CN114326773B - Multi-rotor unmanned aerial vehicle hovering control method and system - Google Patents
Multi-rotor unmanned aerial vehicle hovering control method and system Download PDFInfo
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Abstract
The invention provides a hovering control method and a hovering control system for a multi-rotor unmanned aerial vehicle, wherein the hovering control method comprises the following steps: s1, judging whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not; s2, establishing a relationship between a horizontal misalignment angle and horizontal acceleration; s3, solving a horizontal misalignment angle; s4, obtaining correction quantity of the horizontal misalignment angle in the carrier system; s5, correcting the posture of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system so as to obtain a final hovering correction amount; s6, inputting the final hovering correction amount into a gesture controller of the multi-rotor unmanned aerial vehicle, so that the gesture controller performs hovering control on the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state. The method effectively reduces the error of the misalignment angle by establishing the relation between the horizontal misalignment angle and the horizontal acceleration, and finally achieves the hovering control of the multi-rotor unmanned aerial vehicle in the satellite unlocking state.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a hovering control method and system of a multi-rotor unmanned aerial vehicle.
Background
At present, a multi-rotor unmanned aircraft mainly uses a low-precision inertial device to carry out integrated navigation with satellites, so as to acquire the attitude, speed and position information of the aircraft. But because inertial devices are less accurate, navigation results are primarily satellite dependent.
Further, in many rotor unmanned aircraft applications, the aircraft often encounters scenes that hover between tall buildings. At this time, due to the shielding of a building, satellite signal quality is poor, even the satellite signal is out of lock, so that the combined navigation result is influenced, feedback errors are caused, and the aircraft is at risk of being out of control.
Disclosure of Invention
The invention aims to provide a hovering control method and a hovering control system for a multi-rotor unmanned aerial vehicle, which are used for effectively reducing the error of a misalignment angle by establishing a relation between the horizontal misalignment angle and horizontal acceleration, and finally achieving hovering control for the multi-rotor unmanned aerial vehicle under a satellite unlocking state.
Specifically, the invention provides a hovering control method of a multi-rotor unmanned aerial vehicle, which comprises the following steps:
s1, judging whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not;
S2, when the multi-rotor unmanned aerial vehicle is determined to be in an approximate hovering state, establishing a relationship between a horizontal misalignment angle and horizontal acceleration;
s3, solving a horizontal misalignment angle;
s4, obtaining correction quantity of the horizontal misalignment angle in the carrier system;
S5, correcting the posture of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system so as to obtain a final hovering correction amount;
S6, inputting the final hovering correction amount into a gesture controller of the multi-rotor unmanned aerial vehicle, so that the gesture controller performs hovering control on the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state.
Preferably, step S1 includes: acquiring an acceleration measurement value f b of the multi-rotor unmanned aerial vehicle in real time through an accelerometer arranged on the multi-rotor unmanned aerial vehicle, comparing the acceleration measurement value f b with gravity g, and if the acceleration measurement value f b|-g|≤β1 is the same, considering that the multi-rotor unmanned aerial vehicle is in an approximate hovering state at the moment; wherein, β 1 is a preset acceleration judgment threshold.
Preferably, the acceleration measurement f b of the multi-rotor unmanned aerial vehicle is an average value of a plurality of acceleration measurement values acquired by the accelerometer in a preset time period.
Preferably, the predetermined period of time is 5-10s.
Preferably, β 1 is 0.2-1m/s 2.
Preferably, step S2 includes:
establishing a relationship between the horizontal misalignment angle and the horizontal acceleration according to formulas (1) - (6):
in the formula (1), the components are as follows, G n is the gravity acceleration under the navigation system and is the true gesture array;
in the formula (2), phi multiplied by the anti-symmetric array of the misalignment angle phi= [ phi E φN φU ], phi E,φN,φU is the misalignment angle components of the lower east, north and sky three axes of the navigation system respectively;
fn×φ＝δfn (4)；
In formula (4), f n is the measurement value of the accelerometer under the navigation system, and Δf n is the motion acceleration of the multi-rotor unmanned aerial vehicle under the navigation system, and δf n＝fn+gn;
In formula (5), "x" represents an element which does not need attention; and the multi-rotor unmanned aerial vehicle has f n＝-gn＝[0 0 -g]T when in an approximate hovering state;
-gn×φh＝δfh (6)；
In formula (6), phi h is the horizontal misalignment angle of the multi-rotor unmanned aerial vehicle, phi h＝[φE φN 0]T;δfh is the horizontal motion acceleration of the multi-rotor unmanned aerial vehicle, and And/>The motion acceleration of the multi-rotor unmanned aerial vehicle is respectively lower east and north of the navigation system.
