A trajectory angle-fixed three-side flight unmanned aerial vehicle airspeed system calibration method

Abstract

The application belongs to the field of unmanned aerial vehicle flight test, and particularly relates to a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method. The method comprises the following steps: step one, selecting a test point in the flight envelope of the aircraft; step two, performing three-edge flight of the aircraft under the conditions corresponding to the test point, and obtaining flight data of the first edge, the second edge and the third edge in the stable level flight stage; step three, selecting multiple flight data points of the first edge, the second edge and the third edge from the flight data, obtaining the heading angle and the trajectory angle of each flight data point, and judging whether the wind field uniformity in the flight process meets the requirements according to the heading angle and the trajectory angle; if yes, entering step four; if no, returning to step two and re-executing the test point; step four, obtaining the ground speed of each flight data point, and calculating the wind speed according to the ground speed; step five, calculating the true airspeed in the flight process according to the wind speed and the ground speed; and step six, performing test point airspeed calibration according to the true airspeed.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of unmanned aerial vehicle flight test, and particularly relates to a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method. BACKGROUND

[0002] The accuracy of airspeed system measurement has an extremely important influence on aircraft state monitoring, control, flight safety and the like. Most of the existing unmanned aerial vehicle systems are medium and small aircraft, and the airspeed is generally calibrated by the GPS or DGPS of the aircraft itself, and common methods include the round trip flight method and the like.

[0003] Since the airspeed calibration method based on GPS is sensitive to wind field, in order to meet the requirement of uniform wind field in the flight area as much as possible, the flight area for airspeed calibration needs to be reduced as much as possible.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the aforementioned deficiencies of the prior art. SUMMARY

[0005] The application aims to provide a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method to solve at least one problem existing in the prior art.

[0006] The technical solution of the application is as follows:

[0007] The first aspect of the application provides a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method, comprising:

[0008] Step one, selecting a test point in the flight envelope of the aircraft;

[0009] Step two, performing three-edge flight at a fixed trajectory angle under the conditions corresponding to the test point to obtain flight data of the first edge, the second edge and the third edge in the stable flight stage;

[0010] Step three, selecting multiple flight data points of the first edge, the second edge and the third edge from the flight data to obtain the heading angle and the trajectory angle of each flight data point, and determining whether the wind field uniformity in the flight process meets the requirements according to the heading angle and the trajectory angle;

[0011] If yes, proceed to step four;

[0012] If no, return to step two to re-perform the test point;

[0013] Step four, obtaining the ground speed of each flight data point and calculating the wind speed according to the ground speed;

[0014] Step five, calculating the true airspeed in the flight process according to the wind speed and the ground speed;

[0015] Step six, test point airspeed calibration is performed according to the vacuum speed.

[0016] In at least one embodiment of the present application, the test points are selected in multiple within the flight envelope of the aircraft.

[0017] In at least one embodiment of the present application, the conditions corresponding to the test points include aircraft type, flight altitude, flight speed.

[0018] In at least one embodiment of the present application, when the aircraft performs three-edge flight under the conditions corresponding to the test points, the first edge keeps the first track angle unchanged, the second edge keeps the second track angle unchanged, and the third edge keeps the third track angle unchanged.

[0019] In at least one embodiment of the present application, when the aircraft performs three-edge flight under the conditions corresponding to the test points, the first track angle and the second track angle, and the second track angle and the third track angle differ by 90°.

[0020] In at least one embodiment of the present application, when the aircraft performs three-edge flight under the conditions corresponding to the test points, the time of the stable flight stage is 1 min.

[0021] In at least one embodiment of the present application, in step three, the heading angle and the track angle of each flight data point are obtained, and whether the wind field uniformity in the flight process meets the requirements is judged according to the heading angle and the track angle, comprising:

[0022] The first heading angle and the first track angle of each flight data point of the first edge are obtained, the absolute value ψ1 of the difference between the first heading angle and the first track angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ1 is calculated

[0023] The second heading angle and the second track angle of each flight data point of the second edge are obtained, the absolute value ψ2 of the difference between the second heading angle and the second track angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ2 is calculated

[0024] The third heading angle and the third track angle of each flight data point of the third edge are obtained, the absolute value ψ3 of the difference between the third heading angle and the third track angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ3 is calculated

[0025] whether the following conditions are met simultaneously tolerance represents a given judgment threshold;

[0026] If yes, the wind field uniformity in the flight process meets the requirements;

[0027] If not, the wind field non-uniformity during flight does not meet the requirements.

