CN105629990A - Unmanned aircraft calibration method and unmanned aircraft calibration device - Google Patents
Unmanned aircraft calibration method and unmanned aircraft calibration device Download PDFInfo
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Abstract
The invention discloses an unmanned aircraft calibration method and an unmanned aircraft calibration device. The unmanned aircraft calibration method is characterized in that a first navigation parameter and a second navigation parameter of the unmanned aircraft can be acquired periodically according to acquisition periods of parameters; the offset component of the unmanned aircraft can be determined according to the first navigation parameter and the second navigation parameter; an offset calibration amount corresponding to the offset component can be generated; and the offset of the unmanned aircraft can be calibrated by the offset calibration amount. By adopting the unmanned aircraft calibration method, the user is not required to analyze and determine, and the offset can be calibrated automatically by the parameter acquisition, and therefore the calibration process can be simple and accurate.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to calibration steps and the device of a kind of unmanned vehicle.
Background technology
Along with popularizing of many rotary wind types unmanned vehicle, increasing people starts understand and use many rotary wind types unmanned vehicle. But due to multi-rotor aerocraft itself or a kind of new things, so still there is a lot of inconveniences when using.
So, those play the aircraft player veterans of model plane class origin, can feel present aircraft very simple, it is only necessary to through simple debugging, and who can come up just one section of flight of performance. But, it practice, for for the new hand not in contact with aircraft excessively, the habitual base calibration work of some veterans, for new hand, is also very big obstacle.
For example, owing to being subject to the difference of ground magnetic environment, aircraft Conservation environment, generally when each unmanned vehicle starts, need its flight control situation is calibrated, otherwise, not do not send the instruction of any movement to unmanned vehicle even by remote controller, unmanned vehicle possibility itself as system noise lasting to some direction drift flight. The principle of this calibration, in fact also very simple, namely, user is allowed to start unmanned vehicle and to be allowed to condition at aerial when suitably highly hovering, observe unmanned vehicle to fly either with or without carrying out side to any direction, if any, user has only on a remote control, by default aligning key, carry out opposite direction and compensate. It is clear, however, that this method causes calibration process loaded down with trivial details and operation for flying hands requires also higher.
Summary of the invention
The invention provides the calibration steps of a kind of unmanned vehicle and device, in order to solve the problem that the method for the offset calibration of unmanned vehicle that is performed manually by prior art is relatively complicated and accuracy is relatively low.
Its concrete technical scheme is as follows:
A kind of calibration steps of unmanned vehicle, described method includes:
According to the collection period of parameter, periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle;
According to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, wherein, described offset component is the described unmanned vehicle side-play amount towards a direction;
Generate the offset calibration amount that described offset component is corresponding;
By described offset calibration amount, the skew of described unmanned vehicle is calibrated.
Optionally, periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle, including:
Detecting whether there is the control instruction that instruction unmanned vehicle moves at horizontal plane, wherein, described horizontal plane moves and includes movable and transverse shifting;
If being absent from instruction unmanned vehicle when the control instruction that horizontal plane moves, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
Optionally, according to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, including:
Obtain the primary importance coordinate in described first navigational parameter and the second position coordinate in the second navigational parameter;
Determining coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane according to described primary importance coordinate and second position coordinate, wherein, described coordinate difference characterizes unmanned vehicle amount of movement on standard coordinate axle;
Using described coordinate difference and described moving direction as described offset component.
Optionally, generate the offset calibration amount that described offset component is corresponding, including:
Obtaining the ratio result between each value and the collection period in described coordinate difference, wherein, described collection period is the difference between described first moment and described second moment;
Using the described ratio result reverse with described moving direction as described offset calibration amount.
Optionally, after by described offset calibration amount the skew of described unmanned vehicle being calibrated, described method also includes:
In the 3rd moment, obtain the 3rd position coordinates;
According to described 3rd position coordinates and described second position coordinate, it is determined that current offset component;
Judge that whether described current offset component is more than predetermined threshold value;
If so, then according to described current offset component, described unmanned vehicle is calibrated;
If it is not, then stop described unmanned vehicle is calibrated.
