248 results about "Attitude stability" patented technology

The invention discloses a multi-rotor unmanned aerial vehicle stability control method suitable for multiple environments, and relates to the technical field of unmanned aerial vehicle stability control, and the method comprises the following steps: obtaining the environmental factor data of the height of an unmanned aerial vehicle in a flight stage and the internal detection data of a fuselage; establishing an evaluation coefficient of height flight attitude stability of the unmanned aerial vehicle according to the factor data of the environment where the unmanned aerial vehicle is located and the fuselage internal detection data; and comparing the flight attitude stability evaluation coefficient with a preset flight stability coefficient, judging whether the unmanned aerial vehicle flies stably at the height or not, and warning and adjusting the unstable flight attitude in time. The problem that when the unmanned aerial vehicle continuously rises in the flight process, the flight attitude cannot be kept or adjusted to be stable in time is solved.

The invention relates to the technical field of aerocar mode switching, and discloses a distributed driving aerocar self-adaptive fault-tolerant control method for actuator multimode failure, which comprises the following steps: constructing a unified six-degree-of-freedom dual-mode state space model; residual signals are generated based on extended Kalman filtering and a sliding-mode observer, and fault types and positions are positioned in real time through a lightweight classifier; the method comprises the following steps: extracting residual time-frequency features, identifying hard faults by using a lightweight convolutional neural network, quantifying soft fault degrees through an incremental support vector machine, fusing multi-source information based on a Bayesian network to output fault types, levels and confidence coefficients, and introducing an incremental learning mechanism to realize self-evolution of a diagnosis model; a virtual control instruction is generated by adopting hierarchical sliding mode control, thrust and torque distribution of remaining actuators is optimized based on a dynamic quadratic programming algorithm, control parameters are adjusted online in combination with a Lyapunov adaptive law, aerodynamic interference and model uncertainty are inhibited, attitude stability and trajectory tracking in air-ground mode switching are guaranteed, and the method has the advantages of being high in reliability and high in reliability. And the fault-tolerant performance and the operation safety of the hovercar in the air-ground mode switching process are obviously enhanced.

The invention provides a multi-rotor unmanned aerial vehicle adaptive attitude stability control algorithm and device, and relates to the technical field of unmanned aerial vehicle control. The control algorithm comprises a geometric phase driving control process, a fractional order chaos game control process, a manifold resonance self-adaptive control process, a topology manifold self-adaptive control process and a multi-scale disturbance prediction control process, and all the processes of the control algorithm are executed through the main control processing unit. In order to solve the problems that a traditional PID control attitude error is 0.02-0.05 degree and is difficult to adapt to a dynamic environment, a geometric phase drive control flow is combined with a plasma pneumatic fine tuning array and an inertial measurement unit, a high-precision 3 * 3 rotation matrix is generated by adopting Lie algebraic transformation and a Newton-Rafson iteration method, the rotation speed of a rotor wing is optimized, and the precision of the rotor wing is improved. The attitude error is controlled to be 0.006 degrees, and the effect is improved compared with a traditional PID control effect.

The invention discloses a small crawler wheel wing combined type deformable land-air amphibious reconnaissance robot and a control method thereof. The robot adopts a crawler wheel wing integrated miniaturization design and comprises a control cabin, a left crawler wheel wing system and a right crawler wheel wing system, the crawler wheel wing systems are connected with the control cabin through steering engines, and a flight mode and a ground mode can be stably switched under the driving of the steering engines. In the flight mode, a flight motor of the crawler wheel wing system drives propellers to rotate at a high speed, lift force is provided, and air flight and attitude stability are achieved. In the ground mode, the crawler wheel wing system is adjusted to the ground contact position, the propellers stop working, the ground motor drives the crawler and the driving wheels through the gear set to provide advancing power, the driven wheels assist in supporting, and the stability and obstacle crossing ability in the complex terrain are enhanced. A multi-mode control method based on model predictive control is adopted for the robot, and the multi-mode control method is achieved by establishing control models of a flight mode and a ground mode, constructing a unified state-space equation and a predictive equation, designing a cost function, dynamically switching the control models and coordinating constraint conditions and control targets. And the trajectory tracking precision and the system stability of the robot in the flight mode and the ground mode are ensured.

