A closed space UAV remote control speed control optimization method
By establishing the body coordinate system in the drone in the enclosed space and performing accurate speed control, the problem of inconsistent control effects caused by drone status estimation deviation is solved, and a higher accuracy of drone control is achieved.
Patent Information
- Application Number
- CN202411659963.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-20
- Publication Date
- 2025-04-08
AI Technical Summary
In the enclosed space, there is a deviation in the drone state estimation, especially in the speed estimation, which leads to inconsistent drone control effects and operators’ desired effects when the operator controls speed through the remote control.
By establishing the body coordinate system in the drone, and comparing the remote control rocker amount and dead zone setting threshold, the drone pitch, roll, throttle and yaw direction speed control is performed, the desired position holding amount of the body coordinate system is updated, and the deviation amount of the position deviation direction is corrected.
It achieves higher accuracy and effectiveness of drone control, ensuring that drone can correctly reach the operator's desired position.
Smart Images
Figure BDA0005143035110000021 
Figure BDA0005143035110000022 
Figure BDA0005143035110000034
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to a method for optimizing the speed control of a remote controller of an unmanned aerial vehicle in a closed space. Background Art
[0002] With the continuous advancement of drone technology, drones are increasingly used in military, commercial, entertainment and other fields. However, in closed spaces, the flight environment of drones is relatively complex, requiring higher control accuracy and stability. Due to the complex environment, harsh conditions and little prior information in such scenes, key technologies such as real-time positioning, instant communication, and intelligent obstacle avoidance have yet to be broken through. In closed spaces, speed control of drones through remote controls is a common flight mode, which means that the remote control communicates with the drone through radio waves and transmits the operator's instructions to the drone. The instructions include pitch, roll, throttle, and yaw direction speed control instructions. The rod amount is within the dead zone, that is, the expected speed in this direction is 0. The greater the rod amount is from the dead zone, the greater the expected speed in this direction. The operator can control the drone to the desired spatial position through this mode.
[0003] When a drone flies in a closed space, it needs to rely on various sensors to sense the surrounding environment, such as ultrasonic sensors, infrared sensors, and lidar. These sensors use a multi-source fusion state estimation algorithm to obtain drone state information, such as position, speed, and attitude. However, due to sensor characteristics or algorithm maturity, there are deviations in drone state estimation, especially in speed estimation, which leads to the inconsistency between the drone control effect and the operator's expected effect when the operator controls the speed through the remote control. For example, the operator expects the drone to fly straight ahead, and sends the expected speed of 1m / s in the pitch direction and 0m / s in the roll direction through the remote control. However, due to the large deviation in the estimated speed of the drone in the roll direction, the roll direction is displaced, and the drone finally flies obliquely forward. The existing drone remote control speed control mode control technology does not correct the deviation in the direction of position deviation. Therefore, it is necessary to design a closed space drone remote control speed control optimization method to solve the above technical problems. Summary of the invention
[0004] In view of the defects existing in the prior art, the present invention discloses a method for optimizing the speed control of a remote control for a UAV in a closed space. The method is aimed at scenarios such as tunnels, underground mines, and pipeline corridors where there is no GNSS signal and lack of prior information, which leads to unstable UAV state estimation information and the inability of the UAV to correctly reach the desired position when the operator controls it through the remote control.
[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:
[0006] The drone obtains its position in the northeast sky coordinate system at a certain period The yaw angle Q(k), the remote controller pitch, roll, throttle, and yaw stick values (R1(k), R2(k), R3(k), and R(k)), and when the yaw stick value is within the dead zone, the current drone yaw angle is used to establish a body coordinate system that coincides with the origin of the northeast sky coordinate system;
[0007] According to the comparison between the pitch stick amount of the remote controller and the dead zone setting threshold D1, when ‖R1(k)-D1‖>0, the pitch direction speed of the drone is controlled, and the desired position holding amount Xb(k) in the pitch direction of the body coordinate system is updated. When ‖R1(k)-D1‖<0, the pitch direction position holding control of the body coordinate system is performed;
[0008] According to the comparison between the roll stick amount of the remote controller and the dead zone setting threshold D1, when ‖R2(k)-D1‖>0, the UAV roll direction speed control is performed, and the desired position holding amount Yb(k) in the roll direction of the body coordinate system is updated. When ‖R2(k)-D1‖<0, the body coordinate system roll direction position holding control is performed;
[0009] According to the comparison between the throttle stick value of the remote controller and the dead zone setting threshold D1, when ‖R3(k)-D1||‖>0, the vertical speed control of the UAV is performed, and the altitude holding value Zl(k) of the northeast sky coordinate system is updated. When ‖R3(k)-D1‖<0, the altitude holding control of the northeast sky coordinate system is performed;
[0010] According to the comparison between the yaw stick amount of the remote controller and the dead zone setting threshold D1, when ‖R4(k)-D1‖>0, the yaw direction speed of the UAV is controlled, and the yaw holding amount Q of the northeast celestial coordinate system is updated. When ‖R4(k)-D1‖<0, the yaw holding control of the northeast celestial coordinate system is performed.