Optionally, described method also includes:
According to first in described first navigational parameter towards second in data and described second navigational parameter towards data, it is determined that spin parameters, wherein, described spin parameters is the unmanned vehicle rotation angle with central point;
According to described spin parameters, it is determined that spin calibrator quantity;
According to described spin calibrator quantity, described unmanned vehicle is carried out spin to calibrate.
A kind of calibrating installation of unmanned vehicle, including:
Acquisition module, for the collection period according to parameter, periodically gathers the first navigational parameter and second navigational parameter of unmanned vehicle;
Determining module, for according to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, wherein, described offset component is the described unmanned vehicle side-play amount towards a direction;
Generation module, for generating the offset calibration amount that described offset component is corresponding;
Calibration module, for being calibrated the skew of described unmanned vehicle by described offset calibration amount.
Optionally, described acquisition module, specifically for detecting whether to there is the control instruction that instruction unmanned vehicle moves at horizontal plane, if being absent from instruction unmanned vehicle when the control instruction that horizontal plane moves, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
Optionally, described determine module, specifically for obtaining the primary importance coordinate in described first navigational parameter and the second position coordinate in the second navigational parameter; Coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane is determined according to described primary importance coordinate and second position coordinate; Using described coordinate difference and described moving direction as described offset component, wherein, described coordinate difference characterizes unmanned vehicle amount of movement on standard coordinate axle.
Optionally, described generation module, specifically for obtaining the ratio result between each value and the collection period in described coordinate difference; Using the described ratio result reverse with described moving direction as described offset calibration amount, wherein, described collection period is the difference between described first moment and described second moment.
In calibration steps provided by the present invention, according to the collection period of parameter, periodically gather unmanned vehicle the first navigational parameter and the second navigational parameter; According to the first navigational parameter and the second navigational parameter, it is determined that the offset component of unmanned vehicle; Generate the offset calibration amount that offset component is corresponding; By offset calibration amount, the skew of unmanned vehicle is calibrated. Doing analysis with it, be no longer needed for user and judge, be automatically performed the calibration of skew by parameter acquisition, the calibration process so making unmanned vehicle is simpler and accurate.
Accompanying drawing explanation
Fig. 1 is the flow chart of the calibration steps of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 2 is the method flow diagram determining offset component in the embodiment of the present invention;
Fig. 3 is the structural representation of the calibrating installation of a kind of unmanned vehicle in the embodiment of the present invention.
Detailed description of the invention
Embodiments providing the calibration steps of a kind of unmanned vehicle, the method includes: according to the collection period of parameter, periodically gathers unmanned vehicle the first navigational parameter and the second navigational parameter; According to the first navigational parameter and the second navigational parameter, it is determined that the offset component of unmanned vehicle; Generate the offset calibration amount that offset component is corresponding; By offset calibration amount, the skew of unmanned vehicle is calibrated. Do analysis with it, be no longer needed for user and judge, being automatically performed the calibration of skew by parameter acquisition, so making calibration process simple and accurate.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, it is to be understood that, technical solution of the present invention is simply illustrated by the concrete technical characteristic in the embodiment of the present invention and embodiment, rather than limit, when not conflicting, the embodiment of the present invention and the concrete technical characteristic in embodiment can be mutually combined.
The calibration steps being illustrated in figure 1 in the embodiment of the present invention a kind of unmanned vehicle, the method includes:
S101, according to the parameter acquisition cycle, periodically gathers the first navigational parameter and second navigational parameter of unmanned vehicle;
First, for unmanned vehicle, it is possible to understand that be the flight on two faces, it may be assumed that the flight on horizontal plane and the flight on vertical. Such as, divide the space into XYZ three-axis reference, then unmanned vehicle flight in the horizontal plane is exactly the flight on XOY horizontal plane, the flight on XOZ or YOZ face that flight on the vertical plane is just. If unmanned vehicle moves along X-axis, then unmanned vehicle is horizontal flight, if unmanned vehicle moves along Y-axis, then unmanned vehicle is front and back flights.
Being provided with satellite positioning and navigation device on unmanned vehicle, this satellite positioning device can detect the position coordinates that unmanned vehicle is current.
