A small unmanned aerial vehicle control surface calibration method and device

Abstract

The application provides a small unmanned aerial vehicle control surface calibration method and device, the method comprising: step 1. After the unmanned aerial vehicle is powered on, the unmanned aerial vehicle is normally deflected by adjusting the control surface control signal, and the unmanned aerial vehicle normally outputs the three-axis attitude of the unmanned aerial vehicle through the attitude and heading reference system; step 2. The calibrated control surface of the unmanned aerial vehicle is adjusted to the reference position; step 3. For the horizontal control surface of the unmanned aerial vehicle, the control surface control signal calibration table is controlled according to the control signal value in the preset control surface control signal calibration table, the deflection angle of the horizontal control surface of the unmanned aerial vehicle corresponding to all control signal values in the control surface control signal calibration table is calculated; step 4. The deflection angle of the vertical control surface of the unmanned aerial vehicle corresponding to all control signal values in the control surface control signal table is calculated; step 5. The small unmanned aerial vehicle control surface calibration is completed according to all horizontal control surface angles and vertical control surface angles.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) flight test and verification, and specifically relates to a method and device for calibrating control surfaces of a small UAV. Technical Background

[0002] During automatic flight, the automatic flight control program needs to dynamically generate angle control commands for each control surface in real time to change or maintain the flight state of the UAV. Therefore, establishing the mapping relationship between the control signals of each control surface and the deflection angle (i.e., control surface calibration) is crucial. Control surface calibration is an essential process before UAV flight testing, and its accuracy and reliability are of great significance to the flight safety of UAVs.

[0003] Currently, with continuous technological innovation in the field of unmanned aerial vehicles (UAVs), more and more miniaturized UAVs are emerging and playing an important role in flight tests verifying various control surface technologies. However, the disadvantages of traditional control surface calibration methods for small UAVs are becoming increasingly apparent. On the one hand, most traditional control surface calibrations adopt "contact" measurement methods, requiring angle sensors or measuring devices to be placed or fixed to the control surface being calibrated. The angle sensors or measuring devices themselves have a certain size and weight, increasing the risk of mechanical wear and deformation during the calibration process for small UAVs. On the other hand, as the design of control surfaces for small UAVs matures, streamlined curved surface designs are becoming more common, leading to displacement of angle sensors or measuring devices during dynamic measurements, thus increasing calibration errors. Therefore, there is an urgent need to design a new control surface calibration method for small UAVs. Summary of the Invention

[0004] The purpose of this invention is to provide a method and apparatus for calibrating the control surfaces of small unmanned aerial vehicles (UAVs), which can solve the technical problems of high risks such as mechanical wear and deformation and increased calibration errors in small UAVs during the calibration process.

[0005] Firstly, this application provides a method for calibrating the control surfaces of a small unmanned aerial vehicle (UAV), the method comprising:

[0006] Step 1. After the UAV is powered on, adjust the control signals of the control surfaces to make the control surfaces of the UAV deflect normally, and the UAV outputs the three-axis attitude of the UAV normally through the attitude system. The three-axis attitude of the UAV includes the pitch angle, roll angle and yaw angle, denoted as (θ, φ, ψ).

[0007] Step 2. Adjust the calibrated control surfaces of the UAV to the reference position;

[0008] Step 3. For the horizontal control surface of the UAV, control the control surface deflection of the UAV according to the control signal values ​​in the pre-set control surface control signal calibration table, and calculate the horizontal control surface deflection angle of the UAV corresponding to all control signal values ​​in the control surface control signal calibration table.

[0009] Step 4. For the vertical control surface of the UAV, according to the pre-set control surface control signal calibration table, input the control signal value in the given calibration table to control the control surface deflection, and calculate the deflection angle of the UAV's vertical control surface corresponding to all control signal values ​​in the control surface control signal calibration table.

[0010] Step 5. Based on all the horizontal and vertical control surface angles, complete the control surface calibration of the small UAV.