The invention discloses a stable control method for a deformation process of an unmanned aerial vehicle in a complex environment, and relates to the technical field of unmanned aerial vehicle flight control. The state-space equation is used for describing flight dynamics parameters in the deformation process of the unmanned aerial vehicle in the complex environment; constructing a disturbance observer based on the state-space equation; the disturbance observer is used for observing a lumped disturbance quantity caused by a complex environment and wing tip folding deformation; constructing a sliding mode surface equation according to the attitude angle tracking error; constructing an attitude stability controller according to the disturbance observer and the sliding mode surface equation; and based on the Lyapunov stability theory, performing stable control on the unmanned aerial vehicle by using an attitude stability controller. The lumped disturbance quantity caused by the complex environment and wing tip folding deformation is considered during flight control of the unmanned aerial vehicle, and the control precision of the deformable unmanned aerial vehicle under the complex environment condition can be improved.

The invention belongs to the technical field of comprehensive utilization of ocean renewable energy sources, and particularly relates to a pilot frequency coupling-based wind wave energy multi-degree-of-freedom broadband control method, which comprises the following steps of: performing frequency domain identification on wind wave environment characteristics, and constructing a wind wave pilot frequency energy coupling model; based on the motion response characteristics of the multi-degree-of-freedom floating platform, designing a pilot frequency energy regulation and conversion mechanism; a full-working-condition dynamic optimization control strategy is adopted, and cooperative operation and energy flow self-adaptive distribution of the wind energy conversion unit and the wave energy conversion unit are achieved. Aiming at the significant difference and relevance of wind energy and wave energy in frequency characteristics, time scale and spatial distribution, a pilot frequency wind wave coupling dynamic model is established, and broadband capture of low-frequency wind-induced and high-frequency wave-induced coupling energy is realized under complex sea conditions through multi-degree-of-freedom motion decoupling and state observation, so that the wind-induced and high-frequency wave-induced coupling energy is obtained. The energy utilization rate, the attitude stability and the structural safety of the system are effectively improved, and good robustness and engineering adaptability are achieved.

The invention discloses an offshore rocket recovery platform attitude stability control method based on particle swarm optimization, and the method comprises the following steps: S1, collecting and preprocessing multi-source attitude data, and generating a time series data set; s2, constructing a fuzzy PID controller, and setting nine three-axis control parameters; s3, performing global optimization by adopting an improved particle swarm algorithm, and outputting an initial parameter solution; s4, introducing a zebra optimization algorithm to carry out local refined optimization; s5, constructing a collaborative optimization architecture, and fusing and outputting optimal control parameters; s6, the optimal parameters are input into a controller, and a servo system is driven to adjust the three-axis attitude; s7, monitoring disturbance amplitude, dynamically triggering a zebra strategy and feeding back the zebra strategy to the particle swarm; and S8, evaluating the control performance, and feeding back iterative optimization if the control performance does not reach the standard. According to the method, the improved particle swarm optimization algorithm and the zebra optimization algorithm are fused, so that self-adaptive optimization and accurate attitude stable control of attitude control parameters of the offshore rocket recovery platform are realized.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle accurate attitude control method fusing multiple sensors and a flight controller thereof. The method comprises the following steps: acquiring the position and attribute characteristic data of an unmanned aerial vehicle through multiple sensors; determining the offset degree of the statistical period and the offset direction of the unmanned aerial vehicle according to the position difference between the unmanned aerial vehicle position and the planned route in the previous statistical period, the unmanned aerial vehicle direction and the planned route angle; attitude angles are obtained through attitude calculation, the attitude angles form a fluctuation curve, the fluctuation degree is analyzed, and the attitude stability degree of the unmanned aerial vehicle is obtained; the deviation of the unmanned aerial vehicle relative to the initial position is obtained according to the fluctuation curve slope of the yaw angle; comparing the direction with the offset direction to determine a correction angle; and calculating a three-axis error signal through the correction angle, and inputting the three-axis error signal into a PID (Proportion Integration Differentiation) controller for control. A more accurate attitude angle is obtained, so that the control precision is improved.