[0028] In at least one embodiment of the present application, in step four, the ground speed of each flight data point is obtained, and the wind speed is calculated according to the ground speed, including:

[0029] Obtain the eastward ground speed of each flight data point of the first side North ground speed

[0030] Obtain the eastward ground speed of each flight data point of the second side North ground speed

[0031] Obtain the eastward ground speed of each flight data point of the third side North ground speed

[0032] According to the eastward ground speed North ground speed Eastward ground speed North ground speed Eastward ground speed North ground speed Calculate the wind speed:

[0033]

[0034]

[0035]

[0036]

[0037] Wherein, is the eastward wind speed, is the northward wind speed, and n is the number of flight data points.

[0038] In at least one embodiment of the present application, in step five, the true airspeed during flight is calculated according to the wind speed and the ground speed, including:

[0039]

[0040]

[0041] Wherein, V T is the true airspeed.

[0042] The second aspect of the present application provides a trajectory angle fixed three-side flight unmanned aerial vehicle airspeed system calibration system, comprising:

[0043] A test point selection module is used to select a test point in the flight envelope of the aircraft.

[0044] a flight data acquisition module configured to acquire flight data of a first side, a second side and a third side in a stable level flight stage when the aircraft flies in a triangular flight with a fixed track angle under conditions corresponding to the test point;

[0045] a wind field non-uniformity determination module configured to select a plurality of flight data points of the first side, the second side and the third side from the flight data, acquire a heading angle and a track angle of each flight data point, and determine whether the wind field non-uniformity in the flight process meets a requirement according to the heading angle and the track angle;

[0046] If yes, the wind speed calculation module is entered;

[0047] If no, the flight data acquisition module is returned to re-execute the test point;

[0048] a wind speed calculation module configured to acquire a ground speed of each flight data point and calculate a wind speed according to the ground speed;

[0049] a true airspeed calculation module configured to calculate a true airspeed in the flight process according to the wind speed and the ground speed;

[0050] an airspeed calibration module configured to calibrate a test point airspeed according to the true airspeed.

[0051] In at least one embodiment of the present application, a plurality of test points are selected within an aircraft flight envelope.

[0052] In at least one embodiment of the present application, the conditions corresponding to the test point include an aircraft type, a flight altitude and a flight speed.

[0053] In at least one embodiment of the present application, when the aircraft flies in a triangular flight under the conditions corresponding to the test point, the first side maintains a first track angle unchanged, the second side maintains a second track angle unchanged, and the third side maintains a third track angle unchanged.

[0054] In at least one embodiment of the present application, when the aircraft flies in a triangular flight under the conditions corresponding to the test point, the first track angle and the second track angle, and the second track angle and the third track angle differ by 90°.

[0055] In at least one embodiment of the present application, when the aircraft flies in a triangular flight under the conditions corresponding to the test point, the time of the stable level flight stage is 1 min.

[0056] In at least one embodiment of the present application, in the wind field non-uniformity determination module, the heading angle and the track angle of each flight data point are acquired, and whether the wind field non-uniformity in the flight process meets the requirement is determined according to the heading angle and the track angle, including:

[0057] Obtaining the first heading angle and the first track angle of each flight data point of the first side, calculating the absolute value ψ1 of the difference between the first heading angle and the first track angle corresponding to each flight data point, and calculating the average value of each absolute value ψ1

[0058] Obtaining the second heading angle and the second track angle of each flight data point of the second side, calculating the absolute value ψ2 of the difference between the second heading angle and the second track angle corresponding to each flight data point, and calculating the average value of each absolute value ψ2

[0059] Obtaining the third heading angle and the third track angle of each flight data point of the third side, calculating the absolute value ψ3 of the difference between the third heading angle and the third track angle corresponding to each flight data point, and calculating the average value of each absolute value ψ3

[0060] Judging whether the following conditions are met simultaneously tolerance represents a given judgment threshold;

[0061] If yes, the wind field uniformity during flight meets the requirements;

[0062] If no, the wind field uniformity during flight does not meet the requirements.

[0063] In at least one embodiment of the present application, in the wind speed calculation module, the ground speed of each flight data point is obtained, and the wind speed is calculated according to the ground speed, comprising:

[0064] Obtaining the east ground speed of each flight data point of the first side north ground speed

[0065] Obtaining the east ground speed of each flight data point of the second side north ground speed

[0066] Obtaining the east ground speed of each flight data point of the third side north ground speed

[0067] According to the east ground speed north ground speed east ground speed north ground speed east ground speed north ground speed Calculate the wind speed:

[0068]

[0069]

[0070]

[0071]

[0072] wherein, is the east wind speed, is the north wind speed, and n is the number of flight data points.

