accurate gravitational acceleration. Ships, being dynamic platforms, experience real-time changes in gravitational acceleration due to variations in their attitude and velocity, rendering conventional calibration methods inapplicable. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an automatic calibration method for shipborne unmanned aerial vehicle (UAV) sensors and the UAV itself. This method enables automatic calibration of the UAV's onboard sensors on a moving platform, thereby compensating for the UAV's onboard sensor measurement data and ensuring that the data from the UAV's onboard sensors has high robustness and accuracy.

[0004] In a first aspect, embodiments of the present invention provide an automatic calibration method for shipborne unmanned aerial vehicle (UAV) sensors, the automatic calibration method for shipborne UAV sensors comprising:

[0005] Receive the ship's pitch and roll angles from the ship's angular velocity sensor on the calibration platform;

[0006] The attitude calibration result of the UAV is calculated by using the pitch and roll angles of the ship's angular velocity sensor, and the attitude calibration result is sent to the calibration platform actuator to adjust the attitude of the UAV.

[0007] Receive the ship's forward speed and vertical speed from the ship's degree of freedom velocity sensor on the calibration platform;

[0008] The speed calibration result of the UAV is calculated by using the forward speed and vertical speed sent by the ship's speed sensor, and the speed calibration result is sent to the UAV's onboard sensors to calibrate the UAV's onboard sensor values.

[0009] The method according to embodiments of the present invention has at least the following beneficial effects:

[0010] First, the ship's pitch and roll angles are acquired using the ship's angular velocity sensor, providing calculated data for the ship's attitude. Then, the pitch and roll angles are input into the calibration platform actuators for UAV attitude calibration, effectively calibrating the UAV's attitude on the ship's moving platform and offsetting the influence of the ship's own motion on the UAV's sensors. Second, the ship's forward and vertical velocities, transmitted by the ship's degree-of-freedom velocity sensor, provide comprehensive calculated data for the ship's speed, significantly improving calibration accuracy. Finally, the forward and vertical velocities are input into the calibration platform actuators for UAV onboard sensor numerical calibration, effectively calibrating the UAV's attitude and sensor data on the ship's moving platform, offsetting the influence of the ship's own motion on the UAV's sensors, and this process is simple to implement, effectively improving the accuracy of UAV onboard sensor calibration.

[0011] According to some embodiments of the present invention, the calculation of the speed calibration result of the UAV based on the forward speed and vertical speed transmitted by the ship's degree-of-freedom velocity sensor includes:

[0012] The reference acceleration output of the UAV is calculated from the forward velocity and vertical velocity transmitted by the ship's degree of freedom velocity sensor;

[0013] The velocity calibration result of the accelerometer in the UAV's onboard sensor is calculated using the reference acceleration output and the six-sided calibration method.

[0014] According to some embodiments of the present invention, the step of calculating the reference acceleration output of the UAV from the forward velocity and vertical velocity transmitted by the ship's degree-of-freedom velocity sensor includes:

[0015] acc c =acc T *(acc raw -acc off )

[0016] Among them, acc c The accelerometer's reference acceleration output, acc T acc represents a rotation matrix that includes rotation and scaling. raw This represents the raw data from the drone's onboard sensors, acc off This indicates the forward and vertical speeds of the shipborne platform.

[0017] According to some embodiments of the present invention, the step of calculating the velocity calibration result of the accelerometer in the airborne sensor of the UAV using the reference acceleration output and the six-sided calibration method includes:

[0018] The drone's nose is pointed to the X-axis as a reference, and at least two first data acquisition points are selected along the axial direction of the X-axis. Each first data acquisition point collects a preset number of accelerometer first data points and averages them to obtain the accelerometer X-axis data for each first data acquisition point.

[0019] The vertical axis of the plane on which the UAV is placed is taken as the reference Z-axis, and at least two second data acquisition points are selected in the axial direction of the Z-axis. Each second data acquisition point collects a preset number of accelerometer second data and averages them to obtain the accelerometer Z-axis data of each second data acquisition point.