[0011] Specifically, step 3 includes:

[0012] Step 31: When the calibrated horizontal control surface of the UAV is adjusted to the reference position, visually observe the number of grids N0 in the horizontal direction and the number of grids M0 in the vertical direction of the horizontal control surface at the current time T0 through the calibration grid, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time.

[0013] Step 32: Input the PWM value from the control surface control signal calibration table to the servo motor, causing the horizontal control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ;

[0014] Step 33: Adjust the UAV's position and attitude based on the number of grid cells N0 in the horizontal direction and M0 in the vertical direction until, through visual observation of the calibration grid, the number of grid cells Nk in the horizontal direction and Mk in the vertical direction of the horizontal control surface at the current time Tk are equal to the number of grid cells N0 in the horizontal direction and M0 in the vertical direction of the horizontal control surface at the current time T0. Record the UAV's attitude system output at the current time Tk as (θ). k ,φ k ,ψ k );

[0015] Step 34: Calculate the PWM value of the control surface signal P. k At that time, the horizontal control surface of the drone deflects at an angle.

[0016] Specifically, step 34 includes:

[0017] Step 341: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV at the reference position. Where α is the angle between the calibrated control surface rotation axis and the UAV's plane of symmetry;

[0018] Step 342: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV in the deflection state.

[0019] Step 343: Calculate the horizontal control surface deflection angle β of the horizontal UAV. k Using the formula Calculate the PWM value of the calibrated control surface signal at this moment as P. k The corresponding horizontal control surface deflection angle β of the UAV below k .

[0020] Specifically, step 341 includes:

[0021] Let ψ0+α be the horizontal component of the UAV's deflection at the reference position at time T0, where θ0 is the vertical component of the UAV's deflection at the reference position at time T0. Based on geometric projection relationships, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is...

[0022]

[0023] Specifically, step 342 includes:

[0024] ψ k +α represents the horizontal component of the UAV's deflection at the reference position at time Tk, where θ k Let Tk be the vertical component of the UAV deflection at the reference position. Based on the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is:

[0025]

[0026] Specifically, step 4 includes:

[0027] Step 41: When the calibrated control surface is adjusted to the reference position, adjust the position of the UAV until it coincides with the straight line between the control surface and the ground mark, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time.

[0028] Step 42: Input the PWM value from the control surface control signal calibration table to cause the vertical control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ;

[0029] Step 43: Adjust the UAV's position and attitude until the vertical control surface coincides with a straight line on the ground. Record the output of the UAV's attitude system at this moment as (θ). k ,φ k ,ψ k );

[0030] Step 44: Calculate the PWM value of the control surface signal P. k At that time, the angle of deflection of the drone's vertical control surface.

[0031] Specifically, step 44 includes:

[0032] The formula for calculating the deflection angle of the control surface is: β k =ψk -ψ0, calculate the PWM value of the control surface signal P k At that time, the angle of deflection of the drone's vertical control surface.

[0033] Secondly, this application provides a small unmanned aerial vehicle (UAV) control surface calibration device, which is used to implement the above-mentioned small UAV control surface calibration method.

[0034] In summary, this application provides a method and apparatus for calibrating the control surfaces of a small unmanned aerial vehicle (UAV), which calculates the deflection angle of the control surfaces based on the angle output by the UAV's attitude reference system, thus avoiding the deformation or damage to the control surfaces caused by traditional direct measurement of the control surfaces. Attached Figure Description

[0035] Figure 1 This is a flowchart of a small unmanned aerial vehicle (UAV) control surface calibration method according to this patent.

[0036] Figure 2 This is a calibration grid layout diagram for adjusting the horizontal control surface to the reference position in this patent.

[0037] Figure 3 This is a diagram showing the placement of the calibration grid after the horizontal rudder surface angle has been adjusted according to this patent.

[0038] Figure 4 This is a calibration grid placement diagram for adjusting the vertical control surface to the reference position in this patent.