Preferably, step S3 includes:
Let the unit vector e 3＝[0 0 1]T obtain the horizontal misalignment angle phi h of the multi-rotor unmanned aerial vehicle as shown in formula (7) according to formula (5) and formula (6):
preferably, step S4 includes:
the two sides of the pair (7) are simultaneously multiplied by Obtaining formula (8), wherein-For posture matrix/>Is transposed of (a):
In the formula (8), phi b is the correction amount of the horizontal misalignment angle in the carrier system; representing the gesture matrix/> Is included in the first row vector.
Preferably, step S5 includes:
acquiring attitude quaternion of multi-rotor unmanned aerial vehicle at time t k according to (9) - (10)
In the formulae (9) to (10),The attitude change quaternion from the moment t k-1 to the moment t k is that delta theta k is the angular increment of the output of a gyroscope installed on the multi-rotor unmanned aircraft in a time period [ t k-1,tk ];
Further, record Is gesture quaternion/>Substituting correction phi b of the horizontal misalignment angle in the carrier system into the corresponding posture matrix (11) to obtain the final corrected posture matrix/>
In another aspect, there is also provided a multi-rotor unmanned aerial vehicle hover control system comprising:
the accelerometer is arranged on the multi-rotor unmanned aerial vehicle and is used for acquiring acceleration measurement values of the multi-rotor unmanned aerial vehicle in real time;
The state evaluation unit is connected with the accelerometer and is used for comparing the acceleration measured value with gravity so as to judge whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not;
the corresponding relation establishing unit is used for establishing a relation between the horizontal misalignment angle and the horizontal acceleration when the multi-rotor unmanned aerial vehicle is determined to be in an approximate hovering state;
The horizontal misalignment angle acquisition unit is connected with the corresponding relation establishment unit and is used for acquiring the horizontal misalignment angle of the multi-rotor unmanned aerial vehicle according to the relation between the horizontal misalignment angle and the horizontal acceleration;
A horizontal misalignment angle correction amount acquisition unit connected to the horizontal misalignment angle acquisition unit for acquiring a correction amount of the horizontal misalignment angle in the carrier system according to the horizontal misalignment angle;
The attitude correction unit is connected with the horizontal misalignment angle correction amount acquisition unit and is used for correcting the attitude of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system so as to obtain a hovering final correction amount;
And the gesture controller is arranged on the multi-rotor unmanned aerial vehicle, is connected with the gesture correction unit and is used for realizing hover control on the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state according to the final hover correction amount.
According to the method, whether the multi-rotor unmanned aerial vehicle is in the approximate hovering state is judged through the measured value of the accelerometer, if the multi-rotor unmanned aerial vehicle is in the approximate hovering state, the relation between the horizontal misalignment angle and the horizontal acceleration is established, the horizontal misalignment angle is further solved, the accumulated error caused by gyro drift is effectively reduced by combining the gyroscope and the correction amount of the horizontal misalignment angle in the carrier system, the misalignment angle error is continuously reduced, and finally the hovering control of the multi-rotor unmanned aerial vehicle in the satellite unlocking state is achieved.
Drawings
FIG. 1 is a flow chart of the steps of a method for hover control for a multi-rotor unmanned aircraft in accordance with embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of a multi-rotor unmanned aircraft hover control system according to embodiment 2 of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
As shown in fig. 1, the hovering control method of the multi-rotor unmanned aerial vehicle in the embodiment includes the following steps:
s1, judging whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not, wherein the method specifically comprises the following steps of:
Acquiring an acceleration measurement value f b of the multi-rotor unmanned aerial vehicle in real time through an accelerometer arranged on the multi-rotor unmanned aerial vehicle, comparing the acceleration measurement value f b with gravity g, and if the acceleration measurement value f b|-g|≤β1 is the same, considering that the multi-rotor unmanned aerial vehicle is in a low acceleration motion state, namely in an approximate hovering state; wherein, β 1 is a preset acceleration judgment threshold, which can be specifically set according to the control accuracy requirement, and generally, β 1 may be 0.2-1m/s 2 (preferably 0.5m/s 2);
In addition, in order to reduce the influence of the measurement noise of the accelerometer, when the attitude angle of the multi-rotor unmanned aerial vehicle is not changed greatly, the acceleration measurement value f b of the multi-rotor unmanned aerial vehicle is an average value of a plurality of acceleration measurement values acquired by the accelerometer in a preset time period (such as 5-10 s);