[0073] In at least one embodiment of the present application, in step five, calculating the true airspeed during flight according to the wind speed and the ground speed comprises:

[0074]

[0075]

[0076] wherein, V T is the true airspeed.

[0077] The present application has at least the following beneficial technical effects:

[0078] The trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method of the present application adopts three-edge flight to meet the requirement of small flight airspace for unmanned aerial vehicles, and requires small airspace; can calculate the true airspeed during flight by analyzing the stable level flight stage data of three-edge flight, taking the minimum wind speed variance of three-edge flight as the target; and can reduce the influence of uneven wind field, so as to calculate the real true airspeed during flight, complete the airspeed calibration and effectiveness confirmation of the unmanned aerial vehicle, and improve the accuracy of airspeed calibration. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 is a schematic diagram of the relationship among the true airspeed, ground speed and wind speed during the trajectory angle fixed three-edge flight of an embodiment of the present application. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the embodiments of the present application will be described in more detail below in combination with the drawings of the embodiments of the present application. In the drawings, the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are some of the embodiments of the present application, not all the embodiments. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below in combination with the drawings.

[0081] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

[0082] The following will be described in conjunction with the accompanying drawings Figure 1 The present application will be further described in detail.

[0083] The first aspect of the present application provides a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method, comprising the following steps:

[0084] Step one, select test points in the flight envelope of the aircraft;

[0085] Step two, the aircraft flies at a fixed trajectory angle under the conditions corresponding to the test points, and obtains the flight data of the first edge, the second edge and the third edge in the stable flight stage;

[0086] Step three, select multiple flight data points of the first edge, the second edge and the third edge from the flight data, obtain the heading angle and the trajectory angle of each flight data point, and determine whether the wind field uniformity in the flight process meets the requirements according to the heading angle and the trajectory angle;

[0087] If yes, go to step four;

[0088] If not, return to step two and re-execute the test point;

[0089] Step four, obtain the ground speed of each flight data point, and calculate the wind speed according to the ground speed;

[0090] Step five, calculate the true airspeed in the flight process according to the wind speed and the ground speed;

[0091] Step six, calibrate the test point airspeed according to the true airspeed.

[0092] ​The trajectory angle fixed three-side flight unmanned aerial vehicle airspeed system calibration method of the application, in step one, a plurality of test points are selected in the flight envelope of the aircraft, the conditions corresponding to the test points include aircraft type, flight height, flight speed, and a plurality of test points under different conditions are selected. In step two, the aircraft performs three-side flight under the given conditions of aircraft type, flight height and flight speed corresponding to the test points. When the aircraft performs three-side flight under the conditions corresponding to the test points, the first side keeps the first trajectory angle unchanged, the second side keeps the second trajectory angle unchanged, and the third side keeps the third trajectory angle unchanged. The first trajectory angle and the second trajectory angle, and the second trajectory angle and the third trajectory angle are different by 90°. The time of the stable level flight stage is 1 min, and the flight data of the first side, the second side and the third side in the stable level flight stage under the conditions corresponding to the test points are recorded.

[0093] In the preferred embodiment of the application, in step three, a plurality of flight data points of the first side, the second side and the third side are selected from the flight data. The flight data points recorded by the first side, the second side and the third side in the stable level flight stage are basically consistent, and n flight data points are taken in the stable level flight stage of the first side, the second side and the third side, respectively.

[0094] In this embodiment, whether the wind field uniformity in the flight process meets the requirements is judged according to the heading angle and the trajectory angle of each flight data point, as follows:

[0095] The first heading angle and the first trajectory angle of each flight data point of the first side are obtained, the absolute value ψ1 of the difference between the first heading angle and the first trajectory angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ1 is calculated

[0096] The second heading angle and the second trajectory angle of each flight data point of the second side are obtained, the absolute value ψ2 of the difference between the second heading angle and the second trajectory angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ2 is calculated

[0097] The third heading angle and the third trajectory angle of each flight data point of the third side are obtained, the absolute value ψ3 of the difference between the third heading angle and the third trajectory angle corresponding to each flight data point is calculated, and the average value of each absolute value ψ3 is calculated

[0098] Whether the following conditions are met at the same time is judged tolerance represents a given judgment threshold;

[0099] If yes, the wind field uniformity in the flight process meets the requirements;

[0100] If no, the wind field uniformity in the flight process does not meet the requirements.