[0011] Preferably, if the input rod amount of the remote controller yaw channel is within the dead zone at the current moment, a body coordinate system is established with the origin of the northeast sky coordinate system as the origin, the front of the drone as the X axis, the left of the drone as the Y axis, and the top of the drone as the Z axis. The three-dimensional coordinate values (Xb(k), Yb(k), Zb(k)) of the drone in the body coordinate system at the current moment are:
[0012]
[0013] If the remote controller yaw channel input rod value is outside the dead zone at the current moment, the original body coordinate system is deleted, and when the yaw channel input rod value returns to the dead zone, the body coordinate system is updated again with the current drone yaw angle.
[0014] Preferably, when the remote controller pitch channel input rod quantity is detected to be outside the dead zone at the current moment, the expected pitch direction speed is calculated:
[0015]
[0016] Among them, Rm represents the maximum rod measurement range, Vm represents the maximum moving speed;
[0017] Since the drone moves in the pitch direction, during the movement, the desired position holding amount in the pitch direction of the body coordinate system is updated.
[0018]
[0019] When the remote controller pitch channel input rod quantity is detected within the dead zone at the current moment, the drone's position coordinate Xb(k) on the Xb axis is updated:
[0020]
[0021] When the input rod value of the pitch channel of the remote controller changes from outside the dead zone to inside the dead zone at time j, the desired position holding value in the pitch direction is obtained. At time k, the expected speed for the drone to converge in pitch direction can be calculated:
[0022]
[0023] Among them, F_PID is an automatic controller (PID controller) calculation method.
[0024] Preferably, when the input rod amount of the rolling channel of the remote controller is detected to be outside the dead zone at the current moment, the expected rolling direction speed is calculated:
[0025]
[0026] Among them, Rm represents the maximum rod measurement range, Vm represents the maximum moving speed;
[0027] Since the drone moves in the rolling direction, during the movement, the desired position holding amount in the rolling direction of the body coordinate system is updated.
[0028]
[0029] When the input value of the roll channel of the remote controller is detected to be within the dead zone at the current moment, the position coordinate Yb(k) of the drone on the Yb axis is updated:
[0030]
[0031] When the input rod value of the roll channel of the remote controller changes from outside the dead zone to inside the dead zone at time j, the expected position holding value in the roll direction is obtained. At time k, the expected speed for the drone to converge in the rolling direction can be calculated:
[0032]
[0033] Among them, F_PID is an automatic controller (PID controller) calculation method.
[0034] On the basis of the above technical scheme, compared with the prior art, the advantages of the present invention are: providing a more accurate and effective method for controlling the speed of a drone remote controller, for when a drone is flying in a closed space such as a tunnel, underground mine, pipe gallery, etc. without GNSS signals and lacking prior information, it only relies on various sensors to sense the surrounding environment, and obtains drone state information through a multi-source fusion state estimation algorithm. Due to sensor characteristics or algorithm maturity, there are deviations in drone state estimation, especially in speed estimation, where the deviation is greater, resulting in the problem that the drone control effect is inconsistent with the operator's expected effect when the operator controls the speed through the remote control. The present invention establishes a body coordinate system when the drone's heading is fixed, and corrects the deviation in the direction of the position deviation, making the drone control more accurate and effective. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Figure 1 A schematic diagram of a flow chart of a closed space UAV remote controller speed control optimization method provided in Embodiment 1 of the present invention. DETAILED DESCRIPTION
[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0037] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.