[0020] According to the right-hand rule, the Y-axis is taken as the reference axis, which is orthogonal to the X-axis and Z-axis. At least two third data acquisition points are selected in the axial direction of the Y-axis. Each third data acquisition point collects a preset number of accelerometer third data and averages them to obtain the accelerometer Y-axis data of each third data acquisition point.

[0021] The velocity calibration result of the accelerometer in the UAV's airborne sensor is calculated using the accelerometer's X-axis data, Z-axis data, Y-axis data, and reference acceleration output.

[0022] According to some embodiments of the present invention, after sending the speed calibration result to the airborne sensors of the UAV to calibrate the airborne sensor values ​​of the UAV, the shipborne UAV sensor automatic calibration method further includes:

[0023] Collect static gyroscope data for each axis and average them to obtain calibrated gyroscope data;

[0024] The calibrated gyroscope data is used as a zero bias value to compensate the gyroscopes in the UAV's onboard sensors.

[0025] According to some embodiments of the present invention, after sending the speed calibration result to the airborne sensors of the UAV to calibrate the airborne sensor values ​​of the UAV, the shipborne UAV sensor automatic calibration method further includes:

[0026] The GPS onboard sensors of the UAV are calibrated using a static method with at least 7 satellites.

[0027] Secondly, embodiments of the present invention provide an automatic calibration system for shipborne unmanned aerial vehicle (UAV) sensors, the automatic calibration system for shipborne UAV sensors comprising:

[0028] A calibration platform, which is horizontally set on the ship's platform;

[0029] A ship's degree-of-freedom velocity sensor is mounted on the calibration platform; the ship's degree-of-freedom velocity sensor is used to acquire the ship's forward speed and vertical speed.

[0030] A ship angular velocity sensor is mounted on the calibration platform; the ship angular velocity sensor is used to acquire the ship's pitch and roll angles.

[0031] The processor is mounted on the calibration platform; the processor is used to receive the pitch and roll angles of the ship sent by the ship's angular velocity sensor and calculate the attitude calibration results of the UAV, and to receive the forward speed and vertical speed of the ship sent by the ship's degree of freedom velocity sensor and calculate the speed calibration results of the UAV.

[0032] A calibration platform actuator is provided, with its bottom connected to the calibration platform and a drone placed on its top. The calibration platform actuator is used to receive the attitude calibration results of the drone sent by the processor and to perform attitude calibration of the drone based on the attitude calibration results.

[0033] The drone includes onboard sensors; the onboard sensors are used to receive the speed calibration results of the drone and to perform calibration based on the speed calibration results.

[0034] The method according to embodiments of the present invention has at least the following beneficial effects:

[0035] Firstly, by setting up a calibration platform on the ship's platform, real-time calibration can be performed as the ship's environment changes, which is simple and efficient. Secondly, the ship's forward and vertical speeds are obtained through a velocity sensor, and its pitch and roll angles are obtained through an angular velocity sensor. This provides calculation data for both the ship's attitude and acceleration, and the comprehensive data greatly improves the accuracy of the calibration. Then, the pitch and roll angles are input into the calibration platform actuators for UAV attitude calibration, and the forward and vertical speeds are input into the UAV's onboard sensors for onboard sensor numerical calibration. This effectively calibrates the UAV's attitude and sensor data on the ship's moving platform, offsetting the influence of the ship's own motion on the UAV's sensors.

[0036] According to some embodiments of the present invention, the calibration platform actuator consists of a servo motor and a linkage structure; wherein the servo motor is connected to the linkage structure, and the linkage structure is connected to the bottom of the UAV.

[0037] According to some embodiments of the present invention, the onboard sensors of the UAV include a magnetic compass, GPS, gyroscope, and accelerometer.

[0038] Thirdly, embodiments of the present invention provide an unmanned aerial vehicle (UAV) for performing the shipborne UAV sensor automatic calibration method as described in the first aspect.

[0039] It should be noted that the beneficial effects of the third aspect of the present invention are the same as those of the automatic calibration method for shipborne UAV sensors in the first aspect, and will not be described in detail here.