[0039] Figure 5 This is a diagram showing the placement of the calibration grid after the vertical control surface angle of this patent has been adjusted. Detailed Implementation

[0040] Example 1

[0041] like Figure 1 As shown, this application provides a method for calibrating the control surfaces of a small unmanned aerial vehicle (UAV), including:

[0042] Step 1. After the UAV is powered on, adjust the control signals of the control surfaces to make the control surfaces of the UAV deflect normally, and the UAV outputs the three-axis attitude of the UAV normally through the attitude system. The three-axis attitude of the UAV includes the pitch angle, roll angle and yaw angle, denoted as (θ, φ, ψ).

[0043] It should be noted that for small drones, the control signals for the control surfaces are generally pulse width modulation (PWM) signals.

[0044] Step 2. Adjust the calibrated control surfaces of the UAV to the reference position.

[0045] It should be noted that the method for adjusting the control surface to the reference position is to change the control signal of the calibrated control surface until the edge of the control surface is flush with the edge of the wing surface on which the control surface is located.

[0046] Step 3. For the horizontal control surface of the UAV, control the UAV's control surface deflection according to the control signal values ​​in the pre-set control surface control signal calibration table, and calculate the horizontal control surface deflection angle of the UAV corresponding to all control signal values ​​in the control surface control signal calibration table.

[0047] For example, the pre-set control surface calibration table is determined according to the control signal range of the servo motor, and its PWM value is generally 1.1-1.94.

[0048] To accurately reflect the control surface deflection characteristics, the control surface control signal calibration table uses 9 PWM values, specifically:

[0049] P=[1.15,1.205,1.31,1.425,1.52,1.625,1.73,1.835,1.89].

[0050] Specifically, step 3 includes:

[0051] Step 31: When the calibrated horizontal control surface of the UAV is adjusted to the reference position, visually observe the number of grids N0 in the horizontal direction and the number of grids M0 in the vertical direction of the horizontal control surface at the current time T0 through the calibration grid, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time.

[0052] Step 32: Input the PWM value from the control surface control signal calibration table to the servo motor, causing the horizontal control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ;

[0053] Step 33: Adjust the UAV's position and attitude based on the number of grid cells N0 in the horizontal direction and M0 in the vertical direction until, through visual observation of the calibration grid, the number of grid cells Nk in the horizontal direction and Mk in the vertical direction of the horizontal control surface at the current time Tk are equal to the number of grid cells N0 in the horizontal direction and M0 in the vertical direction of the horizontal control surface at the current time T0. Record the UAV's attitude system output at the current time Tk as (θ). k ,φ k ,ψ k ).

[0054] It should be noted that the calibration grid is consistent and is generally a square grid; the calibration grid is placed vertically and parallel to the rotation axis of the calibrated control surface; the visual observation position is on the same horizontal line as the rotation axis of the calibrated control surface, and the visual observation position is denoted as o; the distance between the visual observation position and the calibration grid is a fixed value denoted as L1; and the distance between the calibration grid and the rotation axis of the calibrated control surface is a fixed value denoted as L2.

[0055] Step 34: Calculate the PWM value of the control surface signal P. k At that time, the horizontal control surface of the drone deflects at an angle.

[0056] Specifically, step 34 includes:

[0057] Step 341: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV at the reference position. Where α is the angle between the calibrated control surface rotation axis and the UAV's plane of symmetry;

[0058] More specifically, let ψ0+α be the horizontal component of the UAV's deflection at the reference position at time T0. Since the calibrated control surface is a horizontal control surface, θ0 is the vertical component of the UAV's deflection at the reference position at time T0. According to the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is...

[0059] Step 342: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV in the deflection state.

[0060] More specifically, ψ k +α represents the horizontal component of the UAV's deflection at the reference position at time Tk. Since the calibrated control surface is a horizontal control surface, therefore θ k Let Tk be the vertical component of the UAV deflection at the reference position. Based on the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is:

[0061] Step 343: Calculate the horizontal control surface deflection angle β of the horizontal UAV. k Using the formula Calculate the PWM value of the calibrated control surface signal at this moment as P. k The corresponding horizontal control surface deflection angle β of the UAV below k .