s2, when the multi-rotor unmanned aerial vehicle is determined to be in an approximate hovering state, establishing a relationship between a horizontal misalignment angle and horizontal acceleration, wherein the method specifically comprises the following steps of:
when the multi-rotor unmanned aerial vehicle is in a low acceleration motion state, the following relation exists in mechanics:
in the formula (1), the components are as follows, G n is the gravity acceleration under the navigation system and is the true gesture array;
At the same time, the misalignment angle phi and the attitude matrix calculated values The following relation is provided:
in the formula (2), phi multiplied by the anti-symmetric array of the misalignment angle phi= [ phi E φN φU ], phi E,φN,φU is the misalignment angle components of the lower east, north and sky three axes of the navigation system, and the method can be obtained by the formulas (1) - (2):
further, the measured value of the accelerometer under the navigation system is f n, and The motion acceleration of the multi-rotor unmanned aircraft under the navigation system is δf n and δf n＝fn+gn, and the formula (3) is converted into the following formula (4):
fn×φ＝δfn (4)；
When the multi-rotor unmanned aerial vehicle is in an approximate hovering state, f n＝-gn＝[0 0 -g]T is provided, and the formula (4) is substituted to obtain:
in formula (5), "x" represents an element which does not need attention;
Further, the horizontal misalignment angle phi h＝[φE φN 0]T of the multi-rotor unmanned aerial vehicle is recorded, and the horizontal movement acceleration of the multi-rotor unmanned aerial vehicle is recorded And/>The motion acceleration of the multi-rotor unmanned aerial vehicle in the lower east and the north of the navigation system is respectively converted through the formula to obtain the relationship between the horizontal misalignment angle phi h and the horizontal motion acceleration delta f h shown in the formula (6):
-gn×φh＝δfh (6)；
S3, solving a horizontal misalignment angle, which specifically comprises the following steps:
Let the unit vector e 3＝[0 0 1]T obtain the horizontal misalignment angle phi h of the multi-rotor unmanned aerial vehicle as shown in formula (7) according to formula (5) and formula (6):
S4, obtaining correction quantity of the horizontal misalignment angle in the carrier system, wherein the method comprises the following specific steps of;
On the basis of the formula (7), the two sides are simultaneously multiplied by Obtaining formula (8), wherein-For posture matrix/>Is transposed of (a):
Wherein phi b is the correction amount of the horizontal misalignment angle in the carrier system, and the posture of the multi-rotor unmanned aerial vehicle can be corrected in the subsequent steps; representing the gesture matrix/> Is a third row vector of (a);
S5, correcting the attitude of the multi-rotor unmanned aerial vehicle according to the correction phi b of the horizontal misalignment angle on-vehicle system to obtain a final hovering correction, wherein the method specifically comprises the following steps of:
acquiring attitude quaternion of multi-rotor unmanned aerial vehicle at time t k according to (9) - (10)
In the formulae (9) to (10),The attitude change quaternion from the moment t k-1 to the moment t k is that delta theta k is the angular increment of the output of a gyroscope installed on the multi-rotor unmanned aircraft in a time period [ t k-1,tk ];
Further, record Is gesture quaternion/>Substituting correction phi b of the horizontal misalignment angle in the carrier system into the corresponding posture matrix (11) to obtain the final corrected posture matrix/>(I.e., hover final modifier):
thus, the attitude matrix can be effectively reduced by the correction phi b of the horizontal misalignment angle in the carrier system Accumulated error caused by gyro drift;
s6, the final corrected posture matrix And inputting the hover control signal to the multi-rotor unmanned aerial vehicle in the gesture controller of the multi-rotor unmanned aerial vehicle, so that the gesture controller can hover control the multi-rotor unmanned aerial vehicle in the satellite unlocking state.
When the multi-rotor unmanned aerial vehicle is in a satellite unlocking state, speed and position information cannot be acquired, or the speed and position information is difficult to estimate accurately, but the measured value of the accelerometer is still reliable at the moment, and the multi-rotor unmanned aerial vehicle can be used as a posture correction sensor. Therefore, in this embodiment, whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state is first determined through the measured value of the accelerometer, if the multi-rotor unmanned aerial vehicle is in the approximate hovering state, a relationship between a horizontal misalignment angle and horizontal acceleration is established, the horizontal misalignment angle is further solved, and then the accumulated error caused by gyro drift is effectively reduced by combining the gyroscope and the correction amount of the horizontal misalignment angle in a carrier system, so that the misalignment angle error is continuously reduced, and finally, the hovering control of the multi-rotor unmanned aerial vehicle in a satellite unlocking state is achieved.