[0040] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0041] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0042] Figure 1 This is a flowchart of an automatic sensor calibration method for shipborne unmanned aerial vehicles provided in an embodiment of the present invention;

[0043] Figure 2 This is a flowchart illustrating the calculation of the speed calibration results of a UAV according to an embodiment of the present invention;

[0044] Figure 3 This is a flowchart illustrating the values ​​of the accelerometer in the airborne sensors of a UAV, provided in an embodiment of the present invention.

[0045] Figure 4 This is a schematic diagram of an automatic sensor calibration method for shipborne unmanned aerial vehicles provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of an automatic sensor calibration system for shipborne unmanned aerial vehicles provided in an embodiment of the present invention. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of this invention, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0049] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0051] Reference Figure 1 In some embodiments of the present invention, an automatic calibration method for shipborne unmanned aerial vehicle (UAV) sensors is provided, the automatic calibration method for shipborne UAV sensors includes:

[0052] Step S100: Receive the ship's pitch and roll angles sent by the ship's angular velocity sensor on the calibration platform.

[0053] Step S200: Calculate the attitude calibration result of the UAV using the pitch and roll angles from the ship's angular velocity sensor, and send the attitude calibration result to the calibration platform actuator to adjust the attitude of the UAV.

[0054] Step S300: Receive the ship's forward speed and vertical speed sent by the ship's degree of freedom velocity sensor on the calibration platform.

[0055] Step S400: Calculate the speed calibration result of the UAV using the forward speed and vertical speed sent by the ship's freedom speed sensor, and send the speed calibration result to the UAV's onboard sensor to calibrate the UAV's onboard sensor values.

[0056] First, in step S100, the ship's pitch and roll angles are acquired by the ship's angular velocity sensor, providing calculated data for the ship's motion attitude. Then, in step S200, the pitch and roll angles are input into the calibration platform actuator for UAV attitude calibration, effectively calibrating the UAV's attitude on the ship's moving platform and offsetting the influence of the ship's own motion on the UAV's sensors. Next, in step S300, the ship's forward and vertical velocities, transmitted by the ship's degree-of-freedom velocity sensor, provide comprehensive calculated data for the ship's velocity, greatly improving calibration accuracy. Then, in step S400, the forward and vertical velocities are input into the calibration platform actuator for UAV onboard sensor numerical calibration, effectively calibrating the UAV's attitude and sensor data on the ship's moving platform, offsetting the influence of the ship's own motion on the UAV's sensors, and the process is simple to implement, effectively improving the accuracy of UAV onboard sensor calibration.

[0057] Reference Figure 2 In some embodiments of the present invention, the speed calibration result of the UAV is calculated from the forward speed and vertical speed transmitted by the ship's degree-of-freedom velocity sensor, including:

[0058] Step S410: Calculate the reference acceleration output of the UAV using the forward speed and vertical speed sent by the ship's degree of freedom velocity sensor.

[0059] Step S420: Calibrate the velocity calibration results of the accelerometer in the UAV's onboard sensors using the reference acceleration output and the six-sided calibration method.

[0060] It should be noted that the principle of sensor calibration is that the actual measured value = a * sensor reading + B, where a represents the sensor's scaling deviation and B represents the sensor's zero-point deviation.

[0061] The reference acceleration output of the UAV is accurately calculated by using the forward and vertical velocities of the ship's velocity sensors. The accelerometer's velocity is then accurately calibrated using the reference acceleration output and the six-sided calibration method, thus achieving accelerometer velocity calibration simply and effectively.

[0062] In some embodiments of the present invention, a reference acceleration output of the UAV is calculated based on forward acceleration and vertical acceleration, including:

[0063] acc c =acc T *(acc raw -acc off )

[0064] Among them, acc c The accelerometer's reference acceleration output, acc T acc represents a rotation matrix that includes rotation and scaling. raw This represents the raw data from the drone's onboard sensors, acc off This indicates the forward and vertical speeds of the shipborne platform.

[0065] By using a rotation matrix that combines rotation and scaling, the raw data of the UAV and the forward and vertical velocities of the shipborne platform are calculated to obtain the reference acceleration output of the UAV on the ship's moving platform. The real-time and accurate reference acceleration output compensates for the zero-position data during UAV calibration, effectively solving the problem of difficult calibration of shipborne UAV sensors.