Certainly, except being led device by satellite fix and determining the position coordinates that unmanned vehicle is current, it is also possible to confirmed by visual pattern recognition method. It is to say, when unmanned vehicle is in an environment, know otherwise by visual pattern, which determines, by the reference substance that distance unmanned vehicle is nearer, the coordinate position that unmanned vehicle is current.
Above-mentioned two ways can determine the coordinate position that unmanned vehicle is current respectively, can also be that above two mode is combined the coordinate position determining unmanned vehicle, first coordinate position is determined say by satellite positioning navigation modular device, then pass through visual pattern identification to confirm, so make the coordinate position can be more accurate, it is ensured that the follow-up accuracy determining side-play amount.
Certainly, except the coordinate position that above-mentioned two ways determines unmanned vehicle, it is also possible to determined the position coordinates of unmanned vehicle by other modes of the prior art. At this just not in illustration one by one.
In embodiments of the present invention, the position coordinates of unmanned vehicle can be characterized by the coordinate on horizontal plane XOY, such as the position coordinates that unmanned vehicle is in the first moment is (x1, y1), wherein, x1 characterizes component in X-axis, and y1 characterizes the component in Y-axis. If x1 is negative value, then the moving direction in X-axis of unmanned vehicle is contrary with the positive direction of X-axis; If y1 is negative value, then the moving direction in Y-axis of unmanned vehicle is contrary with the positive direction of Y-axis. So the position coordinates according to unmanned vehicle is assured that the direction that unmanned vehicle moves.
Owing to being the detection of the skew to unmanned vehicle, so needing unmanned vehicle to meet some requirements, here condition is: detect whether there is the control instruction that instruction unmanned vehicle moves at horizontal plane, if being absent from, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
Such as, unmanned vehicle hovers at XOY plane, and when needing that unmanned vehicle is carried out offset calibration, it is impossible to unmanned vehicle is sent on XOY plane the control instruction of flight, it may be assumed that the control instruction of the control instruction of horizontal flight and front and back flight.
When meeting above-mentioned condition, unmanned vehicle, by the collection period according to parameter, periodically gathers the first navigational parameter and second navigational parameter of unmanned vehicle. Collection period can configure according to the type of unmanned vehicle or current use environment, naturally it is also possible to user arranges collection period voluntarily, does not limit set-up mode and the means of collection period in embodiments of the present invention. Such as, here collection period can be 5 seconds or 7 seconds or 9 seconds, the position coordinates of unmanned vehicle is then collected at current time, i.e. coordinate in X-axis and the coordinate in Y-axis, then gathering the position coordinates of unmanned vehicle after 5 seconds, this position coordinates is also the coordinate in X-axis and the coordinate in Y-axis.
Here the first navigational parameter and the second navigational parameter all contain position coordinates and the moving direction on coordinate axes, such as, primary importance coordinate is (-x1 ,-y1), then illustrate to move x1 in X-axis negative direction, and the negative direction in Y-axis moves y1. Second position coordinate is (-x2, y2), then illustrate to move to x2 in X-axis negative direction, and the positive direction in Y-axis moves y2.
S102, according to the first navigational parameter and the second navigational parameter, it is determined that the offset component of unmanned vehicle;
Specifically, after getting the first navigational parameter and the second navigational parameter, can calculating this unmanned vehicle offset component in collection period according to the first navigational parameter and the second navigational parameter, specifically method flow as shown in Figure 2, the method includes:
S201, obtains in the first navigational parameter primary importance coordinate and first towards the second position coordinate in data and the second navigational parameter and second towards data;
S101 acquires primary importance coordinate, second position coordinate by satellite positioning and navigation device,
S202, determines coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane according to described primary importance coordinate and second position coordinate;
The amount of movement on each coordinate axes of unmanned vehicle it is assured that, so unmanned vehicle amount of movement in X-axis and the amount of movement in Y-axis just can be calculated according to primary importance coordinate and second position coordinate by two points. Such as, primary importance coordinate is (x1, y1), second position coordinate is (x2, y2), then unmanned vehicle amount of movement in X-axis is x`=x2-x1, and the amount of movement in Y-axis is y`=y2-y1, so (x`, y`) is exactly unmanned vehicle mobile component on each coordinate axes.