Example 2:
As shown in fig. 2, the present embodiment provides a multi-rotor unmanned aerial vehicle hover control system that implements the multi-rotor unmanned aerial vehicle hover control method described in embodiment 1, comprising:
the accelerometer 1 is arranged on the multi-rotor unmanned aerial vehicle and is used for acquiring acceleration measurement values of the multi-rotor unmanned aerial vehicle in real time;
A state evaluation unit 2 connected to the accelerometer 1 for comparing the acceleration measurement value with gravity to determine whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state; the specific steps refer to step S1, and are not described in detail herein;
The correspondence establishing unit 3 is configured to establish a relationship between a horizontal misalignment angle and a horizontal acceleration when it is determined that the multi-rotor unmanned aerial vehicle is in an approximate hovering state, and specific steps refer to step S2, which is not described herein;
The horizontal misalignment angle acquiring unit 4 is connected with the corresponding relation establishing unit 3 and is used for acquiring a horizontal misalignment angle of the multi-rotor unmanned aerial vehicle according to the relation between the horizontal misalignment angle and the horizontal acceleration, and specific steps refer to step S3 and are not repeated herein;
a horizontal misalignment angle correction amount obtaining unit 5, connected to the horizontal misalignment angle obtaining unit 4, for obtaining a correction amount of the horizontal misalignment angle in the carrier system according to the horizontal misalignment angle, where the specific step refers to step S4, and details thereof are not repeated herein;
A posture correction unit 6 connected to the horizontal misalignment angle correction amount acquisition unit 5 for correcting the posture of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system to obtain a hover final correction amount;
and a gesture controller 7 which is installed on the multi-rotor unmanned aerial vehicle and is connected with the gesture correction unit 6, and is used for realizing the hover control of the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state according to the final hover correction amount.
In summary, according to the method, whether the multi-rotor unmanned aerial vehicle is in the approximate hovering state is judged through the measured value of the accelerometer, if the multi-rotor unmanned aerial vehicle is in the approximate hovering state, the relation between the horizontal misalignment angle and the horizontal acceleration is established, the horizontal misalignment angle is further solved, the accumulated error caused by gyro drift is effectively reduced by combining the gyroscope and the correction amount of the horizontal misalignment angle in the carrier system, the misalignment angle error is continuously reduced, and finally the hovering control of the multi-rotor unmanned aerial vehicle in the satellite unlocking state is achieved.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The hovering control method of the multi-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
s1, judging whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not through an accelerometer arranged on the multi-rotor unmanned aerial vehicle;
S2, when the multi-rotor unmanned aerial vehicle is determined to be in an approximate hovering state, establishing a relationship between a horizontal misalignment angle and horizontal acceleration;
S3, solving a horizontal misalignment angle according to the following formula:
-gn×φh＝δfh
Wherein phi h is the horizontal misalignment angle of the multi-rotor unmanned aerial vehicle, phi h＝[φE φN 0]T;δfh is the horizontal movement acceleration of the multi-rotor unmanned aerial vehicle, and And/>The motion acceleration of the multi-rotor unmanned aerial vehicle is respectively lower east and north of the navigation system; g n is the gravitational acceleration under the navigation system;
s4, obtaining correction quantity of the horizontal misalignment angle in the carrier system;
S5, correcting the posture of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system so as to obtain a final hovering correction amount;
S6, inputting the final hovering correction amount into a gesture controller of the multi-rotor unmanned aerial vehicle, so that the gesture controller performs hovering control on the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state.
2. The multi-rotor unmanned aerial vehicle hover control method according to claim 1, wherein step S1 comprises: acquiring an acceleration measurement value f b of the multi-rotor unmanned aerial vehicle in real time through an accelerometer arranged on the multi-rotor unmanned aerial vehicle, comparing the acceleration measurement value f b with gravity g, and if the acceleration measurement value f b|-g|≤β1 is the same, considering that the multi-rotor unmanned aerial vehicle is in an approximate hovering state at the moment; wherein, β 1 is a preset acceleration judgment threshold.
3. The multi-rotor unmanned aerial vehicle hover control method of claim 2, wherein the acceleration measurement f b of the multi-rotor unmanned aerial vehicle is an average of several acceleration measurements taken by an accelerometer over a predetermined period of time.
4. A multi-rotor unmanned aerial vehicle hover control method according to claim 3, wherein said predetermined period of time is 5-10s.