[0062] It should be noted that since the control surface is undeformed when no external force is applied, the control surface deflection angle is equal to the change in the longitudinal deflection angle of the UAV with the rotation axis of the calibrated control surface as the reference. Let this control surface deflection angle be β. k .

[0063] Step 4. For the vertical control surface of the UAV, according to the pre-set control surface control signal calibration table, input the control signal values ​​in the given calibration table to control the control surface deflection, and calculate the deflection angle of the UAV's vertical control surface corresponding to all control signal values ​​in the control surface control signal calibration table.

[0064] Step 4 specifically includes:

[0065] Step 41: When the calibrated control surface is adjusted to the reference position, adjust the position of the UAV until it coincides with the straight line between the control surface and the ground mark, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time.

[0066] Step 42: Input the PWM value from the control surface control signal calibration table to cause the vertical control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ;

[0067] Step 43: Adjust the UAV's position and attitude until the vertical control surface coincides with a straight line on the ground. Record the output of the UAV's attitude system at this moment as (θ). k ,φ k ,ψ k );

[0068] Step 44: Calculate the PWM value of the control surface signal P. k At that time, the angle of deflection of the drone's vertical control surface.

[0069] Specifically, since the control surface is undeformed when no external force is applied, the control surface deflection angle is equal to the aircraft rotation angle. Let β be the control surface deflection angle at this time. k Therefore, the following formula is used to calculate the deflection angle of the control surface: β k =ψ k -ψ0.

[0070] Step 5. Based on all the horizontal and vertical control surface angles, complete the control surface calibration of the small UAV.

[0071] Example 2

[0072] like Figure 1 As shown, this application provides a method for calibrating the control surfaces of a small unmanned aerial vehicle (UAV), including:

[0073] Step 1. After the UAV is powered on, adjust the control signals of the control surfaces to make the control surfaces of the UAV deflect normally, and the UAV outputs the three-axis attitude of the UAV normally through the attitude system. The three-axis attitude of the UAV includes the pitch angle, roll angle and yaw angle, denoted as (θ, φ, ψ).

[0074] It should be noted that for small drones, the control signals for the control surfaces are generally pulse width modulation (PWM) signals.

[0075] Step 2. Adjust the calibrated control surfaces of the UAV to the reference position.

[0076] It should be noted that the method for adjusting the control surface to the reference position is to change the control signal of the calibrated control surface until the edge of the control surface is flush with the edge of the wing surface on which the control surface is located.

[0077] Step 3. For the horizontal control surface of the UAV, control the UAV's control surface deflection according to the control signal values ​​in the pre-set control surface control signal calibration table, and calculate the horizontal control surface deflection angle of the UAV corresponding to all control signal values ​​in the control surface control signal calibration table.

[0078] For example, the pre-set control surface calibration table is determined according to the control signal range of the servo motor, and its PWM value is generally 1.1-1.94.

[0079] To accurately reflect the control surface deflection characteristics, the control surface control signal calibration table uses 9 PWM values, specifically:

[0080] P=[1.15,1.205,1.31,1.425,1.52,1.625,1.73,1.835,1.89].

[0081] Specifically, step 3 includes:

[0082] Step 31: When the calibrated horizontal control surface of the UAV is adjusted to the reference position, visually observe the number of grids N0 in the horizontal direction and the number of grids M0 in the vertical direction of the horizontal control surface at the current time T0 through the calibration grid, record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time, and set the PWM value of the horizontal control surface to 1.52 at this time.

[0083] Step 32: Input the PWM value from the control surface control signal calibration table to the servo motor, causing the horizontal control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k =1.73;

[0084] Step 33: Adjust the UAV's position and attitude based on the number of grid cells N0 in the horizontal direction and M0 in the vertical direction until, through visual observation of the calibration grid, the number of grid cells Nk in the horizontal direction and Mk in the vertical direction of the horizontal control surface at the current time Tk are equal to the number of grid cells N0 in the horizontal direction and M0 in the vertical direction of the horizontal control surface at the current time T0. Record the UAV's attitude system output at the current time Tk as (θ). k ,φ k ,ψ k ).