[0101] In the process of performing the test point, the data can not be available due to wind field problems, only need to reselect a good weather to re-fly test (i.e. return to step two) can be re-executed test point.

[0102] The trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method of the application, when the wind field uniformity meets the test requirements in the flight process, the wind speed is calculated. The speed in the round trip flight is analyzed, if the wind speed is stable in the flight process, the true airspeed (V T ), the wind speed (V W ) and the ground speed (V G ) of each edge flight meet the vector relationship as shown in Figure 1 , V represents speed, ψ represents the difference between heading angle and track angle, 1 represents the first edge flight, 2 represents the second edge flight, and 3 represents the third edge flight, and the mathematical expressions are as shown in formula (1). Wherein, subscript T represents true airspeed, G represents ground speed, W represents wind speed, and j represents the jth flight edge; superscript E represents eastward speed, and N represents northward speed.

[0103]

[0104] Since the true airspeed of each edge is equal, the true airspeed in the round trip flight meets the relationship as shown in formula (2) and formula (3):

[0105]

[0106]

[0107] Bring formula (1) into formula (2) and formula (3), formula (4) and formula (5) are established:

[0108]

[0109]

[0110] Respectively in the stable flight stage of the first edge, the second edge and the third edge, take n flight data points, when the wind field is constant in the flight process, take any two data points in the respective flight, both satisfy the relationship of formula (4) and formula (5), solve formula (4) and formula (5), and finally obtain the wind speed expression:

[0111]

[0112]

[0113]

[0114] ​

[0115] wherein, is the eastward wind speed, is the northward wind speed, n is the number of flight data points.

[0116] According to the above analysis, in step four, the wind speed calculation process includes:

[0117] Obtain the eastward ground speed of each flight data point of the first side northward ground speed

[0118] Obtain the eastward ground speed of each flight data point of the second side northward ground speed

[0119] Obtain the eastward ground speed of each flight data point of the third side northward ground speed

[0120] According to the eastward ground speed northward ground speed eastward ground speed northward ground speed eastward ground speed northward ground speed Substitute equations (6) and (7) to calculate the wind speed.

[0121] After obtaining the wind speed during the flight process, combined with the ground speed during the flight process, the true airspeed during the flight process can be obtained, and finally the true airspeed during the flight process of the three sides is arithmetically averaged to obtain the accurate true airspeed, completing the calibration of the airspeed system.

[0122] In this embodiment, in step five, according to the wind speed calculated in step four and the ground speed during the stable flight stage of the outbound and return, the true airspeed during the flight process of the aircraft is calculated, and the true airspeed during the flight process is arithmetically averaged, and finally the real true airspeed under the given aircraft type, flight height and flight speed conditions is obtained according to the calculation formula of equation (8).

[0123]

[0124]

[0125] wherein, V T is the true airspeed.

[0126] In step six, after completing the test point speed calibration under the current aircraft type, flight height and flight speed conditions, steps two to five are repeated in turn for the next test point until the airspeed calibration of all test points is completed.

[0127] The trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method of the application, under the condition of given aircraft type, flight height and flight speed, the aircraft completes a three-edge flight with fixed trajectory angle; the trajectory angle of each adjacent two edges of the aircraft in the three-edge flight process differs by 90°; the flight data of each edge stable flight stage, such as flight height, flight speed, aircraft heading angle and aircraft trajectory angle, are recorded; the wind speed is judged to be stable according to the flight data calculation; if the wind speed is stable, the average ground speed of each edge is calculated, the flight data is brought into the wind speed calculation formula, and the wind speed in the three-edge flight process is calculated; the real true airspeed is calculated according to the wind speed, and the airspeed calibration is completed.

[0128] The trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method of the application takes the minimum wind speed variance of the three-edge flight as the target to calculate the real true airspeed, the calculated real true airspeed has better robustness, and the influence of the wind field on the airspeed calibration is further reduced; the requirement for the flight area is further relaxed, and the unmanned aerial vehicle airspeed system calibration under crosswind conditions can be realized through a smaller flight area, thereby reducing the influence of the wind field on the calibration effect; the requirement for the wind field uniformity is increased, and when the wind field uniformity does not meet the test requirement, the test needs to be re-performed; the method has universality and is suitable for airspeed calibration of different types of unmanned aerial vehicles.