The invention discloses a three-dimensional imaging satellite attitude control method based on feedforward model prediction, which is characterized by comprising the following steps: step 1, carrying out attitude trajectory planning according to the operation information of a three-dimensional imaging satellite, and judging whether the maneuverability meets the requirement or not according to the angular momentum of the three-dimensional imaging satellite; the operation information of the stereo imaging satellite comprises maneuvering time planned by an imaging task, and attitudes, angular velocities and angular accelerations of imaging initial moments and terminal moments of all imaging strips; 2, constructing a predictive controller based on a feedforward model, and calculating a three-axis instruction torque; and step 3, calculating a frame angle instruction angular velocity of the control moment gyroscope group according to the three-axis instruction moment obtained in the previous step. According to the method, the technical problems of relatively long attitude stabilization time and poor attitude stability in a satellite rapid attitude maneuver process and a subsequent stable imaging process are solved.

The invention provides a dual-rotor water-air amphibious unmanned aerial vehicle with a plume-like electric eel structure, which comprises a main body assembly, and the main body assembly comprises a triangular bracket, a fuselage main body, an electric eel driving mechanism, a rotary connecting piece, a U-shaped clamping groove, the plume-like electric eel structure and a load platform. According to the unmanned aerial vehicle, the line-like electric eel structures are arranged on the two sides of the fuselage main body, so that the unmanned aerial vehicle can enter and exit water without an underwater propeller or mode switching, and the structures are low in movement energy consumption, so that the unmanned aerial vehicle has the capability of working for a long time and can be flexibly switched between an air mode and a water mode; meanwhile, the system has excellent performances such as ultra-silence, high endurance and high efficiency; according to the invention, the attitude control is realized through a double-rotor structure consisting of the waterproof brushless motor, the output shaft and the folding propeller assembly and through the tilting mechanisms which are mounted front and back, the tilting mechanisms enable the rotors to deflect, different attitudes and motions can be realized through different tilting directions and tilting speeds, and the attitude stability and the motion control are enhanced.

The invention discloses an underwater model resistance measuring device for a towing tank. The underwater model resistance measuring device comprises a central measuring bridge, a measuring bridge connecting seat is arranged above the central measuring bridge, a frame is arranged below the measuring bridge connecting seat, two rocker arms are arranged between the frame and the measuring bridge connecting seat, rapiers are arranged at the two ends of the frame, the frame is hinged to a sensor, and the sensor is arranged below the measuring bridge connecting seat; according to the underwater model resistance measuring device, the measuring bridge connecting seat, the rocker arm, the rotating joint bearing and the frame are adopted to form a parallelogram dragging mechanism, so that the frame is always horizontal; the two rapiers are matched to fix the underwater model, so that the underwater model only has one longitudinal freedom of motion, and the attitude stability of the underwater model during navigation is ensured; and the sensor is fixed on the measuring bridge connecting seat through the sensor lifting seat and the sliding table, and the sensor is directly and horizontally connected with the frame through the connecting rod, so that the sensor only bears tensile force in the experiment process, and the safety and the use precision of the sensor are ensured.

The invention discloses a spatial non-cooperative target form reconstruction-oriented perception planning control integration method, which comprises the following steps of: extracting local semantic features of a target component in a single-view observation image through a pre-trained semantic segmentation network, coding the local semantic features and RGB (Red, Green and Blue) information into an MLP (Markup Language Protocol) of NeRF, perceiving a target geometric form and component-level semantics, and obtaining a component-level semantic feature of the target component; the perception result is optimized along with fly-around observation, evaluation is carried out, and an uncertainty thermodynamic diagram is generated; based on the uncertainty thermodynamic diagram, a space observation value function is constructed, spacecraft dynamics and view field constraints are combined, and an initial fly-around trajectory is generated by adopting an information gain weighted three-dimensional A * algorithm and optimized in real time; and designing a trajectory tracking control law and an attitude stability control law based on a time synchronization stability theory, and controlling the spacecraft to execute the optimized fly-around trajectory. According to the invention, a perception-planning-control closed-loop execution system is realized, and a closed-loop collaborative process of perception-evaluation-planning-control-re-perception is formed.