[0066] Reference Figure 3 In some embodiments of the present invention, the velocity calibration results of the accelerometers in the airborne sensors of the UAV are calibrated by referencing the acceleration output and using a six-sided calibration method, including:

[0067] Step S421: Point the drone's nose toward the X-axis as a reference, and select at least two first data acquisition points along the X-axis. Collect accelerometer first data for each first data acquisition point a preset number of times and average the data to obtain the accelerometer X-axis data for each first data acquisition point.

[0068] Step S422: Take the vertical axis of the plane where the UAV is placed as the reference Z-axis, and select at least two second data acquisition points in the axial direction of the Z-axis. Collect accelerometer second data for a preset number of times at each second data acquisition point and calculate the average to obtain the accelerometer Z-axis data of each second data acquisition point.

[0069] Step S423: According to the right-hand rule, take the axis orthogonal to the X-axis and Z-axis as the reference Y-axis, and select at least two third data acquisition points in the axial direction of the Y-axis. Collect the third data of the accelerometer for a preset number of times at each third data acquisition point and calculate the average to obtain the accelerometer Y-axis data of each third data acquisition point.

[0070] Step S424: Calculate the velocity calibration result of the accelerometer in the UAV's airborne sensor using the accelerometer X-axis data, accelerometer Z-axis data, accelerometer Y-axis data, and reference acceleration output.

[0071] It should be noted that the accelerometer onboard the drone is a triaxial accelerometer, representing the drone's X, Y, and Z axes respectively. Therefore, in order to effectively measure the scaling deviation and zero-point deviation values ​​in the drone's sensor measurements, at least two data acquisition points are required for each axis, for a total of at least six data acquisition points.

[0072] The three-axis accelerometers are calibrated separately using the six-sided calibration method and reference acceleration. This accurately calibrates the scaling deviation and zero-point deviation in the UAV sensor measurements, enabling the UAV's onboard sensors to offset the influence of the ship, resulting in the same calibration effect as on the ground.

[0073] In some embodiments of the present invention, after sending the speed calibration results to the airborne sensors of the UAV to calibrate the airborne sensor values ​​of the UAV, the shipborne UAV sensor automatic calibration method further includes:

[0074] Collect static gyroscope data for each axis and average them to obtain calibrated gyroscope data;

[0075] The calibrated gyroscope data is used as a zero bias value to compensate the gyroscopes in the UAV's onboard sensors.

[0076] It should be noted that gyroscopes primarily measure angular velocity, and their calibration principle is similar to that of accelerometers, but more complex. The biggest difference between gyroscope and accelerometer calibration is that gyroscopes do not have gravitational acceleration for reference calibration. Therefore, the scaling deviation of a gyroscope is generally based on the factory calibration result. Thus, during accelerometer calibration, the statically acquired gyroscope data for each axis is accumulated and averaged to obtain a zero bias value for compensation.

[0077] In some embodiments of the present invention, after sending the speed calibration results to the airborne sensors of the UAV to calibrate the airborne sensor values ​​of the UAV, the shipborne UAV sensor automatic calibration method further includes:

[0078] The GPS onboard sensors of the drone are calibrated using a static method with at least 7 satellites.

[0079] It should be noted that the satellite navigation system is related to the surrounding environment and the number of satellites searched. Its calibration can be carried out under good weather conditions, with clear visibility in the surrounding environment and more than 7 satellites. It is generally calibrated by leaving the system stationary.

[0080] Reference Figure 4 To facilitate understanding by those skilled in the art, a specific embodiment of the present invention provides an automatic calibration method for shipborne unmanned aerial vehicle (UAV) sensors, comprising the following steps:

[0081] The first step is to set up a calibration platform on the shipboard platform. The calibration platform includes a degree-of-freedom velocity sensor, a ship angular velocity sensor, and a calibration platform actuator. The calibration platform uses two degree-of-freedom velocity sensors to obtain the ship's forward speed and vertical speed respectively.