[0085] It should be noted that the calibration grid remains consistent and is generally a square grid; for example... Figure 2 Figure 3 The calibration grid shown is placed vertically and parallel to the rotation axis of the calibrated control surface; the visual observation position is on the same horizontal line as the rotation axis of the calibrated control surface, and the visual observation position is denoted as o. The distance between the visual observation position and the calibration grid is a fixed value, denoted as L1, and the distance between the calibration grid and the rotation axis of the calibrated control surface is a fixed value, denoted as L2.

[0086] Step 34: Calculate the PWM value of the control surface signal P. k At that time, the horizontal control surface of the drone deflects at an angle.

[0087] Specifically, step 34 includes:

[0088] Step 341: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV at the reference position. Where α is the angle between the calibrated control surface rotation axis and the UAV's plane of symmetry;

[0089] More specifically, let ψ0+α be the horizontal component of the UAV's deflection at the reference position at time T0. Since the calibrated control surface is a horizontal control surface, θ0 is the vertical component of the UAV's deflection at the reference position at time T0. According to the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is...

[0090] Step 342: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV in the deflection state.

[0091] More specifically, ψ k +α represents the horizontal component of the UAV's deflection at the reference position at time Tk. Since the calibrated control surface is a horizontal control surface, therefore θ k Let Tk be the vertical component of the UAV deflection at the reference position. Based on the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is:

[0092] Step 343: Calculate the horizontal control surface deflection angle β of the horizontal UAV. k Using the formula Calculate the PWM value of the calibrated control surface signal at this moment as P. k The corresponding horizontal control surface deflection angle β of the UAV below k .

[0093] It should be noted that since the control surface is undeformed when no external force is applied, the control surface deflection angle is equal to the change in the longitudinal deflection angle of the UAV with the rotation axis of the calibrated control surface as the reference. Let this control surface deflection angle be β. k .

[0094] Step 4. For the vertical control surface of the UAV, according to the pre-set control surface control signal calibration table, input the control signal values ​​in the given calibration table to control the control surface deflection, and calculate the deflection angle of the UAV's vertical control surface corresponding to all control signal values ​​in the control surface control signal calibration table.

[0095] Step 4 specifically includes:

[0096] Step 41: When the calibrated control surfaces are adjusted to the reference position, adjust the UAV position until it coincides with the straight line between the control surfaces and the ground markings, and record the UAV's three-axis attitude (θ0, φ0, ψ0) output by the UAV's attitude system at this time;

[0097] Step 42: Input the PWM value from the control surface control signal calibration table to cause the vertical control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ;

[0098] Step 43: Adjust the UAV's position and attitude until the vertical control surface coincides with a straight line on the ground. Record the output of the UAV's attitude system at this moment as (θ). k ,φ k ,ψ k ).

[0099] Step 44: Calculate the PWM value of the control surface signal P. k At that time, the angle of deflection of the drone's vertical control surface.

[0100] Specifically, such as Figure 4 Figure 5 As shown, since the control surface is undeformed when no external force is applied, the control surface deflection angle is equal to the aircraft rotation angle. Let β be the control surface deflection angle at this time. k Therefore, the following formula is used to calculate the deflection angle of the control surface: β k =ψ k -ψ0.

[0101] Step 5. Based on all the horizontal and vertical control surface angles, complete the control surface calibration of the small UAV.

Claims

1. A method for calibrating control surfaces of a small unmanned aerial vehicle (UAV), characterized in that the method... include: Step 1. After the UAV is powered on, adjust the control signals of the control surfaces to make the control surfaces of the UAV deflect normally, and the UAV outputs the three-axis attitude of the UAV normally through the attitude system. The three-axis attitude of the UAV includes the pitch angle, roll angle and yaw angle, denoted as (θ, φ, ψ). Step 2. Adjust the calibrated control surfaces of the UAV to the reference position; Step 3. For the horizontal control surface of the UAV, control the control surface deflection of the UAV according to the control signal values ​​in the pre-set control surface control signal calibration table, and calculate the horizontal control surface deflection angle of the UAV corresponding to all control signal values ​​in the control surface control signal calibration table. Step 4. For the vertical control surface of the UAV, according to the pre-set control surface control signal calibration table, input the control signal value in the given calibration table to control the control surface deflection, and calculate the deflection angle of the UAV's vertical control surface corresponding to all control signal values ​​in the control surface control signal calibration table. Step 5. Based on all the horizontal and vertical control surface angles, complete the control surface calibration of the small UAV.