The invention relates to a tilting quad-rotor unmanned aerial vehicle with a rotor fault protection function, and belongs to the technical field of unmanned aerial vehicles. In order to solve the problem that an existing four-rotor unmanned aerial vehicle cannot maintain all-attitude stability and safe landing after rotor faults, the invention provides an innovative scheme that the lift force direction of propellers is dynamically adjusted through a tilting structure, and stable flight and autonomous landing after the faults are achieved in combination with an 8-control input cascade double-closed-loop PID control algorithm and a fault judgment system. The unmanned aerial vehicle comprises a fuselage, wings, a tilting structure and a flight control module. The tilting structure is driven by a servo steering engine, and the included angle between the propeller and the machine body can be adjusted to balance torque. The flight control module monitors attitude information in real time, judges fault types (single-rotor, diagonal double-rotor or steering engine jamming), and is switched to a double-rotor mode or adjusts the angle of an opposite steering engine through an overdrive system to recover stability. And after stabilization, the OpenMV machine vision module plans an obstacle avoidance path and guides safe landing. The reliability and safety of the four-rotor unmanned aerial vehicle under the fault condition are remarkably improved, and the complex environment application scene of the four-rotor unmanned aerial vehicle is expanded.

The invention relates to the technical field of robot and unmanned aerial vehicle control, and solves the technical problems that in the prior art, when an unmanned aerial vehicle platform carries a mechanical arm for operation, the total center of mass of a system drastically shifts due to movement of the mechanical arm, then dynamically changing disturbance torque is generated, and the attitude of an unmanned aerial vehicle is unstable and even out of control. The coupling dynamics compensation and vibration suppression method for the aerial work platform comprises the steps that feedforward compensation torque used for counteracting disturbance torque generated due to the change of the position of the total mass center is obtained and decoupled into a control instruction for controlling thrust of multiple rotor wings of an unmanned aerial vehicle platform through a mixed control matrix, and accurate control of the unmanned aerial vehicle platform is realized. According to the method, the self-adaptive feed-forward compensation mechanism is introduced, the mass center change caused by movement of the mechanical arm can be sensed and predicted in real time, the feed-forward compensation torque is generated accordingly, the disturbance torque generated accordingly is actively counteracted, and therefore the attitude stability and operation precision of an unmanned aerial vehicle platform are remarkably improved.

The invention discloses a distributed spacecraft low-communication attitude fine control method based on event triggering, and aims to solve the problems of high communication frequency, serious resource waste and difficulty in effective compensation of multi-source interference in the prior art. According to the method, a spacecraft attitude deep coupling model is constructed, and the dynamic influence of compound interference such as centroid change and flexible vibration is comprehensively considered; designing an event triggering mechanism based on the control signal variation, and updating a control instruction as required to reduce the communication frequency; and a self-adaptive composite controller is constructed, interference and communication errors are estimated and compensated on line, and the attitude control precision is ensured. According to the method, only 75 times of communication is triggered in 50-second simulation, meanwhile, the attitude tracking error is controlled within 5 * 10 <-3 > rad, and the method has the advantages of being low in communication load, high in control precision, high in anti-interference capacity and the like and is suitable for a distributed spacecraft system with strict requirements for attitude stability and communication resource consumption.

The invention relates to a morphing aircraft attitude control frequency domain analysis method based on active disturbance rejection control. The method comprises the following steps: establishing a six-degree-of-freedom nonlinear model and an aerodynamic force and aerodynamic moment model of a morphing aircraft; designing a variant aircraft attitude angle control law based on ADRC; the ADRC is converted into the LADRC; the LADRC is subjected to parameterization; performing Laplace transformation on the parameterized LADRC control law and system, equivalently converting a closed-loop system into a unit negative feedback system, and obtaining a disturbance transfer function and a system open-loop transfer function; analyzing the frequency domain characteristic of the disturbance transfer function to obtain the anti-interference characteristic of the ADRC to the internal and external disturbances of the system; and analyzing the frequency domain characteristic of the open-loop transfer function of the system to obtain the robust characteristic of the ADRC to the uncertainty of the model. According to the invention, attitude control of the morphing aircraft is realized through the active disturbance rejection control method, and attitude stability of the morphing aircraft before and after morphing and in the morphing process and accurate tracking of instruction signals are ensured.

The invention relates to the technical field of aircraft attitude control, and discloses an aircraft attitude auxiliary braking control system based on a high-speed permanent magnet synchronous motor, which comprises the following steps of: defining an aircraft attitude braking instruction as a target energy dissipation power instruction, and acquiring a motor operation angular speed in real time; a target braking current instruction is dynamically calculated based on the energy dissipation power instruction and the angular velocity, and a motor is controlled to execute braking. Through energy management mode reconstruction, a braking system becomes a self-adaptive energy dissipater, the current is automatically adjusted under turbulence disturbance to maintain constant power, conversion from force tracking control to energy flow management is achieved, and the braking efficiency is improved. And meanwhile, by controlling an input linear mapping and global working condition switching mechanism, the control consistency at different speeds is ensured, and the attitude stability of the aircraft is improved.