Certainly, by primary importance coordinate and second position coordinate except can getting unmanned vehicle amount of movement on each coordinate axes, it is also possible to determine unmanned vehicle moving direction on each coordinate axes according to primary importance coordinate and second position coordinate. Such as the x` position negative value in (x`, y`), then illustrate that unmanned vehicle be along reversely mobile at the component of X-axis, y` be on the occasion of time, then explanation unmanned vehicle at the component of Y-axis for move along forward.
S203, using coordinate difference and moving direction as offset component.
In above-mentioned step, get coordinate difference and towards difference, then just can using the moving direction of this coordinate difference and unmanned vehicle as offset component.
After getting side-play amount, perform S103.
S103, generates the offset calibration amount that offset component is corresponding;
Specifically, S102 has got unmanned vehicle offset component in collection period, has been assured that out offset calibration amount according to this offset component.
Specifically, obtain the ratio result between each value and the collection period in coordinate difference, here collection period is difference between the first moment and the second moment, and the first moment here is the moment gathering the first navigational parameter, and the second moment was the moment gathering the second navigational parameter. Using the ratio result reverse with moving direction as offset calibration amount.
Such as, determine that the coordinate difference between the second position coordinate of unmanned vehicle and second position coordinate is (-2 in the above-described embodiment,-3), this collection period is 5 seconds, so the ratio result between this coordinate difference and collection period is just (-2/5,-3/5), what-2/5 in this ratio result characterized is the speed that moves along X-axis negative sense of unmanned vehicle, and-3/5 what characterize is the speed that moves along Y-axis negative sense of unmanned vehicle. According to this ratio result, unmanned vehicle is to offset up at the losing side of X-axis and Y-axis, so the offset calibration amount generated needs reverse with this ratio result, so can adjust the skew of unmanned vehicle, so this offset calibration amount is just (2/5,3/5).
S104, is calibrated the skew of unmanned vehicle by offset calibration amount.
Specifically, after S103 obtains offset calibration amount, then according to offset calibration amount, the skew of unmanned vehicle being calibrated, be equivalent to, on original basis, unmanned vehicle is added a compensation dosage, this compensation dosage can offset unmanned vehicle skew on some direction.
Such as, the ratio result of unmanned vehicle is (-2/5 ,-3/5), then illustrate that unmanned vehicle reversely moves with the speed of 0.4m/s along the negative of X-axis, and negative along Y-axis is reversely moved with the speed of 0.6m/s. So when compensating, just compensate according to the amount of X-axis forward 0.4m/s and the amount of Y-axis 0.6m/s, thus can reduce unmanned vehicle parallel drift in the horizontal plane.
Certainly, in embodiments of the present invention, directly determine that a reverse amount is as outside offset calibration amount except that according to ratio result, it is also possible to set a range of error, say, that offset calibration amount is unequal with the amount in ratio result. Such as, ratio result is (-2/5 ,-3/5), so offset calibration amount can be (1/5,2/5), this range of error is relevant to computing formula, it is also possible to according to current use scene or use environments to dynamically adjust this range of error. So do not limit in embodiments of the present invention last offset calibration amount with value and ratio result in value must be consistent.
Offset calibration amount can be got according to the position coordinates of unmanned vehicle and the change in direction automatically by above-mentioned method, automatically unmanned vehicle is calibrated thereby through offset calibration amount, this not only reduces the calibration operation that user is loaded down with trivial details to unmanned vehicle, and also improve calibration accuracy and calibration efficiency.
Further, in embodiments of the present invention, except the side-play amount part of unmanned vehicle is calibrated, it is also possible to the spin of unmanned vehicle is adjusted.
Specifically, the first navigational parameter further comprises first towards data, the second navigational parameter further comprises second towards data, be assured that out the spin parameters of unmanned vehicle towards data and second towards data according to first. Here spin parameters is the spin angle of the easy central point of unmanned vehicle.
Such as, when unmanned vehicle exists a photographic head, then using photographic head towards as a datum quantity, namely photographic head front towards data as first towards data. When the second moment, due to the spin of unmanned vehicle, thus photographic head front towards with original towards differing, so be assured that out the spin angle of unmanned vehicle towards data according to two.