[0082] The second step is to obtain the ship's forward speed and vertical speed through the free-degree velocity sensor, and the ship's pitch angle and roll angle through the ship's angular velocity sensor; input the pitch angle and roll angle into the calibration platform actuator to perform attitude calibration of the UAV.

[0083] The third step involves the actuator providing feedback based on the ship's current attitude information to counteract the effects of the ship's motion and ensure the calibration platform is at zero position. The UAV's onboard sensors mainly include a magnetic compass (dual-antenna orientation), GPS, accelerometer, and gyroscope. Considering that the sensors have undergone physical vibration damping and factory settings during installation, this description focuses only on the automatic calibration method for the UAV in a shipboard environment. The principle of sensor calibration is: Actual measured value = a * Sensor reading + B, where a represents the sensor's scaling deviation and B represents the sensor's zero-position deviation. The UAV's onboard three-axis accelerometer represents the UAV's x, y, and z axes, respectively. To effectively measure the scaling deviation and zero-position deviation values ​​in the UAV's sensor measurements, at least two acquisition points are required for each axis, for a total of six acquisition points, also known as the six-axis calibration method.

[0084] Accelerometer calibration is performed. During the calibration process, the ship's acceleration is used as the initial value for the calibration zero point and substituted into the calibration process. Specifically:

[0085] acc c =acc T *(acc raw -acc off )

[0086] Among them, acc c The accelerometer's reference acceleration output, acc T acc represents a rotation matrix that includes rotation and scaling. raw This represents the raw data from the drone's onboard sensors, acc off This indicates the forward acceleration and vertical acceleration of the shipborne platform.

[0087] The calibration platform is primarily used to eliminate zero-point deviations in UAV onboard sensors. The UAV is placed on the platform, and the accelerometers are calibrated using a six-plane calibration method. Ignoring the influence of accelerometer installation errors, a standard surface on the turntable is used as the reference plane. Within this plane, the UAV's nose is pointed along the x-axis, and two data collection points are selected along this axis, collecting 3000 data points at each point. The z-axis is perpendicular to this plane, and two data collection points are selected along this axis, collecting 3000 data points at each point and averaging them. Following the right-hand rule, the y-axis is orthogonal to both the x and z axes, and two data collection points are selected along this axis, collecting 3000 data points at each point and averaging them. By calculating from these six data points, the calibration outputs for each axial accelerometer can be obtained.

[0088] Gyroscope calibration is performed because gyroscopes primarily measure angular velocity, and their calibration principle is similar to that of accelerometers, but more complex. The biggest difference between gyroscope and accelerometer calibration is that gyroscopes do not have gravitational acceleration g for reference calibration. Therefore, the scaling deviation 'a' of a gyroscope is generally based on the factory calibration result. Thus, during accelerometer calibration, the average of statically acquired gyroscope data from each axis is accumulated and used as the zero bias value 'B' for compensation.

[0089] GPS calibration is related to the satellite navigation system and the surrounding environment and the number of satellites acquired. Calibration can be performed under good weather conditions, with clear visibility in the surrounding environment and more than 7 satellites. It is generally calibrated by leaving the system stationary.

[0090] Reference Figure 5 An embodiment of the present invention also provides an automatic calibration system for shipborne unmanned aerial vehicle (UAV) sensors, including a calibration platform, a ship's degree-of-freedom velocity sensor, a ship's angular velocity sensor, a processor, a calibration platform actuator, and a UAV, wherein:

[0091] The calibration platform is horizontally set on the ship's platform.

[0092] The ship's degree-of-freedom velocity sensor is mounted on the calibration platform; it is used to acquire the ship's forward speed and vertical speed.

[0093] Ship angular velocity sensor, which is set on the calibration platform; ship angular velocity sensor is used to obtain the ship's pitch and roll angles.

[0094] The processor is set on the calibration platform; the processor is used to receive the pitch and roll angles of the ship sent by the ship's angular velocity sensor and calculate the attitude calibration results of the UAV, and to receive the forward speed and vertical speed of the ship sent by the ship's degree of freedom velocity sensor and calculate the speed calibration results of the UAV.