The invention discloses a satellite attitude control method and system, electronic equipment and a storage medium, and relates to the technical field of satellite attitude control, and the method comprises the steps: obtaining an inertia parameter combination of a satellite under a satellite centroid body coordinate system when all rotating mechanisms in a solar panel driving device of the satellite are combined at each angular position; calculating a PID parameter combination corresponding to each inertia parameter combination; fitting a corresponding relation between the angular position of each rotating mechanism and all PID parameters; and calculating an expected control moment for adjusting the satellite from the current attitude to the final expected attitude by using a PID control law associated with the corresponding relationship, and controlling an execution mechanism of the satellite to output the expected control moment. The method not only can meet the control index requirements of the whole satellite attitude stability on the amplitude-frequency characteristic and the phase-frequency characteristic, but also can adapt to the inertia time-varying characteristic of the satellite caused by the rotation of the sailboard, the closed-loop control robustness is relatively high, and the engineering implementation operability is strong.

The invention discloses an attitude stabilizing device for a parachute landing stage of an electric vertical take-off and landing aircraft and an analysis method. The attitude stabilizing device mainly comprises a shell, a guide plate, a fixing bolt, a friction adjusting clamp, a friction plate and a delay rope cutter. The device can save the time for pulling out the canopy at the initial stage of opening the parachute; and in the stable landing stage, on the premise that the appearance of the canopy is not affected, the swing angles of the parachute and the electric vertical take-off and landing aircraft are effectively reduced, the attitude stability is improved, it is guaranteed that the electric vertical take-off and landing aircraft touches the ground in a safe attitude, and the aircraft body is prevented from overturning. The attitude stability performance numerical analysis method provided by the invention not only provides a parameter design basis for an attitude stabilization device, but also evaluates the use effect after the device is adopted, and meanwhile, solves the technical difficulty of real-time adjustment of the length of a lifting belt of a simulation group.

The invention relates to an unmanned aerial vehicle attitude control method based on motor state disturbance compensation, belongs to the technical field of unmanned aerial vehicle control, and solves the problems of hysteresis and limited control effect of an existing unmanned aerial vehicle attitude control method. The position controller calculates to obtain expected tension, a roll angle and a pitch angle; the attitude feedback controller calculates a feedback torque according to the expected attitude, the actual Euler angle and the body angular velocity; the load identification module calculates an estimated disturbance torque based on the target rotating speed, the actual rotating speed and the current of each motor; the feedforward neural network module adopts a trained RBF neural network to calculate torque residual error estimation, and torque synthesis is carried out to obtain a torque feedforward compensation amount; adding the feedback torque and the feed-forward compensation amount to obtain a total control torque; and the mixing controller calculates the target rotating speed of each motor according to the expected tension and the total control torque, and finally the control distributor drives the motors to execute. The attitude stability and the control response speed of the unmanned aerial vehicle in the wind disturbance environment are remarkably improved.

The invention discloses an anti-shaking device and method for hoisting an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle hoisting operation. The device comprises a mounting plate and a fixing shell fixed to the bottom of the mounting plate, and a mounting shell is arranged on the mounting plate. The innovative point is that a passive stabilizing system composed of a wind guide mechanism, a wind power conversion mechanism and a gyro mechanism and an active adjusting system composed of an adjusting mechanism and a reverse thrust stabilizing system are integrated. The air guide mechanism guides airflow to drive a rotating column of the wind power conversion mechanism to rotate, a gyro disc is driven to rotate at a high speed through multi-stage gear transmission acceleration, and the posture of goods is passively stabilized through the generated gyroscopic effect. Meanwhile, the adjusting mechanism adapts to posture changes of the unmanned aerial vehicle by adjusting the length of a hoisting steel cable, and the reverse thrust stabilizing system actively counteracts wind disturbance through vector air injection. The invention further provides a corresponding anti-shaking method. According to the scheme, swinging of hoisted goods in the high altitude can be restrained, the posture stability and the wind resistance are improved, and the automatic unloading function is achieved.