According to spin angle and collection period, it is possible to get the spin angle velocity of unmanned vehicle, using the back parameter of this spin angle velocity as spin calibrator quantity. According to this spin calibrator quantity, unmanned vehicle is carried out spin to calibrate, so ensure that unmanned vehicle can also carry out spin calibration on the basis of offset calibration, it is achieved in that the automatic calibration to unmanned vehicle spin, improves the flight stability of unmanned vehicle.
Further, in embodiments of the present invention, after unmanned vehicle is calibrated, will in the 3rd moment, obtain the 3rd position coordinates of unmanned vehicle, then according to the 3rd position coordinates and second position coordinate, it is determined that the current offset component of unmanned vehicle, it is determined that whether unmanned vehicle current offset component is more than predetermined threshold value. If so, then according to current offset component, unmanned vehicle is calibrated, if it is not, then stop unmanned vehicle being calibrated.
Such as, the 3rd position coordinates according to unmanned vehicle and second position coordinate, determine that unmanned vehicle displacement is 1.0m, predetermined threshold value now is 0.5m, clearly unmanned vehicle offset component in collection period has been above predetermined threshold value, then according to the 3rd position coordinates, the 3rd towards data continue unmanned vehicle is calibrated, the method for calibration is in the above-described embodiment it is stated that just repeat no more herein.
If the 3rd position coordinates according to unmanned vehicle and second position coordinate, determine that unmanned vehicle displacement is 0.3m, predetermined threshold value now is 0.5m, clearly unmanned vehicle offset component in collection period is already less than predetermined threshold value, then be now no longer necessary to unmanned vehicle is calibrated. Although, offset component less than predetermined threshold value when no longer unmanned vehicle is calibrated, but also will continue the offset component of detection unmanned vehicle, once detect that the offset component of unmanned vehicle is more than predetermined threshold value, then continue unmanned vehicle is calibrated, so ensure under the state that unmanned vehicle can be continuously maintained in stabilized flight, thus improving the stability of unmanned vehicle.
Calibration steps for the unmanned vehicle that the embodiment of the present invention provides, calibrated offset calibrator quantity can be obtained automatically according to the position coordinates of unmanned vehicle, and automatically unmanned vehicle is calibrated according to offset calibration amount, thus avoiding user manually unmanned vehicle is brought complex operation, achieve the automatic calibration of unmanned vehicle, improve the stability of unmanned vehicle.
The calibration steps of a kind of unmanned vehicle in the corresponding embodiment of the present invention, the embodiment of the present invention additionally provides the calibrating installation of a kind of unmanned vehicle, the structural representation of the calibrating installation being illustrated in figure 3 in the embodiment of the present invention a kind of unmanned vehicle, this device includes:
Acquisition module 301, for the collection period according to parameter, periodically gathers the first navigational parameter and second navigational parameter of unmanned vehicle;
Determining module 302, for according to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, wherein, described offset component is the side-play amount of the super a direction of described unmanned vehicle;
Generation module 303, for generating the offset calibration amount that described offset component is corresponding;
Calibration module 304, for being calibrated the skew of described unmanned vehicle by described offset calibration amount.
Further, in embodiments of the present invention, described acquisition module 301, specifically for detecting whether to there is the control instruction that instruction unmanned vehicle moves at horizontal plane, if being absent from instruction unmanned vehicle when the control instruction that horizontal plane moves, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
Further, in embodiments of the present invention, described module 302 is determined, specifically for obtaining the primary importance coordinate in described first navigational parameter and the second position coordinate in the second navigational parameter; Coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane is determined according to described primary importance coordinate and second position coordinate; Using described coordinate difference and described moving direction as described offset component, wherein, described coordinate difference characterizes unmanned vehicle amount of movement on standard coordinate axle
Further, in embodiments of the present invention, described generation module 303, specifically for obtaining the ratio result between each value and the collection period in described coordinate difference; Using the described ratio result reverse with described moving direction as described offset calibration amount, wherein, described collection period is the difference between described first moment and described second moment.
Although having been described for the preferred embodiment of the application, but one of ordinary skilled in the art is once know basic creative concept, then these embodiments can be made other change and amendment. So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the application scope.