[0129] Based on the above trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration method, a second aspect of the application provides a trajectory angle fixed three-edge flight unmanned aerial vehicle airspeed system calibration system, which comprises:

[0130] A test point selection module is configured to select a test point in the flight envelope of the aircraft;

[0131] A flight data acquisition module is configured to acquire flight data of the first edge, the second edge and the third edge in the stable flight stage by performing three-edge flight with fixed trajectory angle at the test point;

[0132] A wind field uniformity judgment module is configured to select multiple flight data points of the first edge, the second edge and the third edge from the flight data, acquire the heading angle and the trajectory angle of each flight data point, and judge whether the wind field uniformity in the flight process meets the requirement according to the heading angle and the trajectory angle;

[0133] If yes, the wind speed calculation module is entered;

[0134] If no, the test point is re-performed by returning to the flight data acquisition module;

[0135] A wind speed calculation module is configured to acquire the ground speed of each flight data point and calculate the wind speed according to the ground speed;

[0136] A true airspeed calculation module is configured to calculate the true airspeed in the flight process according to the wind speed and the ground speed.

[0137] airspeed calibration module configured to calibrate the test point airspeed according to the true airspeed.

[0138] The trajectory angle fixed three-side flight unmanned aerial vehicle airspeed system calibration system of the present application, the functions of each module and the specific implementation mode, see the trajectory angle fixed three-side flight unmanned aerial vehicle airspeed system calibration method described above, which will not be repeated here.

[0139] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for calibrating the airspeed system of a triaxially flying unmanned aerial vehicle with a fixed trajectory angle, characterized in that, include: Step 1: Select test points within the aircraft's flight envelope; Step 2: The aircraft performs three-sided flight at a fixed trajectory angle under the conditions corresponding to the test point, and obtains flight data for the first, second, and third sides during the stable level flight phase; Step 3: Select multiple flight data points from the first, second, and third sides of the flight data respectively, obtain the heading angle and trajectory angle of each flight data point, and determine whether the wind field non-uniformity meets the requirements based on the heading angle and trajectory angle. If so, proceed to step four; If not, return to step two and re-execute the test point; Step 4: Obtain the ground speed at each flight data point and calculate the wind speed based on the ground speed, including: Obtain the eastward ground speed of each flight data point on the first side. Northbound ground speed Obtain the eastward ground speed of each flight data point on the second side. Northbound ground speed Obtain the eastward ground speed of each flight data point on the third side. Northbound ground speed According to the eastward ground speed Northbound ground speed Eastbound speed Northbound ground speed Eastbound speed Northbound ground speed Calculate wind speed: in, The wind speed is easterly. Here, n represents the northerly wind speed, and n represents the number of flight data points. Step 5: Calculate the vacuum speed during flight based on the wind speed and the ground speed; Step 6: Calibrate the air velocity at the test point according to the vacuum velocity.

2. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 1, characterized in that, The test points are selected from multiple points within the aircraft's flight envelope.

3. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 2, characterized in that, The conditions corresponding to the test points include aircraft configuration, flight altitude, and flight speed.

4. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 3, characterized in that, When the aircraft performs three-sided flight under the conditions corresponding to the test point, the first trajectory angle remains unchanged on the first side, the second trajectory angle remains unchanged on the second side, and the third trajectory angle remains unchanged on the third side.

5. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 4, characterized in that, When the aircraft performs tri-plane flight under the conditions corresponding to the test point, the first trajectory angle differs from the second trajectory angle, and the second trajectory angle differs from the third trajectory angle by 90°.

6. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 5, characterized in that, When the aircraft performs triplane flight under the conditions corresponding to the test point, the stable level flight phase lasts for 1 minute.

7. The method for calibrating the airspeed system of a triaxially flying UAV with a fixed trajectory angle according to claim 6, characterized in that, In step three, the heading angle and trajectory angle of each flight data point are obtained. Based on the heading angle and trajectory angle, it is determined whether the wind field non-uniformity during flight meets the requirements, including: Obtain the first heading angle and first trajectory angle for each flight data point on the first side. Calculate the absolute value ψ1 of the difference between the first heading angle and the first trajectory angle for each flight data point, and calculate the average value of each absolute value ψ1. Obtain the second heading angle and second trajectory angle for each flight data point on the second side. Calculate the absolute value ψ2 of the difference between the second heading angle and the second trajectory angle for each flight data point, and then calculate the average of these absolute values ​​ψ2. Obtain the third heading angle and third trajectory angle for each flight data point on the third side. Calculate the absolute value ψ3 of the difference between the third heading angle and the third trajectory angle for each flight data point, and then calculate the average of these absolute values ​​ψ3. Determine whether the conditions are met simultaneously. tolerance represents a given decision threshold; If so, the wind field non-uniformity during flight meets the requirements; If not, the wind field non-uniformity during flight will not meet the requirements.