2. The method according to claim 1, characterized in that, Step 3 specifically includes: Step 31: When the calibrated horizontal control surface of the UAV is adjusted to the reference position, visually observe the number of grids N0 in the horizontal direction and the number of grids M0 in the vertical direction of the horizontal control surface at the current time T0 through the calibration grid, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time. Step 32: Input the PWM value from the control surface control signal calibration table to the servo motor, causing the horizontal control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ; Step 33: Adjust the UAV's position and attitude based on the number of grid cells N0 in the horizontal direction and M0 in the vertical direction until, through visual observation of the calibration grid, the number of grid cells Nk in the horizontal direction and Mk in the vertical direction of the horizontal control surface at the current time Tk are equal to the number of grid cells N0 in the horizontal direction and M0 in the vertical direction of the horizontal control surface at the current time T0. Record the UAV's attitude system output at the current time Tk as (θ). k ,φ k ,ψ k ); Step 34: Calculate the PWM value of the control surface signal P. k At that time, the horizontal control surface of the drone deflects at an angle.

3. The method according to claim 2, characterized in that, Step 34 includes: Step 341: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV at the reference position. Where α is the angle between the calibrated control surface rotation axis and the UAV's plane of symmetry; Step 342: Using the rotation axis of the calibrated control surface as a reference, calculate the longitudinal angle of the UAV in the deflection state. Step 343: Calculate the horizontal control surface deflection angle β of the horizontal UAV. k Using the formula Calculate the PWM value of the calibrated control surface signal at this moment as P. k The corresponding horizontal control surface deflection angle β of the UAV below k .

4. The method according to claim 3, characterized in that, Step 341 specifically includes: Let ψ0+α be the horizontal component of the UAV's deflection at the reference position at time T0, where θ0 is the vertical component of the UAV's deflection at the reference position at time T0. Based on geometric projection relationships, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is...

5. The method according to claim 3, characterized in that, Step 342 specifically includes: ψ k +α represents the horizontal component of the UAV's deflection at the reference position at time Tk, where θ k Let Tk be the vertical component of the UAV deflection at the reference position. Based on the geometric projection relationship, the longitudinal deflection angle of the UAV, with the rotation axis of the calibrated control surface as the reference, is:

6. The method according to claim 1, characterized in that, Step 4 specifically includes: Step 41: When the calibrated control surface is adjusted to the reference position, adjust the position of the UAV until it coincides with the straight line between the control surface and the ground mark, and record the three-axis attitude (θ0, φ0, ψ0) of the UAV output by the attitude system at this time. Step 42: Input the PWM value from the control surface control signal calibration table to cause the vertical control surface to deflect. Record the PWM value of the calibrated control surface control signal at this moment as P. k ; Step 43: Adjust the UAV's position and attitude until the vertical control surface coincides with a straight line on the ground. Record the output of the UAV's attitude system at this moment as (θ). k ,φ k ,ψ k ); Step 44: Calculate the PWM value of the control surface signal P. k At that time, the angle of deflection of the drone's vertical control surface.

7. The method according to claim 1, characterized in that, Step 44 specifically includes: The formula for calculating the deflection angle of the control surface is: β k =ψ k -ψ0, calculate the PWM value of the control surface signal P k At that time, the angle of deflection of the drone's vertical control surface.

8. A small unmanned aerial vehicle (UAV) control surface calibration device, characterized in that, The device is used to implement the small unmanned aerial vehicle control surface calibration method according to claim 1.

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