The invention discloses a fault early warning method and system for an anti-wind-disturbance multi-rotor unmanned aerial vehicle. Comprising the following steps: synchronously acquiring multiple data through a main processing link and an auxiliary processing link; generating a future disturbance torque sequence facing the wind disturbance priority and a first risk assessment value; generating a flight attitude deviation sequence facing the attitude priority and a second risk assessment value; obtaining an early warning grade and a corresponding composite feedforward control instruction; monitoring the attitude stability of the unmanned aerial vehicle; when the main processing link fails, an emergency control instruction is generated according to the evaluation result of the auxiliary processing link; and if the attitude angular velocity after differential compensation is not reduced to the safety threshold, upgrading the early warning level and switching the control link. According to the invention, through synchronous acquisition of the main link and the auxiliary link, asymmetric fusion driven by the task context label and redundancy switching, context-adaptive parallel early warning control is realized, and the problems of single early warning upgrade path and lack of context-adaptive parallel decision in the prior art are solved.

The invention discloses a multi-unmanned aerial vehicle formation control method and system based on deep reinforcement learning, relates to the field of unmanned aerial vehicle control, and aims to solve the problem that high robustness, safety and reliability are difficult to ensure when unmanned aerial vehicles in existing formation cope with model uncertainty and multi-source interference. Comprising the steps of 1, building an external airflow interference model by considering external airflow interference faced by an unmanned aerial vehicle when the unmanned aerial vehicle passes through a narrow channel to fly; 2, constructing an unmanned aerial vehicle flight dynamics model influenced by external airflow interference; 3, a PD controller is used as a basic controller, and a UDE-based controller is adopted to estimate and compensate the model uncertainty and multi-source interference; and 4, constructing a state space and an action space for unmanned aerial vehicle robust control optimization based on deep reinforcement learning, and constructing a segmented reward function which focuses on position tracking, attitude stability and control smoothness and safety, thereby improving the adaptive ability of the unmanned aerial vehicle under complex interference.

The invention discloses an inflatable aerial carrying platform and a flying method, and relates to the field of aerostats, and the key point of the technical scheme is that the inflatable aerial carrying platform comprises a platform main body cabin with an annular structure, a spherical auxiliary balance cabin arranged above the platform main body cabin and connected through a cable, and a balance control system. A plurality of groups of partition sheets are arranged in the platform main body cabin, the platform main body cabin is uniformly divided into a plurality of independent air chambers which are symmetrically arranged, and each air chamber is provided with an independent inflation and deflation hole, so that fine air pressure regulation and control and high-altitude attitude stability are realized. The auxiliary balance cabins form a composite buoyancy system through upper and lower layered layout, and the gravity center control and anti-instability capacity of the whole platform under load fluctuation or airflow disturbance is improved. According to the invention, the fault resistance, the safety and the pneumatic stability of the aerial platform are obviously improved.

The invention provides a six-rotor unmanned aerial vehicle position-attitude layered composite adaptive sliding-mode control method, which comprises the steps of introducing a terminal sliding-mode robust controller into a position loop to realize finite time convergence of a system state, and performing real-time compensation on unknown disturbance and modeling uncertainty through a sliding-mode adaptive rate. The quick response and anti-interference capability of a complex track are improved; superspiral sliding mode control is adopted in an attitude ring, sliding mode gain is adjusted in real time through an adaptive law, a controller is made to automatically match flight state changes, and attitude stability and robustness are enhanced; and meanwhile, a position signal output by the position controller is converted into a specific attitude angle reference by utilizing an attitude resolving module, so that hierarchical cooperative control of the position and the attitude is realized. Compared with traditional PID and SMC controllers, the method is faster in convergence and higher in tracking precision, has stronger adaptivity and robustness to external disturbance and parameter uncertainty, and can significantly improve the motion control performance of the six-rotor unmanned aerial vehicle in complex environments and tasks.