8. The method for calibrating the airspeed system of a triaxially flying unmanned aerial vehicle with a fixed trajectory angle according to claim 7, characterized in that, Step five involves calculating the vacuum speed during flight based on the wind speed and the ground speed, including: Among them, V T It is the vacuum velocity.

9. A calibration system for the airspeed system of a triangular-flying unmanned aerial vehicle with a fixed trajectory angle, characterized in that, include: The test point selection module is used to select test points within the aircraft's flight envelope; The flight data acquisition module is used to acquire flight data of the first, second, and third sides during the stable level flight phase when the aircraft performs three-sided flight with a fixed trajectory angle under the conditions corresponding to the test point. The wind field non-uniformity determination module is used to select multiple flight data points from the first side, the second side, and the third side respectively from the flight data, obtain the heading angle and trajectory angle of each flight data point, and determine whether the wind field non-uniformity meets the requirements during the flight based on the heading angle and the trajectory angle. If so, proceed to the wind speed calculation module; If not, return to the flight data acquisition module and re-execute the test point; The wind speed calculation module is used to acquire the ground speed at each flight data point and calculate the wind speed based on the ground speed, including: Obtain the eastward ground speed of each flight data point on the first side. Northbound ground speed Obtain the eastward ground speed of each flight data point on the second side. Northbound ground speed Obtain the eastward ground speed of each flight data point on the third side. Northbound ground speed According to the eastward ground speed Northbound ground speed Eastbound speed Northbound ground speed Eastbound speed Northbound ground speed Calculate wind speed: in, The wind speed is easterly. Here, n represents the northerly wind speed, and n represents the number of flight data points. A vacuum speed calculation module is used to calculate the vacuum speed during flight based on the wind speed and the ground speed. The airspeed calibration module is used to calibrate the airspeed at the test point based on the vacuum speed.

10. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 9, characterized in that, The test points are selected from multiple points within the aircraft's flight envelope.

11. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 10, characterized in that, The conditions corresponding to the test points include aircraft configuration, flight altitude, and flight speed.

12. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 11, characterized in that, When the aircraft performs three-sided flight under the conditions corresponding to the test point, the first trajectory angle remains unchanged on the first side, the second trajectory angle remains unchanged on the second side, and the third trajectory angle remains unchanged on the third side.

13. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 12, characterized in that, When the aircraft performs tri-plane flight under the conditions corresponding to the test point, the first trajectory angle differs from the second trajectory angle, and the second trajectory angle differs from the third trajectory angle by 90°.

14. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 13, characterized in that, When the aircraft performs triplane flight under the conditions corresponding to the test point, the stable level flight phase lasts for 1 minute.

15. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 14, characterized in that, In the wind field non-uniformity determination module, the heading angle and trajectory angle of each flight data point are acquired. Based on the heading angle and trajectory angle, it is determined whether the wind field non-uniformity during flight meets the requirements, including: Obtain the first heading angle and first trajectory angle for each flight data point on the first side. Calculate the absolute value ψ1 of the difference between the first heading angle and the first trajectory angle for each flight data point, and calculate the average value of each absolute value ψ1. Obtain the second heading angle and second trajectory angle for each flight data point on the second side. Calculate the absolute value ψ2 of the difference between the second heading angle and the second trajectory angle for each flight data point, and then calculate the average of these absolute values ​​ψ2. Obtain the third heading angle and third trajectory angle for each flight data point on the third side. Calculate the absolute value ψ3 of the difference between the third heading angle and the third trajectory angle for each flight data point, and then calculate the average of these absolute values ​​ψ3. Determine whether the conditions are met simultaneously. tolerance represents a given decision threshold; If so, the wind field non-uniformity during flight meets the requirements; If not, the wind field non-uniformity during flight will not meet the requirements.

16. The triaxial flight UAV airspeed system calibration system with fixed trajectory angle according to claim 15, characterized in that, Step five involves calculating the vacuum speed during flight based on the wind speed and the ground speed, including: Among them, V T It is the vacuum velocity.

Images