[0038] Figure 1 This is a flow chart of a closed space drone remote controller speed control optimization method provided by the first embodiment of the present invention. Figure 1 As shown, the following steps are included:
[0039] S101: The drone obtains its position in the northeast sky coordinate system at a certain period. Yaw angle Q(k), remote controller pitch, roll, throttle, yaw four channel joystick values (R1(k), R2(k), R3(k), R4(k));
[0040] S102: The remote controller pitch stick value is compared with the dead zone setting threshold D1. When ‖R1(k)-D1‖>0, that is, outside the dead zone, the UAV pitch direction speed control is performed, and the flight controller converts the stick value into the desired pitch direction speed Vx(k):
[0041]
[0042] Among them, Rm represents the maximum rod measurement range, Vm represents the maximum moving speed, and then the desired speed and the estimated speed of the drone are calculated through the speed controller to obtain the desired pitch angle, and the drone attitude tracks the angle to achieve movement;
[0043] S103: After the drone responds to the expected moving speed in the pitch direction, the position in this direction also changes. At this time, the expected position holding amount of the sitting system in the pitch direction of the body is updated.
[0044]
[0045] S104: When the remote controller pitch channel input rod quantity is detected to be within the dead zone at the current moment, the position coordinate Xb(k) of the Xb axis of the drone in the body coordinate system is updated:
[0046]
[0047] When the input rod value of the pitch channel of the remote controller changes from outside the dead zone to inside the dead zone at time j, the desired position holding value in the pitch direction is obtained. At time k, the expected speed for the drone to converge in pitch direction can be calculated:
[0048]
[0049] Among them, F_PID is a calculation method of an automatic controller (PID controller). In addition, the processing method for the rolling direction is consistent with the pitch direction, and will not be repeated here. The processing methods for other directions should also be considered as the protection scope of the present invention;
[0050] S105: When the input rod value of the yaw channel of the remote controller is detected to be within the dead zone, the yaw angle of the drone at the current moment is taken as the expected value to maintain the yaw angle;
[0051] S106: When the input rod amount of the remote controller yaw channel is detected to be within the dead zone at the current moment, a body coordinate system is established with the origin of the northeast sky coordinate system as the origin, the front of the drone as the X axis, the left of the drone as the Y axis, and the top of the drone as the Z axis. The three-dimensional coordinate values (Xb(k), Yb(k), Z(k)) of the drone in the body coordinate system at the current moment are:
[0052]
[0053] S107: The remote controller yaw stick value is compared with the dead zone setting threshold D1. When ‖R4(k))-D1‖>0, that is, outside the dead zone, the UAV yaw direction speed control is performed, and the flight controller converts the stick value into the expected angular velocity Vq(k) in the yaw direction:
[0054]
[0055] Among them, Rm represents the maximum rod measurement range, and ωm represents the maximum yaw angular velocity. After that, the UAV flight controller tracks the desired angular velocity through the angular velocity controller to realize the rotation of the UAV.
[0056] S108: The drone rotates, and the previously established body coordinate system changes accordingly. At this time, the previously established body coordinate system is cancelled. When the pitch and roll direction stick inputs are within the dead zone, speed control is changed.
[0057] Embodiment 2 of the present invention provides a control flow of the take-off phase of a closed space drone remote control speed control optimization method. In this embodiment, the drone is unlocked by inputting the remote control specified four-channel lever amount (R1(k)=0&&R2(k)=0&&R3(k))=0&&R4(k)=0), and the drone motor starts to rotate at a set low speed. This speed will not make the drone take off. At this time, the operator needs to return the remote control lever amount to the middle position. At this time, the origin of the northeast sky coordinate system is taken as the origin, the front of the drone is the X-axis, the left of the drone is the Y-axis, and the top of the drone is the Z-axis. The three-dimensional coordinate value (Xb(j), Yb(j), Zb(j)) of the drone in the body coordinate system at the current time j is:
[0058]
[0059] Subsequently, the operator pushes the throttle stick of the remote controller above the middle position to realize the take-off of the UAV. At this time, the vertical direction is the desired speed of the joystick, and the horizontal direction is (Xb(j), Yb(j)) as the desired position. The position is maintained to realize the vertical take-off of the UAV.
[0060] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.