[0095] The calibration platform actuator has its bottom connected to the calibration platform and the drone placed on its top. The calibration platform actuator is used to receive the attitude calibration results of the drone sent by the processor and to perform attitude calibration of the drone based on the attitude calibration results.

[0096] Firstly, by setting up a calibration platform on the ship's platform, real-time calibration can be performed as the ship's environment changes, which is simple and efficient. Secondly, the ship's forward and vertical speeds are obtained through a velocity sensor, and its pitch and roll angles are obtained through an angular velocity sensor. This provides calculation data for both the ship's attitude and acceleration, and the comprehensive data greatly improves the accuracy of the calibration. Then, the pitch and roll angles are input into the calibration platform actuators for UAV attitude calibration, and the forward and vertical speeds are input into the UAV's onboard sensors for onboard sensor numerical calibration. This effectively calibrates the UAV's attitude and sensor data on the ship's moving platform, offsetting the influence of the ship's own motion on the UAV's sensors.

[0097] A drone includes onboard sensors; the onboard sensors are used to receive the drone's speed calibration results and perform calibration based on those results.

[0098] In some embodiments of the present invention, the calibration platform actuator consists of a servo motor and a linkage structure; wherein the servo motor is connected to the linkage structure, and the linkage structure is connected to the bottom of the UAV.

[0099] In some embodiments of the present invention, the onboard sensors of the UAV include a magnetic compass, GPS, gyroscope, and accelerometer.

[0100] It should be noted that since the automatic calibration system for shipborne UAV sensors in this embodiment is based on the same inventive concept as the above-described automatic calibration method for shipborne UAV sensors, the corresponding content in the method embodiment is also applicable to this device embodiment, and will not be described in detail here.

[0101] refer to Figure 2 An embodiment of the present invention also provides a drone for performing: the shipborne drone sensor automatic calibration method as described in the above embodiments.

[0102] It should be noted that since the UAV in this embodiment is based on the same inventive concept as the above-described automatic calibration method for shipborne UAV sensors, the corresponding content in the method embodiment is also applicable to this device embodiment, and will not be described in detail here.

[0103] Those skilled in the art will understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing data (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired data and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any data delivery medium.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0105] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic calibration method for shipborne unmanned aerial vehicle (UAV) sensors, characterized in that, The automatic calibration method for shipborne UAV sensors includes: Receive the ship's pitch and roll angles from the ship's angular velocity sensor on the calibration platform; The attitude calibration result of the UAV is calculated by using the pitch and roll angles of the ship's angular velocity sensor, and the attitude calibration result is sent to the calibration platform actuator to adjust the attitude of the UAV. Receive the ship's forward speed and vertical speed from the ship's degree of freedom velocity sensor on the calibration platform; The speed calibration result of the UAV is calculated using the forward and vertical velocities transmitted by the ship's degree-of-freedom velocity sensor, and the speed calibration result is sent to the UAV's onboard sensors to calibrate the values ​​of the UAV's onboard sensors; the calculation of the speed calibration result of the UAV using the forward and vertical velocities transmitted by the ship's degree-of-freedom velocity sensor includes: calculating the reference acceleration output of the UAV using the forward and vertical velocities transmitted by the ship's degree-of-freedom velocity sensor; and calculating the speed calibration result of the accelerometer in the UAV's onboard sensors using the reference acceleration output and the six-sided calibration method; The calculation of the UAV's reference acceleration output based on the forward and vertical velocities transmitted by the ship's velocity sensors includes: in, This indicates the reference acceleration output of the accelerometer. This represents a rotation matrix that includes rotation and scaling. This represents the raw data from the drone's onboard sensors. This indicates the forward or vertical speed of the shipborne platform.