5. The multi-rotor unmanned aerial vehicle hover control method of claim 2, wherein β 1 is 0.2-1m/s 2.
6. The multi-rotor unmanned aerial vehicle hover control method according to claim 1, wherein step S2 comprises:
establishing a relationship between the horizontal misalignment angle and the horizontal acceleration according to formulas (1) - (6):
in the formula (1), the components are as follows, G n is the gravity acceleration under the navigation system and is the true gesture array;
in the formula (2), phi multiplied by the anti-symmetric array of the misalignment angle phi= [ phi E φN φU ], phi E,φN,φU is the misalignment angle components of the lower east, north and sky three axes of the navigation system respectively;
fn×φ＝δfn (4)；
In formula (4), f n is the measurement value of the accelerometer under the navigation system, and Δf n is the motion acceleration of the multi-rotor unmanned aerial vehicle under the navigation system, and δf n＝fn+gn;
In formula (5), "x" represents an element which does not need attention; and the multi-rotor unmanned aerial vehicle has f n＝-gn＝[0 0 -g]T when in an approximate hovering state;
-gn×φh＝δfh (6)；
In formula (6), phi h is the horizontal misalignment angle of the multi-rotor unmanned aerial vehicle, phi h＝[φE φN 0]T;δfh is the horizontal motion acceleration of the multi-rotor unmanned aerial vehicle, and And/>The motion acceleration of the multi-rotor unmanned aerial vehicle is respectively lower east and north of the navigation system.
7. The multi-rotor unmanned aerial vehicle hover control method according to claim 6, wherein step S3 comprises:
Let the unit vector e 3＝[0 0 1]T obtain the horizontal misalignment angle phi h of the multi-rotor unmanned aerial vehicle as shown in formula (7) according to formula (5) and formula (6):
8. The multi-rotor unmanned aerial vehicle hover control method according to claim 7, wherein step S4 comprises:
the two sides of the pair (7) are simultaneously multiplied by Obtaining formula (8), wherein-For posture matrix/>Is transposed of (a):
In the formula (8), phi b is the correction amount of the horizontal misalignment angle in the carrier system; representing the gesture matrix/> Is included in the first row vector.
9. The multi-rotor unmanned aerial vehicle hover control method according to claim 8, wherein step S5 comprises:
acquiring attitude quaternion of multi-rotor unmanned aerial vehicle at time t k according to (9) - (10)
In the formulae (9) to (10),The attitude change quaternion from the moment t k-1 to the moment t k is that delta theta k is the angular increment of the output of a gyroscope installed on the multi-rotor unmanned aircraft in a time period [ t k-1,tk ];
Further, record Is gesture quaternion/>Substituting correction phi b of the horizontal misalignment angle in the carrier system into the corresponding posture matrix (11) to obtain the final corrected posture matrix/>
10. A multi-rotor unmanned aerial vehicle hover control system, comprising:
the accelerometer is arranged on the multi-rotor unmanned aerial vehicle and is used for acquiring acceleration measurement values of the multi-rotor unmanned aerial vehicle in real time;
The state evaluation unit is connected with the accelerometer and is used for comparing the acceleration measured value with gravity so as to judge whether the multi-rotor unmanned aerial vehicle is in an approximate hovering state or not;
the corresponding relation establishing unit is used for establishing a relation between the horizontal misalignment angle and the horizontal acceleration when the multi-rotor unmanned aerial vehicle is determined to be in an approximate hovering state;
The horizontal misalignment angle acquisition unit is connected with the corresponding relation establishment unit and is used for acquiring the horizontal misalignment angle of the multi-rotor unmanned aerial vehicle according to the relation between the horizontal misalignment angle and the horizontal acceleration;
A horizontal misalignment angle correction amount acquisition unit connected to the horizontal misalignment angle acquisition unit for acquiring a correction amount of the horizontal misalignment angle in the carrier system according to the horizontal misalignment angle;
The attitude correction unit is connected with the horizontal misalignment angle correction amount acquisition unit and is used for correcting the attitude of the multi-rotor unmanned aerial vehicle according to the correction amount of the horizontal misalignment angle on-vehicle system so as to obtain a hovering final correction amount;
And the gesture controller is arranged on the multi-rotor unmanned aerial vehicle, is connected with the gesture correction unit and is used for realizing hover control on the multi-rotor unmanned aerial vehicle in a satellite out-of-lock state according to the final hover correction amount.
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Country or region after: China Address after: 430070 North of Floor 3, Building 2, No. 5, Huanglongshan South Road, Fozuling Street, Donghu New Technology Development Zone, Wuhan, Hubei Province (Wuhan Area of Free Trade Zone) Applicant after: Puzhou Technology Co.,Ltd. Address before: 1006, building 1, yongxinhui, No. 4078, Dongbin Road, Nanshan District, Shenzhen, Guangdong 518054 Applicant before: Puzhou Technology (Shenzhen) Co.,Ltd. Country or region before: China |
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