Claims
1. A closed space UAV remote control speed control optimization method, comprising the following steps: The drone obtains the position (Xl(k), Yl(k), Zl(k)) in the northeast celestial coordinate system, the yaw angle Q(k), and the remote controller's pitch, roll, throttle, and yaw stick values (R1(k), R2(k), R3(k), R4(k)) at a certain period. When the yaw stick value is within the dead zone, the drone establishes a body coordinate system that coincides with the origin of the northeast celestial coordinate system with the current yaw angle of the drone. According to the comparison between the pitch stick amount of the remote controller and the dead zone setting threshold D1, when ||R1(k)-D1||>0, the pitch direction speed control of the drone is performed, and the desired position holding amount Xb(k) in the pitch direction of the body coordinate system is updated; when ||R1(k)-D1||<0, the pitch direction position holding control of the body coordinate system is performed; According to the comparison between the roll stick amount of the remote controller and the dead zone setting threshold D1, when ||R2(k)-D1||>0, the UAV roll direction speed control is performed, and the desired position holding amount Yb(k) in the roll direction of the body coordinate system is updated; when ||R2(k)-D1||<0, the body coordinate system roll direction position holding control is performed; According to the comparison between the throttle stick value of the remote controller and the dead zone setting threshold D1, when ||R3(k)-D1||>0, the vertical speed control of the UAV is performed, and the altitude holding value Zl(k) of the northeast sky coordinate system is updated. When ||R3(k)-D1||<0, the altitude holding control of the northeast sky coordinate system is performed; According to the comparison between the yaw stick amount of the remote controller and the dead zone setting threshold D1, when ||R4(k)-D1||>>0, the yaw direction speed control of the UAV is performed, and the yaw holding amount Q(k) of the northeast celestial coordinate system is updated. When ||R4(k)-D1||<0, the yaw holding control of the northeast celestial coordinate system is performed.
2. A closed space UAV remote controller speed control optimization method as claimed in claim 1, characterized in that: If the input rod value of the remote controller yaw channel is within the dead zone at the current moment, a body coordinate system is established with the origin of the northeast sky coordinate system as the origin, the front of the drone as the X axis, the left of the drone as the Y axis, and the top of the drone as the Z axis. The three-dimensional coordinate values (Xb(k), Yb(k), Zb(k)) of the drone in the body coordinate system at the current moment are: Xb(k)=Xl(k)*sin(Q(k))+Yl(k)cos(Q(k)) Yb(k)=-Xl(k)*cos(Q(k))+Yl(k)*sin(Q(k)) Zb(k)=Zl(k) If the remote controller yaw channel input rod value is outside the dead zone at the current moment, the original body coordinate system is deleted, and when the yaw channel input rod value returns to the dead zone, the body coordinate system is updated again with the current drone yaw angle.
3. The closed space UAV remote controller speed control optimization method according to claim 1, characterized in that: When the remote controller pitch channel input stick value is detected to be outside the dead zone at the current moment, the expected pitch direction speed is calculated: Among them, Rm represents the maximum rod measurement range, Vm represents the maximum moving speed; Since the drone moves in the pitch direction, during the movement, the desired position holding amount in the pitch direction of the body coordinate system as claimed in claim 2 is updated. When the input rod amount of the pitch channel of the remote controller is detected to be within the dead zone at the current moment, the position coordinate Xb(k) of the drone on the Xb axis described in claim 2 is updated: Xb(k)=Xl(k)*sin(Q(k))+Yl(k)cos(Q(k)) When the input rod value of the pitch channel of the remote controller changes from outside the dead zone to inside the dead zone at time j, the desired position holding value in the pitch direction is obtained. At time k, the expected speed for the drone to converge in pitch direction can be calculated: Among them, F_PID is an automatic controller (PID controller) calculation method.
4. A closed space UAV remote controller speed control optimization method as claimed in claim 1, characterized in that: When the input stick value of the roll channel of the remote controller is detected to be outside the dead zone at the current moment, the expected roll direction speed is calculated: Among them, Rm represents the maximum rod measurement range, Vm represents the maximum moving speed; Since the drone moves in the rolling direction, during the movement, the desired position holding amount in the rolling direction of the body coordinate system as claimed in claim 2 is updated. When the input rod amount of the roll channel of the remote controller is detected to be within the dead zone at the current moment, the position coordinate Yb(k) of the drone on the Yb axis described in claim 2 is updated: Yb(k)=-Xl(k)*cos(Q(k))+Yl(k)*sin(Q(k)) When the input rod value of the roll channel of the remote controller changes from outside the dead zone to inside the dead zone at time j, the expected position holding value in the roll direction is obtained. At time k, the expected speed for the drone to converge in the rolling direction can be calculated: Among them, F_PID is an automatic controller (PID controller) calculation method.