Obviously, the application can be carried out various change and modification without deviating from spirit and scope by those skilled in the art. So, if these amendments of the application and modification belong within the scope of the application claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. the calibration steps of a unmanned vehicle, it is characterised in that described method includes:
According to the collection period of parameter, periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle;
According to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, wherein, described offset component is the described unmanned vehicle side-play amount towards a direction;
Generate the offset calibration amount that described offset component is corresponding;
By described offset calibration amount, the skew of described unmanned vehicle is calibrated.
2. the method for claim 1, it is characterised in that periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle, including:
Detecting whether there is the control instruction that instruction unmanned vehicle moves at horizontal plane, wherein, described horizontal plane moves and includes movable and transverse shifting;
If being absent from instruction unmanned vehicle when the control instruction that horizontal plane moves, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
3. the method for claim 1, it is characterised in that according to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, including:
Obtain the primary importance coordinate in described first navigational parameter and the second position coordinate in the second navigational parameter;
Determining coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane according to described primary importance coordinate and second position coordinate, wherein, described coordinate difference characterizes unmanned vehicle amount of movement on standard coordinate axle;
Using described coordinate difference and described moving direction as described offset component.
4. method as claimed in claim 2, it is characterised in that generate the offset calibration amount that described offset component is corresponding, including:
Obtaining the ratio result between each value and the collection period in described coordinate difference, wherein, described collection period is the difference between described first moment and described second moment;
Using the described ratio result reverse with described moving direction as described offset calibration amount.
5. method as claimed in claim 2, it is characterised in that after by described offset calibration amount the skew of described unmanned vehicle being calibrated, described method also includes:
In the 3rd moment, obtain the 3rd position coordinates;
According to described 3rd position coordinates and described second position coordinate, it is determined that current offset component;
Judge that whether described current offset component is more than predetermined threshold value;
If so, then according to described current offset component, described unmanned vehicle is calibrated;
If it is not, then stop described unmanned vehicle is calibrated.
6. method as claimed in claim 2, it is characterised in that described method also includes:
According to first in described first navigational parameter towards second in data and described second navigational parameter towards data, it is determined that spin parameters, wherein, described spin parameters is the unmanned vehicle rotation angle with central point;
According to described spin parameters, it is determined that spin calibrator quantity;
According to described spin calibrator quantity, described unmanned vehicle is carried out spin to calibrate.
7. the calibrating installation of a unmanned vehicle, it is characterised in that including:
Acquisition module, for the collection period according to parameter, periodically gathers the first navigational parameter and second navigational parameter of unmanned vehicle;
Determining module, for according to described first navigational parameter and the second navigational parameter, it is determined that the offset component of described unmanned vehicle, wherein, described offset component is the described unmanned vehicle side-play amount towards a direction;
Generation module, for generating the offset calibration amount that described offset component is corresponding;
Calibration module, for being calibrated the skew of described unmanned vehicle by described offset calibration amount.
8. device as claimed in claim 7, it is characterized in that, described acquisition module, specifically for detecting whether to there is the control instruction that instruction unmanned vehicle moves at horizontal plane, if being absent from instruction unmanned vehicle when the control instruction that horizontal plane moves, then periodically gather the first navigational parameter and second navigational parameter of unmanned vehicle.
9. device as claimed in claim 7, it is characterised in that described determine module, specifically for obtaining the primary importance coordinate in described first navigational parameter and the second position coordinate in the second navigational parameter; Coordinate difference and the described unmanned vehicle moving direction at the coordinate axes of horizontal plane is determined according to described primary importance coordinate and second position coordinate; Using described coordinate difference and described moving direction as described offset component, wherein, described coordinate difference characterizes unmanned vehicle amount of movement on standard coordinate axle.
10. device as claimed in claim 7, it is characterised in that described generation module, specifically for obtaining the ratio result between each value and the collection period in described coordinate difference; Using the described ratio result reverse with described moving direction as described offset calibration amount, wherein, described collection period is the difference between described first moment and described second moment.
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| US11994616B2 (en) | 2019-03-12 | 2024-05-28 | SZ DJI Technology Co., Ltd. | Method and apparatus for detecting radar wave offset |
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