2. The automatic calibration method for shipborne unmanned aerial vehicle sensors according to claim 1, characterized in that, The velocity calibration result of the accelerometer in the UAV's onboard sensor, calculated using the reference acceleration output and the six-sided calibration method, includes: The drone's nose is pointed to the X-axis as a reference, and at least two first data acquisition points are selected along the axial direction of the X-axis. Each first data acquisition point collects a preset number of accelerometer first data points and averages them to obtain the accelerometer X-axis data for each first data acquisition point. The vertical axis of the plane on which the UAV is placed is taken as the reference Z-axis, and at least two second data acquisition points are selected in the axial direction of the Z-axis. Each second data acquisition point collects a preset number of accelerometer second data and averages them to obtain the accelerometer Z-axis data of each second data acquisition point. According to the right-hand rule, the Y-axis is taken as the reference axis, which is orthogonal to the X-axis and Z-axis. At least two third data acquisition points are selected in the axial direction of the Y-axis. Each third data acquisition point collects a preset number of accelerometer third data and averages them to obtain the accelerometer Y-axis data of each third data acquisition point. The velocity calibration result of the accelerometer in the UAV's airborne sensor is calculated using the accelerometer's X-axis data, Z-axis data, Y-axis data, and reference acceleration output.

3. The automatic calibration method for shipborne unmanned aerial vehicle sensors according to claim 1, characterized in that, After sending the speed calibration result to the onboard sensors of the UAV to calibrate the onboard sensor values ​​of the UAV, the shipborne UAV sensor automatic calibration method further includes: Collect static gyroscope data for each axis and average them to obtain calibrated gyroscope data; The calibrated gyroscope data is used as a zero bias value to compensate the gyroscopes in the UAV's onboard sensors.

4. The automatic calibration method for shipborne unmanned aerial vehicle sensors according to claim 1, characterized in that, The automatic calibration method for shipborne UAV sensors according to claim 1 is characterized in that, after sending the speed calibration result to the airborne sensor of the UAV to calibrate the airborne sensor value of the UAV, the automatic calibration method for shipborne UAV sensors further includes: The GPS in the onboard sensors of the UAV is calibrated using a static method with at least 7 satellites.

5. An automatic sensor calibration system for shipborne unmanned aerial vehicles, characterized in that, The shipborne unmanned aerial vehicle sensor automatic calibration system includes: A calibration platform, which is horizontally set on the ship's platform; A ship's degree-of-freedom velocity sensor is mounted on the calibration platform; the ship's degree-of-freedom velocity sensor is used to acquire the ship's forward speed and vertical speed. A ship angular velocity sensor is mounted on the calibration platform; the ship angular velocity sensor is used to acquire the ship's pitch and roll angles. A processor is disposed on the calibration platform; the processor is used to receive the pitch and roll angles of the ship sent by the ship's angular velocity sensor and calculate the attitude calibration result of the UAV, and to receive the forward velocity and vertical velocity of the ship sent by the ship's degree-of-freedom velocity sensor and calculate the velocity calibration result of the UAV; the calculation of the velocity calibration result of the UAV includes: calculating the reference acceleration output of the UAV from the forward velocity and vertical velocity; and calculating the velocity calibration result of the accelerometer in the airborne sensor of the UAV from the reference acceleration output and the six-sided calibration method. The reference acceleration output of the UAV, calculated from its forward speed and vertical speed, includes: in, This indicates the reference acceleration output of the accelerometer. This represents a rotation matrix that includes rotation and scaling. This represents the raw data from the drone's onboard sensors. Indicates the forward or vertical speed of the shipborne platform. A calibration platform actuator is provided, with its bottom connected to the calibration platform and a drone placed on its top. The calibration platform actuator is used to receive the attitude calibration results of the drone sent by the processor and to perform attitude calibration of the drone based on the attitude calibration results. The drone includes onboard sensors; the onboard sensors are used to receive the speed calibration results of the drone and to perform calibration based on the speed calibration results.

6. The shipborne unmanned aerial vehicle sensor automatic calibration system according to claim 5, characterized in that, The calibration platform actuator consists of a servo motor and a linkage structure; wherein the servo motor is connected to the linkage structure, and the linkage structure is connected to the bottom of the UAV.

7. The shipborne unmanned aerial vehicle sensor automatic calibration system according to claim 5, characterized in that, The onboard sensors of the drone include a magnetic compass, GPS, gyroscope, and accelerometer.

8. An unmanned aerial vehicle (UAV), characterized in that: The UAV is used to perform the automatic calibration method for shipborne UAV sensors as described in any one of claims 1 to 4.

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