The invention relates to the technical field of image processing, in particular to an unmanned aerial vehicle accurate landing method and system based on visual identification, and the method comprises the steps: obtaining the acceleration and angular velocity of an unmanned aerial vehicle when the unmanned aerial vehicle collects an image, and calculating the attitude stability degree of the unmanned aerial vehicle when the unmanned aerial vehicle collects the current image, the attitude stability degree is in negative correlation with the acceleration difference value and the angular velocity difference value of the current image acquired by the unmanned aerial vehicle and the previous frame image; and calculating the reliability coefficient of the unmanned aerial vehicle image collection. The attitude stability degree of the unmanned aerial vehicle is calculated according to the acceleration data and the angular velocity data when the unmanned aerial vehicle collects the images, the reliability coefficient of each image is calculated according to the attitude stability degree of the unmanned aerial vehicle and the brightness of the images collected by the unmanned aerial vehicle, and the guide image is selected according to the reliability coefficient of the images. According to the invention, the guiding image which is more beneficial to guiding filtering can be selected from the angle of the shooting condition of the image and the condition of the pixel points in the image, and the filtering effect of the image is improved.

The invention relates to a carrier rocket ultralow-frequency elastic self-adaptive fault-tolerant attitude stability control method and system, and belongs to the field of carrier rocket overall design and carrier rocket dynamics and control. The frequency crossing problem is thoroughly avoided, and the method has a good application effect on processing the second-order and third-order elastic mode self-adaptive suppression problem of the whole rocket; besides, different from the conventional series notch filtering thought, the invention provides an elastic suppression strategy based on an additive compensation thought, a path of compensation signal is added on the basis of an original control loop, the influence of the loop on an original control system scheme can be controlled by means of amplitude limiting and the like, and a relatively good application basis is provided for safety and stability; the method has a good engineering application prospect, and has a good fault-tolerant adaptive capacity to heaven and earth design differences and rocket body dynamic characteristic changes under faults.

The invention discloses a high-storage-ratio folding method for a large conical film structure, and belongs to the technical field of space debris removal and satellite light shields. The problems that an existing plane deorbit sail is poor in attitude stability and low in deorbit efficiency are solved. Comprising the following steps: S1, drawing equidistant circumferential folding lines on a conical film structure, wherein the circumferential folding lines comprise a circumferential ridge line and a circumferential valley line; s2, circumferential folding is carried out, axial compression is carried out along the axis of the cone, and then circumferential contraction is carried out; and S3, folding from a cone to a cylinder. The three-dimensional conical film sail can be folded into the three-dimensional conical film sail which is high in posture stability, relatively high in unfolding reliability and capable of correcting the posture, and the folding efficiency is high.

The invention relates to the technical field of data acquisition, in particular to an equipment target control data acquisition system and method, and the system comprises a state potential energy module, a speed projection module, a trajectory fusion module, a collaborative preloading module and an acquisition trigger module. According to the method, a potential function sequence is constructed by obtaining an angular velocity change rate and angular momentum, a characteristic stable section is determined by comparing an identification change point with a fall-back point, attitude stability description is improved, characteristic capture under interference is carried out, an included angle rate is calculated by using inertial navigation velocity projection filtering, and a motion mode analysis section and a data quality focusing key interval are determined by comparing. A multi-node early warning section is determined by fusing radar coordinate trajectory recognition composite section and analysis section time overlapping, early warning accuracy is enhanced by combining internal and external information, a unified scheduling instruction is generated to cooperate with preloading to improve timeliness, a sensor is activated according to the instruction to record and store, accurate and loss-free cooperative acquisition in a key period is guaranteed, and data integrity is improved.

The invention discloses a vector propulsion underwater robot and a control method thereof. The vector propulsion underwater robot comprises an aluminum alloy sealed cabin, a vector propulsion base, symmetrically distributed vector propulsion devices, a short baseline positioning system and an autopilot. The sealed cabin provides waterproof protection for core components; the propelling base is rigidly connected with the sealed cabin; the vector propulsion device generates multidirectional power and feeds back an azimuth angle in real time; the short baseline positioning system obtains an underwater position; and the autopilot integrates positioning, depth and attitude data, plans a navigation path in real time, solves the thrust direction and magnitude of the propulsion device, realizes three-dimensional motion and attitude stability, and dynamically adjusts the propulsion orientation at the same time. The modular vector propulsion design is adopted, the mechanical complexity is remarkably reduced, and the deep sea operation stability and the energy efficiency are improved. And accurate position / attitude control is realized through multi-directional thrust adjustment, and the problem of water flow disturbance is solved. Disturbance compensation and a self-adaptive mechanism are integrated, thrust distribution is dynamically optimized in combination with the battery state, and the operation time is prolonged.